mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
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73 lines
1.9 KiB
C++
73 lines
1.9 KiB
C++
/*
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* Copyright 2017, 2018 Simon Rasmussen (refactor)
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*
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* Copyright 2015, 2016 Thomas Timm Andersen (original version)
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#pragma once
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#include <inttypes.h>
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#include <cstddef>
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#include "ur_rtde_driver/bin_parser.h"
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#include "ur_rtde_driver/pipeline.h"
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namespace ur_rtde_driver
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{
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enum class robot_message_type : uint8_t
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{
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ROBOT_MESSAGE_TEXT = 0,
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ROBOT_MESSAGE_PROGRAM_LABEL = 1,
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PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2,
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ROBOT_MESSAGE_VERSION = 3,
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ROBOT_MESSAGE_SAFETY_MODE = 5,
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ROBOT_MESSAGE_ERROR_CODE = 6,
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ROBOT_MESSAGE_KEY = 7,
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ROBOT_MESSAGE_REQUEST_VALUE = 9,
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ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
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};
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class URMessagePacketConsumer;
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class MessagePacket
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{
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public:
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MessagePacket(uint64_t timestamp, uint8_t source) : timestamp(timestamp), source(source)
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{
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}
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virtual bool parseWith(BinParser& bp) = 0;
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virtual bool consumeWith(URMessagePacketConsumer& consumer) = 0;
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uint64_t timestamp;
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uint8_t source;
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};
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class VersionMessage : public MessagePacket
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{
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public:
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VersionMessage(uint64_t timestamp, uint8_t source) : MessagePacket(timestamp, source)
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{
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}
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virtual bool parseWith(BinParser& bp);
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virtual bool consumeWith(URMessagePacketConsumer& consumer);
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std::string project_name;
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uint8_t major_version;
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uint8_t minor_version;
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int32_t svn_version;
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std::string build_date;
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};
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} // namespace ur_rtde_driver
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