universal_robots_ros_driver/include/ur_modern_driver/ur/messages.h

#pragma once

#include "ur_modern_driver/bin_parser.h"
#include "ur_modern_driver/pipeline.h"
#include <cstddef>
#include <inttypes.h>

enum class robot_message_type : uint8_t {
    ROBOT_MESSAGE_TEXT = 0,
    ROBOT_MESSAGE_PROGRAM_LABEL = 1,
    PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2,
    ROBOT_MESSAGE_VERSION = 3,
    ROBOT_MESSAGE_SAFETY_MODE = 5,
    ROBOT_MESSAGE_ERROR_CODE = 6,
    ROBOT_MESSAGE_KEY = 7,
    ROBOT_MESSAGE_REQUEST_VALUE = 9,
    ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
};

class URMessagePacketConsumer;

class MessagePacket {
public:
    MessagePacket(uint64_t timestamp, uint8_t source)
        : timestamp(timestamp)
        , source(source)
    {
    }
    virtual bool parse_with(BinParser& bp) = 0;
    virtual bool consume_with(URMessagePacketConsumer& consumer) = 0;

    uint64_t timestamp;
    uint8_t source;
};

class VersionMessage : public MessagePacket {
public:
    VersionMessage(uint64_t timestamp, uint8_t source)
        : MessagePacket(timestamp, source)
    {
    }

    virtual bool parse_with(BinParser& bp);
    virtual bool consume_with(URMessagePacketConsumer& consumer);

    std::string project_name;
    uint8_t major_version;
    uint8_t minor_version;
    int32_t svn_version;
    std::string build_date;
};