mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 01:50:46 +02:00
62 lines
1.4 KiB
C++
62 lines
1.4 KiB
C++
/*
|
|
* Copyright 2017, 2018 Simon Rasmussen (refactor)
|
|
*
|
|
* Copyright 2015, 2016 Thomas Timm Andersen (original version)
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <inttypes.h>
|
|
#include <cstddef>
|
|
#include "ur_rtde_driver/bin_parser.h"
|
|
#include "ur_rtde_driver/log.h"
|
|
#include "ur_rtde_driver/pipeline.h"
|
|
|
|
enum class package_type : uint8_t
|
|
{
|
|
ROBOT_MODE_DATA = 0,
|
|
JOINT_DATA = 1,
|
|
TOOL_DATA = 2,
|
|
MASTERBOARD_DATA = 3,
|
|
CARTESIAN_INFO = 4,
|
|
KINEMATICS_INFO = 5,
|
|
CONFIGURATION_DATA = 6,
|
|
FORCE_MODE_DATA = 7,
|
|
ADDITIONAL_INFO = 8,
|
|
CALIBRATION_DATA = 9
|
|
};
|
|
|
|
enum class message_type : uint8_t
|
|
{
|
|
ROBOT_STATE = 16,
|
|
ROBOT_MESSAGE = 20,
|
|
PROGRAM_STATE_MESSAGE = 25
|
|
};
|
|
|
|
class URStatePacketConsumer;
|
|
|
|
class StatePacket
|
|
{
|
|
public:
|
|
StatePacket()
|
|
{
|
|
}
|
|
virtual ~StatePacket()
|
|
{
|
|
}
|
|
virtual bool parseWith(BinParser& bp) = 0;
|
|
virtual bool consumeWith(URStatePacketConsumer& consumer) = 0;
|
|
};
|