mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
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58 lines
1.7 KiB
C++
58 lines
1.7 KiB
C++
// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
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// -- BEGIN LICENSE BLOCK ----------------------------------------------
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// Copyright 2019 FZI Forschungszentrum Informatik
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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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// -- END LICENSE BLOCK ------------------------------------------------
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//----------------------------------------------------------------------
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/*!\file
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*
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* \author Tristan Schnell schnell@fzi.de
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* \date 2019-04-09
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*
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*/
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//----------------------------------------------------------------------
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#include "ur_rtde_driver/rtde/request_protocol_version.h"
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namespace ur_driver
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{
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namespace rtde_interface
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{
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bool RequestProtocolVersion::parseWith(comm::BinParser& bp)
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{
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bp.parse(accepted_);
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return true;
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}
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std::string RequestProtocolVersion::toString() const
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{
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std::stringstream ss;
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ss << "accepted: " << static_cast<int>(accepted_);
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return ss.str();
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}
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size_t RequestProtocolVersionRequest::generateSerializedRequest(uint8_t* buffer, uint16_t version)
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{
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size_t size = 0;
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size += PackageHeader::serializeHeader(buffer, PACKAGE_TYPE, PAYLOAD_SIZE);
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size += comm::PackageSerializer::serialize(buffer + size, version);
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return size;
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}
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} // namespace rtde_interface
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} // namespace ur_driver
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