mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 18:10:47 +02:00
40 lines
761 B
C++
40 lines
761 B
C++
#pragma once
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#include <inttypes.h>
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#include <cstddef>
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#include "ur_modern_driver/bin_parser.h"
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#include "ur_modern_driver/log.h"
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#include "ur_modern_driver/pipeline.h"
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enum class package_type : uint8_t
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{
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ROBOT_MODE_DATA = 0,
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JOINT_DATA = 1,
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TOOL_DATA = 2,
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MASTERBOARD_DATA = 3,
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CARTESIAN_INFO = 4,
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KINEMATICS_INFO = 5,
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CONFIGURATION_DATA = 6,
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FORCE_MODE_DATA = 7,
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ADDITIONAL_INFO = 8,
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CALIBRATION_DATA = 9
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};
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enum class message_type : uint8_t
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{
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ROBOT_STATE = 16,
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ROBOT_MESSAGE = 20,
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PROGRAM_STATE_MESSAGE = 25
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};
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class URStatePacketConsumer;
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class StatePacket
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{
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public:
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StatePacket() {}
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virtual ~StatePacket() {}
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virtual bool parseWith(BinParser& bp) = 0;
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virtual bool consumeWith(URStatePacketConsumer& consumer) = 0;
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};
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