Program Listing for File package_header.h
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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2019 FZI Forschungszentrum Informatik
// Created on behalf of Universal Robots A/S
//
// 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.
// -- END LICENSE BLOCK ------------------------------------------------
//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef UR_CLIENT_LIBRARY_PRIMARY_INTERFACE_H_INCLUDED
#define UR_CLIENT_LIBRARY_PRIMARY_INTERFACE_H_INCLUDED
#include <inttypes.h>
#include <cstddef>
#include <endian.h>
#include "ur_client_library/types.h"
namespace urcl
{
namespace primary_interface
{
static const int UR_PRIMARY_PORT = 30001;
static const int UR_SECONDARY_PORT = 30002;
enum class RobotPackageType : int8_t
{
DISCONNECT = -1,
ROBOT_STATE = 16,
ROBOT_MESSAGE = 20,
HMC_MESSAGE = 22,
MODBUS_INFO_MESSAGE = 5,
SAFETY_SETUP_BROADCAST_MESSAGE = 23,
SAFETY_COMPLIANCE_TOLERANCES_MESSAGE = 24,
PROGRAM_STATE_MESSAGE = 25
};
class PackageHeader
{
public:
PackageHeader() = default;
virtual ~PackageHeader() = default;
using _package_size_type = int32_t;
static size_t getPackageLength(uint8_t* buf)
{
return be32toh(*(reinterpret_cast<_package_size_type*>(buf)));
}
};
} // namespace primary_interface
} // namespace urcl
#endif // ifndef UR_CLIENT_LIBRARY_PRIMARY_INTERFACE_H_INCLUDED