Program Listing for File data_package.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_DATA_PACKAGE_H_INCLUDED
#define UR_CLIENT_LIBRARY_DATA_PACKAGE_H_INCLUDED
#include <unordered_map>
#include <variant>
#include <vector>
#include "ur_client_library/types.h"
#include "ur_client_library/rtde/rtde_package.h"
namespace urcl
{
namespace rtde_interface
{
enum class RUNTIME_STATE : uint32_t
{
STOPPING = 0,
STOPPED = 1,
PLAYING = 2,
PAUSING = 3,
PAUSED = 4,
RESUMING = 5
};
class DataPackage : public RTDEPackage
{
public:
using _rtde_type_variant = std::variant<bool, uint8_t, uint32_t, uint64_t, int32_t, double, vector3d_t, vector6d_t,
vector6int32_t, vector6uint32_t, std::string>;
DataPackage() = delete;
DataPackage(const DataPackage& other) : DataPackage(other.recipe_)
{
this->data_ = other.data_;
this->protocol_version_ = other.protocol_version_;
}
DataPackage(const std::vector<std::string>& recipe, const uint16_t& protocol_version = 2)
: RTDEPackage(PackageType::RTDE_DATA_PACKAGE), recipe_(recipe), protocol_version_(protocol_version)
{
}
virtual ~DataPackage() = default;
void initEmpty();
virtual bool parseWith(comm::BinParser& bp);
virtual std::string toString() const;
size_t serializePackage(uint8_t* buffer);
template <typename T>
bool getData(const std::string& name, T& val)
{
if (data_.find(name) != data_.end())
{
val = std::get<T>(data_[name]);
}
else
{
return false;
}
return true;
}
template <typename T, size_t N>
bool getData(const std::string& name, std::bitset<N>& val)
{
static_assert(sizeof(T) * 8 >= N, "Bitset is too large for underlying variable");
if (data_.find(name) != data_.end())
{
val = std::bitset<N>(std::get<T>(data_[name]));
}
else
{
return false;
}
return true;
}
template <typename T>
bool setData(const std::string& name, T& val)
{
if (data_.find(name) != data_.end())
{
data_[name] = val;
}
else
{
return false;
}
return true;
}
void setRecipeID(const uint8_t& recipe_id)
{
recipe_id_ = recipe_id;
}
private:
// Const would be better here
static std::unordered_map<std::string, _rtde_type_variant> g_type_list;
uint8_t recipe_id_;
std::unordered_map<std::string, _rtde_type_variant> data_;
std::vector<std::string> recipe_;
uint16_t protocol_version_;
};
} // namespace rtde_interface
} // namespace urcl
#endif // ifndef UR_CLIENT_LIBRARY_DATA_PACKAGE_H_INCLUDED