control_package_setup_outputs.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_CONTROL_PACKAGE_SETUP_OUTPUTS_H_INCLUDED
#define UR_CLIENT_LIBRARY_CONTROL_PACKAGE_SETUP_OUTPUTS_H_INCLUDED

#include <vector>

#include "ur_client_library/rtde/rtde_package.h"
#include "ur_client_library/rtde/package_header.h"

namespace urcl
{
namespace rtde_interface
{
class ControlPackageSetupOutputs : public RTDEPackage
{
public:
  ControlPackageSetupOutputs(uint16_t protocol_version)
    : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS), protocol_version_(protocol_version)
  {
  }
  virtual ~ControlPackageSetupOutputs() = default;

  virtual bool parseWith(comm::BinParser& bp);
  virtual std::string toString() const;

  uint8_t output_recipe_id_;
  std::string variable_types_;
  uint16_t protocol_version_;
};

class ControlPackageSetupOutputsRequest : public RTDEPackage
{
public:
  ControlPackageSetupOutputsRequest() : RTDEPackage(PackageType::RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS)
  {
  }
  virtual ~ControlPackageSetupOutputsRequest() = default;

  static size_t generateSerializedRequest(uint8_t* buffer, double output_frequency,
                                          std::vector<std::string> variable_names);

  static size_t generateSerializedRequest(uint8_t* buffer, std::vector<std::string> variable_names);

  double output_frequency_;
  std::string variable_names_;

private:
  static const PackageType PACKAGE_TYPE = PackageType::RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS;
};

}  // namespace rtde_interface
}  // namespace urcl

#endif  // UR_CLIENT_LIBRARY_CONTROL_PACKAGE_SETUP_OUTPUTS_H_INCLUDED