Program Listing for File robot_message.h
↰ Return to documentation for file (/tmp/ws/src/ur_client_library/include/ur_client_library/primary/robot_message.h
)
// 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_ROBOT_MESSAGE_H_INCLUDED
#define UR_CLIENT_LIBRARY_ROBOT_MESSAGE_H_INCLUDED
#include "ur_client_library/primary/primary_package.h"
namespace urcl
{
namespace primary_interface
{
enum class RobotMessagePackageType : uint8_t
{
ROBOT_MESSAGE_TEXT = 0,
ROBOT_MESSAGE_PROGRAM_LABEL = 1,
PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2,
ROBOT_MESSAGE_VERSION = 3,
ROBOT_MESSAGE_SAFETY_MODE = 5,
ROBOT_MESSAGE_ERROR_CODE = 6,
ROBOT_MESSAGE_KEY = 7,
ROBOT_MESSAGE_REQUEST_VALUE = 9,
ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
};
class RobotMessage : public PrimaryPackage
{
public:
RobotMessage(const uint64_t timestamp, const uint8_t source) : timestamp_(timestamp), source_(source)
{
}
virtual ~RobotMessage() = default;
virtual bool parseWith(comm::BinParser& bp);
virtual bool consumeWith(AbstractPrimaryConsumer& consumer);
virtual std::string toString() const;
uint64_t timestamp_;
uint8_t source_;
RobotMessagePackageType message_type_;
};
} // namespace primary_interface
} // namespace urcl
#endif /* UR_CLIENT_LIBRARY_ROBOT_MESSAGE_H_INCLUDED */