Program Listing for File control_package_setup_outputs.h
↰ Return to documentation for file (/tmp/ws/src/ur_client_library/include/ur_client_library/rtde/control_package_setup_outputs.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_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