The DataPackage class handles communication in the form of RTDE data packages both to and from the robot. It contains functionality to parse and serialize packages for arbitrary recipes. More...

#include <data_package.h>

Inheritance diagram for urcl::rtde_interface::DataPackage:

[legend]

Classes
struct	ParseVisitor

struct	SerializeVisitor

struct	SizeVisitor

struct	StringVisitor

Public Types
using	_rtde_type_variant = boost::variant< bool, uint8_t, uint32_t, uint64_t, int32_t, double, vector3d_t, vector6d_t, vector6int32_t, vector6uint32_t, std::string >

Public Types inherited from urcl::comm::URPackage< PackageHeader >
using	HeaderType = PackageHeader

Public Member Functions
	DataPackage ()=delete

	DataPackage (const DataPackage &other)

	DataPackage (const std::vector< std::string > &recipe)
	Creates a new DataPackage object, based on a given recipe. More...

template<typename T >
bool	getData (const std::string &name, T &val)
	Get a data field from the DataPackage. More...

template<typename T , size_t N>
bool	getData (const std::string &name, std::bitset< N > &val)
	Get a data field from the DataPackage as bitset. More...

void	initEmpty ()
	Initializes to contained list with empty values based on the recipe. More...

virtual bool	parseWith (comm::BinParser &bp)
	Sets the attributes of the package by parsing a serialized representation of the package. More...

size_t	serializePackage (uint8_t *buffer)
	Serializes the package. More...

template<typename T >
bool	setData (const std::string &name, T &val)
	Set a data field in the DataPackage. More...

void	setRecipeID (const uint8_t &recipe_id)
	Setter of the recipe id value used to identify the used recipe to the robot. More...

virtual std::string	toString () const
	Produces a human readable representation of the package object. More...

virtual	~DataPackage ()=default

Public Member Functions inherited from urcl::rtde_interface::RTDEPackage
	RTDEPackage ()=delete
	Creates a new RTDEPackage object. More...

	RTDEPackage (const PackageType type)

virtual	~RTDEPackage ()=default

Public Member Functions inherited from urcl::comm::URPackage< PackageHeader >
	URPackage ()=default
	Creates a new URPackage object. More...

virtual	~URPackage ()=default

Private Attributes
std::unordered_map< std::string, _rtde_type_variant >	data_

std::vector< std::string >	recipe_

uint8_t	recipe_id_

Static Private Attributes
static std::unordered_map< std::string, _rtde_type_variant >	g_type_list

Additional Inherited Members
Protected Attributes inherited from urcl::rtde_interface::RTDEPackage
std::unique_ptr< uint8_t >	buffer_

size_t	buffer_length_

PackageType	type_

Detailed Description

The DataPackage class handles communication in the form of RTDE data packages both to and from the robot. It contains functionality to parse and serialize packages for arbitrary recipes.

Definition at line 59 of file data_package.h.

Member Typedef Documentation

using urcl::rtde_interface::DataPackage::_rtde_type_variant = boost::variant<bool, uint8_t, uint32_t, uint64_t, int32_t, double, vector3d_t, vector6d_t, vector6int32_t, vector6uint32_t, std::string>

Definition at line 63 of file data_package.h.

Constructor & Destructor Documentation

urcl::rtde_interface::DataPackage::DataPackage ( )

delete

urcl::rtde_interface::DataPackage::DataPackage ( const DataPackage & other )

inline

Definition at line 67 of file data_package.h.

urcl::rtde_interface::DataPackage::DataPackage ( const std::vector< std::string > & recipe )

inline

Creates a new DataPackage object, based on a given recipe.

Parameters

recipe The used recipe

Definition at line 77 of file data_package.h.

virtual urcl::rtde_interface::DataPackage::~DataPackage ( )

virtualdefault

Member Function Documentation

template<typename T >

bool urcl::rtde_interface::DataPackage::getData	(	const std::string &	name,
		T &	val
	)

inline

Get a data field from the DataPackage.

The data package contains a lot of different data fields, depending on the recipe.

Parameters

name	The string identifier for the data field as used in the documentation.
val	Target variable. Make sure, it's the correct type.

Exceptions

boost::bad_get if the type under given name does not match the template type T.

Returns: True on success, false if the field cannot be found inside the package.

Definition at line 124 of file data_package.h.

template<typename T , size_t N>

bool urcl::rtde_interface::DataPackage::getData	(	const std::string &	name,
		std::bitset< N > &	val
	)

inline

Get a data field from the DataPackage as bitset.

The data package contains a lot of different data fields, depending on the recipe.

Parameters

name	The string identifier for the data field as used in the documentation.
val	Target variable. Make sure, it's the correct type.

Exceptions

boost::bad_get if the type under given name does not match the template type T.

Returns: True on success, false if the field cannot be found inside the package.

Definition at line 149 of file data_package.h.

void urcl::rtde_interface::DataPackage::initEmpty ( )

Initializes to contained list with empty values based on the recipe.

Definition at line 557 of file data_package.cpp.

bool urcl::rtde_interface::DataPackage::parseWith ( comm::BinParser & bp )

virtual

Sets the attributes of the package by parsing a serialized representation of the package.

Parameters

bp	A parser containing a serialized version of the package

Returns: True, if the package was parsed successfully, false otherwise

Reimplemented from urcl::rtde_interface::RTDEPackage.

Definition at line 569 of file data_package.cpp.

size_t urcl::rtde_interface::DataPackage::serializePackage ( uint8_t * buffer )

Serializes the package.

Parameters

buffer Buffer to fill with the serialization

Returns: The total size of the serialized package

Definition at line 600 of file data_package.cpp.

template<typename T >

bool urcl::rtde_interface::DataPackage::setData	(	const std::string &	name,
		T &	val
	)

inline

Set a data field in the DataPackage.

The data package contains a lot of different data fields, depending on the recipe.

Parameters

name	The string identifier for the data field as used in the documentation.
val	Value to set. Make sure, it's the correct type.

Returns: True on success, false if the field cannot be found inside the package.

Definition at line 175 of file data_package.h.

void urcl::rtde_interface::DataPackage::setRecipeID ( const uint8_t & recipe_id )

inline

Setter of the recipe id value used to identify the used recipe to the robot.

Parameters

recipe_id The new value

Definition at line 193 of file data_package.h.

std::string urcl::rtde_interface::DataPackage::toString ( ) const

virtual

Produces a human readable representation of the package object.

Returns: A string representing the object

Reimplemented from urcl::rtde_interface::RTDEPackage.

Definition at line 589 of file data_package.cpp.

Member Data Documentation

std::unordered_map<std::string, _rtde_type_variant> urcl::rtde_interface::DataPackage::data_

private

Definition at line 202 of file data_package.h.

std::unordered_map< std::string, DataPackage::_rtde_type_variant > urcl::rtde_interface::DataPackage::g_type_list

staticprivate

Definition at line 200 of file data_package.h.

std::vector<std::string> urcl::rtde_interface::DataPackage::recipe_

private

Definition at line 203 of file data_package.h.

uint8_t urcl::rtde_interface::DataPackage::recipe_id_

private

Definition at line 201 of file data_package.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation