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include
ur_client_library
primary
robot_message.h
Go to the documentation of this file.
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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
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// -- BEGIN LICENSE BLOCK ----------------------------------------------
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// Copyright 2019 FZI Forschungszentrum Informatik
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// -- END LICENSE BLOCK ------------------------------------------------
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//----------------------------------------------------------------------
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//----------------------------------------------------------------------
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#ifndef UR_CLIENT_LIBRARY_ROBOT_MESSAGE_H_INCLUDED
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#define UR_CLIENT_LIBRARY_ROBOT_MESSAGE_H_INCLUDED
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#include "
ur_client_library/primary/primary_package.h
"
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namespace
urcl
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{
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namespace
primary_interface
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{
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enum class
RobotMessagePackageType
: uint8_t
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{
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ROBOT_MESSAGE_TEXT
= 0,
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ROBOT_MESSAGE_PROGRAM_LABEL
= 1,
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PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE
= 2,
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ROBOT_MESSAGE_VERSION
= 3,
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ROBOT_MESSAGE_SAFETY_MODE
= 5,
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ROBOT_MESSAGE_ERROR_CODE
= 6,
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ROBOT_MESSAGE_KEY
= 7,
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ROBOT_MESSAGE_REQUEST_VALUE
= 9,
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ROBOT_MESSAGE_RUNTIME_EXCEPTION
= 10
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};
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class
RobotMessage
:
public
PrimaryPackage
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{
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public
:
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RobotMessage
(
const
uint64_t timestamp,
const
uint8_t source) : timestamp_(timestamp), source_(source)
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{
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}
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virtual
~
RobotMessage
() =
default
;
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virtual
bool
parseWith(
comm::BinParser
& bp);
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virtual
bool
consumeWith(
AbstractPrimaryConsumer
& consumer);
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virtual
std::string toString()
const
;
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uint64_t
timestamp_
;
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uint8_t
source_
;
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RobotMessagePackageType
message_type_
;
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};
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}
// namespace primary_interface
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}
// namespace urcl
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#endif
/* UR_CLIENT_LIBRARY_ROBOT_MESSAGE_H_INCLUDED */
urcl::primary_interface::RobotMessagePackageType
RobotMessagePackageType
Possible RobotMessage types.
Definition:
robot_message.h:40
urcl::primary_interface::RobotMessage::timestamp_
uint64_t timestamp_
Definition:
robot_message.h:96
urcl::primary_interface::AbstractPrimaryConsumer
Base consumer for primary packages.
Definition:
abstract_primary_consumer.h:46
urcl::comm::BinParser
The BinParser class handles a byte buffer and functionality to iteratively parse the content...
Definition:
bin_parser.h:44
urcl::primary_interface::RobotMessage::source_
uint8_t source_
Definition:
robot_message.h:97
urcl::primary_interface::RobotMessagePackageType::ROBOT_MESSAGE_KEY
urcl::primary_interface::RobotMessage::message_type_
RobotMessagePackageType message_type_
Definition:
robot_message.h:98
urcl::primary_interface::RobotMessagePackageType::ROBOT_MESSAGE_PROGRAM_LABEL
urcl::primary_interface::PrimaryPackage
The PrimaryPackage is solely an abstraction level. It inherits form the URPackage and is also a paren...
Definition:
primary_package.h:45
urcl::primary_interface::RobotMessagePackageType::ROBOT_MESSAGE_TEXT
urcl::primary_interface::RobotMessage
The RobotMessage class is a parent class for the different received robot messages.
Definition:
robot_message.h:56
urcl::primary_interface::RobotMessagePackageType::ROBOT_MESSAGE_RUNTIME_EXCEPTION
urcl::primary_interface::RobotMessage::RobotMessage
RobotMessage(const uint64_t timestamp, const uint8_t source)
Creates a new RobotMessage object to be filled from a package.
Definition:
robot_message.h:65
urcl::primary_interface::RobotMessagePackageType::PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE
urcl::primary_interface::RobotMessagePackageType::ROBOT_MESSAGE_REQUEST_VALUE
urcl::primary_interface::RobotMessagePackageType::ROBOT_MESSAGE_SAFETY_MODE
urcl::primary_interface::RobotMessagePackageType::ROBOT_MESSAGE_ERROR_CODE
urcl
Definition:
bin_parser.h:36
primary_package.h
urcl::primary_interface::RobotMessagePackageType::ROBOT_MESSAGE_VERSION
ur_client_library
Author(s): Thomas Timm Andersen, Simon Rasmussen, Felix Exner, Lea Steffen, Tristan Schnell
autogenerated on Sun May 9 2021 02:16:26