robot_message.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_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)
  {
  }
  RobotMessage(const uint64_t timestamp, const int8_t source, const RobotMessagePackageType message_type)
    : timestamp_(timestamp), source_(source), message_type_(message_type)
  {
  }
  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 */