Class RTDEParser

• Defined in File rtde_parser.h

Inheritance Relationships

Base Type

• public urcl::comm::Parser< RTDEPackage > (Template Class Parser)

Class Documentation

class RTDEParser : public urcl::comm::Parser<RTDEPackage>

The RTDE specific parser. Interprets a given byte stream as serialized RTDE packages and parses it accordingly.

Public Functions

RTDEParser() = delete

inline RTDEParser(const std::vector<std::string> &recipe)

Creates a new RTDEParser object, registering the used recipe.

Parameters:

recipe – The recipe used in RTDE data communication

virtual ~RTDEParser() = default

bool parse(comm::BinParser &bp, std::unique_ptr<RTDEPackage> &result) override

Uses the given BinParser to fill single package object from the contained serialization.

Parameters:

• bp – A BinParser holding a serialized RTDE package

• result – A pointer to the created RTDE package object. Ideally, the passed result is a pre-allocated package of the type expected to be read. For example, when RTDE communication has been setup it enters the data communication phase, where the expected package is a DataPackage. If the package content inside the bp object being doesn’t match the result package’s type or if the result is a nullptr, a new package will be allocated.

Returns:

True, if the byte stream could successfully be parsed as an RTDE package, false otherwise

bool parse(comm::BinParser &bp, std::vector<std::unique_ptr<RTDEPackage>> &results) override

Uses the given BinParser to create package objects from the contained serialization.

Parameters:

• bp – A BinParser holding one or more serialized RTDE packages

• results – A vector of pointers to created RTDE package objects

Returns:

True, if the byte stream could successfully be parsed as RTDE packages, false otherwise

inline void setProtocolVersion(uint16_t protocol_version)

inline uint16_t getProtocolVersion() const