staubli_robot_driver::Message Class Reference

Generic message structure. More...

#include <protocol.hpp>

Inheritance diagram for staubli_robot_driver::Message:

Collaboration diagram for staubli_robot_driver::Message:

Public Member Functions
	Message ()=default
virtual	~Message ()=default
virtual size_t	get_serialized_size () const =0
	Size of the entire message in bytes.
virtual bool	serialize (uint8_t *buffer, size_t buffer_size) const =0
	Serialize message to bytes.
virtual bool	deserialize (uint8_t *buffer, size_t buffer_size)=0
	Deserialize bytes to message.
bool	serialize (std::vector< uint8_t > &data) const
	Serialize message to vector.
bool	deserialize (std::vector< uint8_t > &data)
	Deserialize message from vector.

Public Attributes
FrameHeader	header
	Message header.
rclcpp::Time	reception_timestamp = rclcpp::Time(0)
	Timestamp of the message reception (local clock)

Detailed Description

Generic message structure.

This is a base class for all messages in the protocol.

Message format:

---

| | | | Header | Payload | | (8 bytes) | (variable size) | |____________|_________________|

Header format (8 bytes):

• Magic number (2 bytes, uint16_t)
• Protocol version (1 bytes, uint8_t)
• Message type (1 bytes, uint8_t)
  • ROBOT_STATE = 0x01
  • ROBOT_COMMAND = 0x02
  • DIAGNOSTIC_DATA = 0x03
• Sequence number (2 bytes, uint16_t)
• Payload size (2 bytes, uint16_t)

Constructor & Destructor Documentation

Message()

staubli_robot_driver::Message::Message ( )

default

~Message()

virtual staubli_robot_driver::Message::~Message ( )

virtualdefault

Member Function Documentation

get_serialized_size()

virtual size_t staubli_robot_driver::Message::get_serialized_size ( ) const

pure virtual

Size of the entire message in bytes.

Implemented in staubli_robot_driver::RobotStateMessage, staubli_robot_driver::RobotCommandMessage, and staubli_robot_driver::DiagnosticDataMessage.

serialize() [1/2]

virtual bool staubli_robot_driver::Message::serialize ( uint8_t *  buffer, size_t  buffer_size  ) const

pure virtual

Serialize message to bytes.

Implemented in staubli_robot_driver::RobotStateMessage, staubli_robot_driver::RobotCommandMessage, staubli_robot_driver::DiagnosticDataMessage, staubli_robot_driver::RobotStateMessage, staubli_robot_driver::RobotCommandMessage, and staubli_robot_driver::DiagnosticDataMessage.

deserialize() [1/2]

virtual bool staubli_robot_driver::Message::deserialize ( uint8_t *  buffer, size_t  buffer_size  )

pure virtual

Deserialize bytes to message.

Implemented in staubli_robot_driver::RobotStateMessage, staubli_robot_driver::RobotCommandMessage, staubli_robot_driver::DiagnosticDataMessage, staubli_robot_driver::RobotStateMessage, staubli_robot_driver::RobotCommandMessage, and staubli_robot_driver::DiagnosticDataMessage.

serialize() [2/2]

bool staubli_robot_driver::Message::serialize

(

std::vector< uint8_t > &

data

)

const

Serialize message to vector.

Warning

This method modifies the input vector by resizing it to the size of the message.

Parameters

data	Output data buffer. Capacity must be at least message.get_serialized_size().

Returns

true if serialization was successful, false otherwise

deserialize() [2/2]

bool staubli_robot_driver::Message::deserialize

(

std::vector< uint8_t > &

data

)

Deserialize message from vector.

Warning

The input vector must be at least the size of the message.

Parameters

data	Input data buffer

Returns

true if deserialization was successful, false otherwise

Member Data Documentation

header

FrameHeader staubli_robot_driver::Message::header

Message header.

reception_timestamp

rclcpp::Time staubli_robot_driver::Message::reception_timestamp = rclcpp::Time(0)

Timestamp of the message reception (local clock)

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

• /home/runner/work/staubli_driver_ros2/staubli_driver_ros2/staubli_robot_driver/include/staubli_robot_driver/communication/protocol.hpp