protocol.hpp File Reference

#include <array>
#include <cstdint>
#include <limits>
#include <string>
#include <vector>
#include "rclcpp/time.hpp"
#include "staubli_robot_driver/types.hpp"

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Classes
struct	staubli_robot_driver::FrameHeader
	Frame header structure. More...
class	staubli_robot_driver::Message
	Generic message structure. More...

Namespaces
namespace	staubli_robot_driver

Variables
constexpr uint16_t	staubli_robot_driver::MAGIC_NUMBER = 0xABCD
	Magic number to identify the protocol.
constexpr uint8_t	staubli_robot_driver::PROTOCOL_VERSION = 1
	Protocol version.
constexpr uint16_t	staubli_robot_driver::DEFAULT_CONTROL_PORT = 8080
	Default port for the control socket.
constexpr uint16_t	staubli_robot_driver::DEFAULT_DIAGNOSTICS_PORT = 8081
	Default port for the diagnostics socket.
constexpr size_t	staubli_robot_driver::MAX_FRAME_SEQUENCE_NUMBER = std::numeric_limits<uint16_t>::max()
	Maximal sequence number before wrap-around.