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Add version detection #81

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merged 9 commits into from
Feb 19, 2020
Merged

Add version detection #81

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02bf665
Updated wrapper protocol with RobotWare version enum
jontje Feb 18, 2020
6f3a9ba
Updated wrapper protocol with EGM version enum
jontje Feb 18, 2020
764d77e
Updated wrapper protocol with RW and EGM version fields
jontje Feb 18, 2020
a3a3178
Implemented detection of RW and EGM versions
jontje Feb 18, 2020
491e695
Renamed latest RobotWare version indicator in the wrapper protocol
jontje Feb 19, 2020
03f1444
Updated version detection with new enum name
jontje Feb 19, 2020
0314fb7
Added a clarification comment to the version detection method
jontje Feb 19, 2020
20f4692
Update include/abb_libegm/egm_base_interface.h
jontje Feb 19, 2020
ae7fb59
Added comments to clarify the version detection
jontje Feb 19, 2020
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7 changes: 7 additions & 0 deletions include/abb_libegm/egm_base_interface.h
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Expand Up @@ -196,6 +196,13 @@ class EGMBaseInterface : public AbstractUDPServerInterface
bool statesOk() const;

private:
/**
* \brief Detect RobotWare and EGM protocol versions from a received EGM message.
*
* Note: Only a rough version detection is possible based on if certain fields are present or not.
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*/
void detectRWAndEGMVersions();

/**
* \brief Estimate the sample time.
*
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17 changes: 17 additions & 0 deletions proto/egm_wrapper.proto
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Expand Up @@ -25,9 +25,26 @@ message Header
DATA = 1; // Message contains data sent by the robot controller.
}

enum RWVersion
{
RW_UNKNOWN = 0;
RW_6_10_AND_NEWER = 1;
RW_BETWEEN_6_AND_6_06_03 = 2;
RW_BETWEEN_6_07_AND_6_09_02 = 3;
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}

enum EGMVersion
{
EGM_UNKNOWN = 0;
EGM_1_0 = 1;
EGM_1_1 = 2;
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}

optional uint32 sequence_number = 1; // Sequence number (to be able to detect lost messages).
optional uint32 time_stamp = 2; // Time stamp in milliseconds.
optional MessageType message_type = 3 [default = UNDEFINED];
optional RWVersion rw_version = 4 [default = RW_UNKNOWN];
optional EGMVersion egm_version = 5 [default = EGM_UNKNOWN];
}

// Note: Status of the robot controller, and the active EGM motion.
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31 changes: 31 additions & 0 deletions src/egm_base_interface.cpp
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Expand Up @@ -84,6 +84,8 @@ bool EGMBaseInterface::InputContainer::extractParsedInformation(const RobotAxes&
{
bool success = false;

detectRWAndEGMVersions();

if (has_new_data_ &&
parse(current_.mutable_header(), egm_robot_.header()) &&
parse(current_.mutable_feedback(), egm_robot_.feedback(), axes) &&
Expand Down Expand Up @@ -121,6 +123,35 @@ bool EGMBaseInterface::InputContainer::statesOk() const
* Auxiliary methods
*/

void EGMBaseInterface::InputContainer::detectRWAndEGMVersions()
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{
if(has_new_data_)
{
if(egm_robot_.feedback().has_time())
{
if(egm_robot_.has_utilizationrate())
{
current_.mutable_header()->set_rw_version(wrapper::Header_RWVersion_RW_6_10_AND_NEWER);
}
else
{
current_.mutable_header()->set_rw_version(wrapper::Header_RWVersion_RW_BETWEEN_6_07_AND_6_09_02);
}
current_.mutable_header()->set_egm_version(wrapper::Header_EGMVersion_EGM_1_1);
}
else
{
current_.mutable_header()->set_rw_version(wrapper::Header_RWVersion_RW_BETWEEN_6_AND_6_06_03);
current_.mutable_header()->set_egm_version(wrapper::Header_EGMVersion_EGM_1_0);
}
}
else
{
current_.mutable_header()->set_rw_version(wrapper::Header_RWVersion_RW_UNKNOWN);
current_.mutable_header()->set_egm_version(wrapper::Header_EGMVersion_EGM_UNKNOWN);
}
}

double EGMBaseInterface::InputContainer::estimateSampleTime()
{
double estimate = 0.0;
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