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Changes for use in a UR arm with 3.2+ firmware #4

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Changes for use in a UR arm with 3.2+ firmware #4

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24 changes: 22 additions & 2 deletions ur_driver/src/ur_driver/deserialize.py
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Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,8 @@ def unpack(buf):
return RobotModeData_V18.unpack(buf)
elif plen == 38:
return RobotModeData_V30.unpack(buf)
elif plen == 46:
return RobotModeData_V32.unpack(buf)
else:
print "RobotModeData has wrong length: " + str(plen)
return rmd
Expand All @@ -121,7 +123,7 @@ def unpack(buf):
rmd.speed_fraction) = struct.unpack_from("!IBQ???????Bd", buf)
return rmd

#this parses RobotModeData for versions >=3.0 (i.e. 3.0)
#this parses RobotModeData for versions >=3.0 (i.e. 3.0, 3.1)
class RobotModeData_V30(object):
__slots__ = ['timestamp', 'robot_connected', 'real_robot_enabled',
'power_on_robot', 'emergency_stopped',
Expand All @@ -138,6 +140,24 @@ def unpack(buf):
rmd.target_speed_fraction, rmd.speed_scaling) = struct.unpack_from("!IBQ???????BBdd", buf)
return rmd

#this parses RobotModeData for versions >=3.2 (i.e. 3.2)
class RobotModeData_V32(object):
__slots__ = ['timestamp', 'robot_connected', 'real_robot_enabled',
'power_on_robot', 'emergency_stopped',
'security_stopped', 'program_running', 'program_paused',
'robot_mode', 'control_mode', 'target_speed_fraction',
'speed_scaling', 'targetSpeedFractionLimit']
@staticmethod
def unpack(buf):
rmd = RobotModeData_V32()
(_, _,
rmd.timestamp, rmd.robot_connected, rmd.real_robot_enabled,
rmd.power_on_robot, rmd.emergency_stopped, rmd.security_stopped,
rmd.program_running, rmd.program_paused, rmd.robot_mode, rmd.control_mode,
rmd.target_speed_fraction, rmd.speed_scaling,
rmd.targetSpeedFractionLimit) = struct.unpack_from("!IBQ???????BBddd", buf)
return rmd

#this parses JointData for all versions (i.e. 1.6, 1.7, 1.8, 3.0)
class JointData(object):
__slots__ = ['q_actual', 'q_target', 'qd_actual',
Expand Down Expand Up @@ -302,7 +322,7 @@ def unpack(buf):
(plen, ptype) = struct.unpack_from("!IB", buf)
if plen == 10:
return AdditionalInfoOld.unpack(buf)
elif plen == 7:
elif plen == 7 or plen == 8:
return AdditionalInfoNew.unpack(buf)
else:
print "AdditionalInfo has wrong length: " + str(plen)
Expand Down