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Add parsing support for RobotModeData
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4 files changed

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‎CMakeLists.txt‎

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@@ -28,6 +28,7 @@ add_library(urcl
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src/primary/robot_message/version_message.cpp
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src/primary/robot_message/error_code_message.cpp
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src/primary/robot_state/kinematics_info.cpp
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src/primary/robot_state/robot_mode_data.cpp
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src/rtde/control_package_pause.cpp
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src/rtde/control_package_setup_inputs.cpp
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src/rtde/control_package_setup_outputs.cpp

‎include/ur_client_library/primary/primary_parser.h‎

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#include "ur_client_library/primary/robot_state/kinematics_info.h"
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#include "ur_client_library/primary/robot_message/version_message.h"
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#include "ur_client_library/primary/robot_message/error_code_message.h"
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#include "ur_client_library/primary/robot_state/robot_mode_data.h"
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namespace urcl
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{
@@ -150,12 +151,12 @@ class PrimaryParser : public comm::Parser<PrimaryPackage>
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{
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switch (type)
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{
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/*case robot_state_type::ROBOT_MODE_DATA:
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// SharedRobotModeData* rmd = new SharedRobotModeData();
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case RobotStateType::ROBOT_MODE_DATA:
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return new RobotModeData(type);
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//return new rmd;
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case robot_state_type::MASTERBOARD_DATA:
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return new MBD;*/
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// return new rmd;
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// case robot_state_type::MASTERBOARD_DATA:
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// return new MBD;*/
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case RobotStateType::KINEMATICS_INFO:
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return new KinematicsInfo(type);
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default:

‎include/ur_client_library/primary/robot_state/robot_mode_data.h‎

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// -- BEGIN LICENSE BLOCK ----------------------------------------------
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// Copyright 2025 Universal Robots A/S
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// * Neither the name of the {copyright_holder} nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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// -- END LICENSE BLOCK ------------------------------------------------
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#ifndef UR_CLIENT_LIBRARY_ROBOT_MODE_DATA_H_INCLUDED
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#define UR_CLIENT_LIBRARY_ROBOT_MODE_DATA_H_INCLUDED
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#include <stdexcept>
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#include "ur_client_library/types.h"
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#include "ur_client_library/primary/robot_state.h"
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namespace urcl
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{
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namespace primary_interface
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{
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/*!
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* \brief This messages contains data about the mode of the robot.
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*/
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class RobotModeData : public RobotState
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{
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public:
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RobotModeData() = delete;
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/*!
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* \brief Creates a new RobotModeData object.
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*
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* \param type The type of RobotState message received
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*/
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RobotModeData(const RobotStateType type) : RobotState(type)
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{
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}
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/*!
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* \brief Creates a copy of a RobotModeData object.
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*
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* \param pkg The RobotModeData object to be copied
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*/
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RobotModeData(const RobotModeData& pkg);
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virtual ~RobotModeData() = default;
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/*!
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* \brief Sets the attributes of the package by parsing a serialized representation of the
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* package.
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*
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* \param bp A parser containing a serialized version of the package
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*
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* \returns True, if the package was parsed successfully, false otherwise
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*/
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virtual bool parseWith(comm::BinParser& bp);
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/*!
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* \brief Consume this specific package with a specific consumer.
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*
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* \param consumer Placeholder for the consumer calling this
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*
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* \returns true on success
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*/
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virtual bool consumeWith(AbstractPrimaryConsumer& consumer);
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/*!
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* \brief Produces a human readable representation of the package object.
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*
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* \returns A string representing the object
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*/
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virtual std::string toString() const;
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uint64_t timestamp_;
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bool is_real_robot_connected_;
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bool is_real_robot_enabled_;
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bool is_robot_power_on_;
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bool is_emergency_stopped_;
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bool is_protective_stopped_;
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bool is_program_running_;
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bool is_program_paused_;
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int8_t robot_mode_;
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uint8_t control_mode_;
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double target_speed_fraction_;
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double speed_scaling_;
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double target_speed_fraction_limit_;
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std::string reserved_;
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};
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} // namespace primary_interface
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} // namespace urcl
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#endif // ifndef UR_CLIENT_LIBRARY_ROBOT_MODE_DATA_H_INCLUDED

‎src/primary/robot_state/robot_mode_data.cpp‎

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// -- BEGIN LICENSE BLOCK ----------------------------------------------
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// Copyright 2025 Universal Robots A/S
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// * Neither the name of the {copyright_holder} nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
23+
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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// -- END LICENSE BLOCK ------------------------------------------------
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#include "ur_client_library/primary/robot_state/robot_mode_data.h"
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#include "ur_client_library/primary/abstract_primary_consumer.h"
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#include <iomanip>
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namespace urcl
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{
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namespace primary_interface
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{
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RobotModeData::RobotModeData(const RobotModeData& pkg) : RobotState(RobotStateType::ROBOT_MODE_DATA)
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{
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timestamp_ = pkg.timestamp_;
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is_real_robot_connected_ = pkg.is_real_robot_connected_;
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is_real_robot_enabled_ = pkg.is_real_robot_enabled_;
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is_robot_power_on_ = pkg.is_robot_power_on_;
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is_emergency_stopped_ = pkg.is_emergency_stopped_;
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is_protective_stopped_ = pkg.is_protective_stopped_;
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is_program_running_ = pkg.is_program_running_;
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is_program_paused_ = pkg.is_program_paused_;
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robot_mode_ = pkg.robot_mode_;
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control_mode_ = pkg.control_mode_;
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target_speed_fraction_ = pkg.target_speed_fraction_;
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speed_scaling_ = pkg.speed_scaling_;
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target_speed_fraction_limit_ = pkg.target_speed_fraction_limit_;
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reserved_ = pkg.reserved_;
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}
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bool RobotModeData::parseWith(comm::BinParser& bp)
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{
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bp.parse(timestamp_);
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bp.parse(is_real_robot_connected_);
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bp.parse(is_real_robot_enabled_);
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bp.parse(is_robot_power_on_);
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bp.parse(is_emergency_stopped_);
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bp.parse(is_protective_stopped_);
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bp.parse(is_program_running_);
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bp.parse(is_program_paused_);
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bp.parse(robot_mode_);
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bp.parse(control_mode_);
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bp.parse(target_speed_fraction_);
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bp.parse(speed_scaling_);
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bp.parse(target_speed_fraction_limit_);
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bp.parseRemainder(reserved_);
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return true;
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}
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bool RobotModeData::consumeWith(AbstractPrimaryConsumer& consumer)
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{
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return consumer.consume(*this);
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}
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std::string RobotModeData::toString() const
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{
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std::stringstream os;
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os << "Timestamp: " << timestamp_ << std::endl;
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os << "Is real robot connected: " << is_real_robot_connected_ << std::endl;
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os << "Is real robot enabled: " << is_real_robot_enabled_ << std::endl;
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os << "Is robot power on: " << is_robot_power_on_ << std::endl;
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os << "Is emergency stopped: " << is_emergency_stopped_ << std::endl;
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os << "Is protective stopped: " << is_protective_stopped_ << std::endl;
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os << "Is program running: " << is_program_running_ << std::endl;
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os << "Is program paused: " << is_program_paused_ << std::endl;
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os << "Robot mode: " << unsigned(robot_mode_) << std::endl;
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os << "Control mode: " << unsigned(control_mode_) << std::endl;
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os << "Target speed fraction: " << target_speed_fraction_ << std::endl;
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os << "Speed scaling: " << speed_scaling_ << std::endl;
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os << "Target speed fraction limit: " << target_speed_fraction_limit_ << std::endl;
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os << "Reserved: ( " << reserved_.length() << ")";
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for (const char& c : reserved_)
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{
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os << std::hex << static_cast<int>(c) << ", ";
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}
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os << std::endl;
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return os.str();
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}
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} // namespace primary_interface
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} // namespace urcl

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