Add function to check / specify version requirements for a script command

Author: urfeex

include/ur_client_library/control/script_command_interface.h

@@ -31,6 +31,7 @@
 
 #include "ur_client_library/control/reverse_interface.h"
 #include "ur_client_library/ur/tool_communication.h"
+#include "ur_client_library/ur/version_information.h"
 
 namespace urcl
 {
@@ -235,6 +236,25 @@ class ScriptCommandInterface : public ReverseInterface
     SET_MAX_JOINT_TORQUES = 9,      ///< Set max joint torques
   };
 
+  /*!
+   * \brief Checks if the robot version is higher than the minimum required version for Polyscope 5
+   * or Polyscope X.
+   *
+   * If the robot version is lower than the minimum required version, this function
+   * will log a warning message.
+   * In case of a PolyScope 5 robot, the robot's software version will be checked against \p
+   * min_polyscope5, and in case of a PolyScope X robot, it will be checked against \p
+   * min_polyscopeX.
+   *
+   * \param min_polyscope5 Minimum required version for PolyScope 5
+   * \param min_polyscopeX Minimum required version for PolyScope X
+   * \param command_name Name of the command being checked, used for logging
+   *
+   * \returns True if the robot version is higher than the versions provided, false otherwise.
+   */
+  bool robotVersionSupportsCommandOrWarn(const VersionInformation& min_polyscope5,
+                                         const VersionInformation& min_polyscopeX, const std::string& command_name);
+
   bool client_connected_;
   static const int MAX_MESSAGE_LENGTH = 28;
 

src/control/script_command_interface.cpp

@@ -356,6 +356,21 @@ void ScriptCommandInterface::messageCallback(const socket_t filedescriptor, char
                   nbytesrecv);
   }
 }
+bool ScriptCommandInterface::robotVersionSupportsCommandOrWarn(const VersionInformation& min_polyscope5,
+                                                               const VersionInformation& min_polyscopeX,
+                                                               const std::string& command_name)
+{
+  if (robot_software_version_ < min_polyscope5 ||
+      (robot_software_version_.major > 5 && robot_software_version_ < min_polyscopeX))
+  {
+    URCL_LOG_WARN("%s is only available for robots with PolyScope %s / %s or "
+                  "later. This robot's version is %s. This command will have no effect.",
+                  command_name.c_str(), min_polyscope5.toString().c_str(), min_polyscopeX.toString().c_str(),
+                  robot_software_version_.toString().c_str());
+    return false;
+  }
+  return true;
+}
 
 }  // namespace control
-}  // namespace urcl
+}  // namespace urcl