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[primary interface] Add KeyMessage parsing (UniversalRobots#428)
Add KeyMessage to primary interface
1 parent 6a2aa33 commit bb8235d

5 files changed

Lines changed: 237 additions & 2 deletions

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‎CMakeLists.txt‎

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@@ -26,9 +26,10 @@ add_library(urcl
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src/primary/primary_package.cpp
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src/primary/primary_client.cpp
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src/primary/robot_message.cpp
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src/primary/robot_state.cpp
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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_message/key_message.cpp
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src/primary/robot_message/version_message.cpp
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src/primary/robot_state.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/primary/robot_state/configuration_data.cpp

‎include/ur_client_library/primary/primary_parser.h‎

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@@ -24,6 +24,7 @@
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#include "ur_client_library/comm/pipeline.h"
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#include "ur_client_library/comm/parser.h"
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#include "ur_client_library/primary/package_header.h"
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#include "ur_client_library/primary/robot_message/key_message.h"
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#include "ur_client_library/primary/robot_state.h"
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#include "ur_client_library/primary/robot_message.h"
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#include "ur_client_library/primary/robot_state/kinematics_info.h"
@@ -181,6 +182,8 @@ class PrimaryParser : public comm::Parser<PrimaryPackage>
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return new VersionMessage(timestamp, source);
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case RobotMessagePackageType::ROBOT_MESSAGE_ERROR_CODE:
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return new ErrorCodeMessage(timestamp, source);
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case RobotMessagePackageType::ROBOT_MESSAGE_KEY:
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return new KeyMessage(timestamp, source);
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default:
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return new RobotMessage(timestamp, source);
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}

‎include/ur_client_library/primary/robot_message/key_message.h‎

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@@ -0,0 +1,105 @@
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// -- BEGIN LICENSE BLOCK ----------------------------------------------
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// Copyright 2026 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
24+
// 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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//----------------------------------------------------------------------
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/*!\file
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*
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* \author Felix Exner feex@universal-robots.com
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* \date 2026-02-02
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*
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*/
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//----------------------------------------------------------------------
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#ifndef UR_CLIENT_LIBRARY_PRIMARY_KEY_MESSAGE_H_INCLUDED
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#define UR_CLIENT_LIBRARY_PRIMARY_KEY_MESSAGE_H_INCLUDED
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#include "ur_client_library/primary/robot_message.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 Representation of the primary interface's KeyMessage
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*/
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class KeyMessage : public RobotMessage
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{
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public:
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KeyMessage() = delete;
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/*!
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* \brief Creates a new KeyMessage object to be filled from a package.
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*
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* \param timestamp Timestamp of the package
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* \param source The package's source
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*/
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KeyMessage(uint64_t timestamp, int8_t source)
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: RobotMessage(timestamp, source, RobotMessagePackageType::ROBOT_MESSAGE_KEY)
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{
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}
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KeyMessage(const KeyMessage& pkg);
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virtual ~KeyMessage() = 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 text 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 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;
95+
96+
int32_t message_code_;
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int32_t message_argument_;
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uint8_t title_length_;
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std::string title_;
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std::string text_;
101+
};
102+
} // namespace primary_interface
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} // namespace urcl
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#endif // ifndef UR_CLIENT_LIBRARY_PRIMARY_TEXT_MESSAGE_H_INCLUDED

‎src/primary/robot_message/key_message.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,84 @@
1+
// -- BEGIN LICENSE BLOCK ----------------------------------------------
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// Copyright 2026 Universal Robots A/S
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//
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// Redistribution and use in source and binary forms, with or without
5+
// modification, are permitted provided that the following conditions are met:
6+
//
7+
// * Redistributions of source code must retain the above copyright
8+
// notice, this list of conditions and the following disclaimer.
9+
//
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// * Redistributions in binary form must reproduce the above copyright
11+
// notice, this list of conditions and the following disclaimer in the
12+
// documentation and/or other materials provided with the distribution.
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//
14+
// * 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
16+
// this software without specific prior written permission.
17+
//
18+
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
19+
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20+
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
21+
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
22+
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
23+
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
24+
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
25+
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
26+
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
27+
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
28+
// POSSIBILITY OF SUCH DAMAGE.
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// -- END LICENSE BLOCK ------------------------------------------------
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//----------------------------------------------------------------------
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/*!\file
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*
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* \author Felix Exner feex@universal-robots.com
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* \date 2026-02-02
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*
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*/
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//----------------------------------------------------------------------
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40+
#include "ur_client_library/primary/robot_message/key_message.h"
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#include "ur_client_library/primary/abstract_primary_consumer.h"
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43+
namespace urcl
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{
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namespace primary_interface
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{
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KeyMessage::KeyMessage(const KeyMessage& pkg)
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: RobotMessage(pkg.timestamp_, pkg.source_, RobotMessagePackageType::ROBOT_MESSAGE_KEY)
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{
50+
message_code_ = pkg.message_code_;
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message_argument_ = pkg.message_argument_;
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title_length_ = pkg.title_length_;
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title_ = pkg.title_;
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text_ = pkg.text_;
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}
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bool KeyMessage::parseWith(comm::BinParser& bp)
58+
{
59+
bp.parse(message_code_);
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bp.parse(message_argument_);
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bp.parse(title_length_);
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bp.parse(title_, title_length_);
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bp.parseRemainder(text_);
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return true; // not really possible to check dynamic size packets
66+
}
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bool KeyMessage::consumeWith(AbstractPrimaryConsumer& consumer)
69+
{
70+
return consumer.consume(*this);
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}
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std::string KeyMessage::toString() const
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{
75+
std::stringstream ss;
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ss << "KeyMessage" << std::endl;
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ss << "Message code: " << message_code_ << std::endl;
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ss << "Message argument: " << message_argument_ << std::endl;
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ss << "Title: " << title_ << std::endl;
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ss << "Text: " << text_;
81+
return ss.str();
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}
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} // namespace primary_interface
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} // namespace urcl

‎tests/test_primary_parser.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -31,6 +31,7 @@
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#include <ur_client_library/comm/bin_parser.h>
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#include <ur_client_library/primary/primary_parser.h>
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#include "ur_client_library/primary/robot_message/key_message.h"
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3536
using namespace urcl;
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@@ -145,6 +146,22 @@ const unsigned char VERSION_MESSAGE[] = {
145146
0x33, 0x33
146147
};
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149+
const unsigned char KEY_MESSAGE[] = {
150+
// message size
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0x00, 0x00, 0x00, 0x32,
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// message type
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0x14,
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// timestamp
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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// source
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0xfe,
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// robot_message_type
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0x07,
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// payload
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0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x13, 0x50, 0x52, 0x4f, 0x47, 0x52, 0x41, 0x4d, 0x5f, 0x58, 0x58, 0x58, 0x5f,
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0x53, 0x54, 0x41, 0x52, 0x54, 0x45, 0x44, 0x74, 0x65, 0x78, 0x74, 0x6d, 0x73, 0x67
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};
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TEST(primary_parser, parse_calibration_data)
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{
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unsigned char raw_data[sizeof(ROBOT_STATE)];
@@ -194,6 +211,31 @@ TEST(primary_parser, parse_version_message)
194211
}
195212
}
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TEST(primary_parser, parse_key_message)
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{
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unsigned char raw_data[sizeof(KEY_MESSAGE)];
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memcpy(raw_data, KEY_MESSAGE, sizeof(KEY_MESSAGE));
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comm::BinParser bp(raw_data, sizeof(raw_data));
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std::vector<std::unique_ptr<primary_interface::PrimaryPackage>> products;
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primary_interface::PrimaryParser parser;
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ASSERT_TRUE(parser.parse(bp, products));
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ASSERT_EQ(products.size(), 1);
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if (auto data = dynamic_cast<primary_interface::KeyMessage*>(products[0].get()))
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{
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EXPECT_EQ(data->message_code_, 0);
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EXPECT_EQ(data->message_argument_, 0);
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EXPECT_EQ(data->title_length_, 19);
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EXPECT_EQ(data->title_, "PROGRAM_XXX_STARTED");
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EXPECT_EQ(data->text_, "textmsg");
232+
}
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else
234+
{
235+
FAIL() << "Parsed package is not of type KeyMessage";
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}
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}
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int main(int argc, char* argv[])
198240
{
199241
::testing::InitGoogleTest(&argc, argv);

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