Add parsing masterboard data

CMakeLists.txt

@@ -38,6 +38,7 @@ add_library(urcl
     src/primary/robot_state/kinematics_info.cpp
     src/primary/robot_state/robot_mode_data.cpp
     src/primary/robot_state/configuration_data.cpp
+    src/primary/robot_state/masterboard_data.cpp
     src/rtde/control_package_pause.cpp
     src/rtde/control_package_setup_inputs.cpp
     src/rtde/control_package_setup_outputs.cpp
@@ -190,4 +191,4 @@ file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ros_package_pa
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ros_package_path.dsv DESTINATION share/${PROJECT_NAME}/hook)
 #### End iport ####
 
-install(DIRECTORY resources DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY resources DESTINATION share/${PROJECT_NAME})

include/ur_client_library/primary/abstract_primary_consumer.h

@@ -36,6 +36,7 @@
 #include "ur_client_library/primary/robot_state/kinematics_info.h"
 #include "ur_client_library/primary/robot_state/robot_mode_data.h"
 #include "ur_client_library/primary/robot_state/configuration_data.h"
+#include "ur_client_library/primary/robot_state/masterboard_data.h"
 #include "ur_client_library/primary/robot_message/safety_mode_message.h"
 
 namespace urcl
@@ -80,6 +81,7 @@ class AbstractPrimaryConsumer : public comm::IConsumer<PrimaryPackage>
   virtual bool consume(ErrorCodeMessage& pkg) = 0;
   virtual bool consume(RobotModeData& pkg) = 0;
   virtual bool consume(ConfigurationData& pkg) = 0;
+  virtual bool consume(MasterboardData& pkg) = 0;
   virtual bool consume(SafetyModeMessage& pkg) = 0;
 
 private:

include/ur_client_library/primary/primary_consumer.h

@@ -30,6 +30,7 @@
 
 #include "ur_client_library/primary/abstract_primary_consumer.h"
 #include "ur_client_library/primary/robot_state/robot_mode_data.h"
+#include "ur_client_library/primary/robot_state/masterboard_data.h"
 #include "ur_client_library/ur/datatypes.h"
 #include "ur_client_library/ur/version_information.h"
 
@@ -185,6 +186,20 @@ class PrimaryConsumer : public AbstractPrimaryConsumer
     return true;
   }
 
+  /*!
+   * \brief Handle a MasterboardData package
+   *
+   * \param pkg MasterboardData
+   *
+   * \returns True
+   */
+  virtual bool consume(MasterboardData& pkg) override
+  {
+    std::scoped_lock lock(masterboard_data_mutex_);
+    masterboard_data_ = std::make_shared<MasterboardData>(pkg);
+    return true;
+  }
+
   /*!
    * \brief Set callback function which will be triggered whenever error code messages are received
    *
@@ -267,6 +282,8 @@ class PrimaryConsumer : public AbstractPrimaryConsumer
   std::mutex configuration_data_mutex_;
   std::mutex safety_mode_mutex_;
   std::shared_ptr<SafetyModeMessage> safety_mode_;
+  std::mutex masterboard_data_mutex_;
+  std::shared_ptr<MasterboardData> masterboard_data_;
 };
 
 }  // namespace primary_interface

include/ur_client_library/primary/primary_parser.h

@@ -34,6 +34,7 @@
 #include "ur_client_library/primary/robot_message/error_code_message.h"
 #include "ur_client_library/primary/robot_state/robot_mode_data.h"
 #include "ur_client_library/primary/robot_state/configuration_data.h"
+#include "ur_client_library/primary/robot_state/masterboard_data.h"
 #include "ur_client_library/primary/robot_message/safety_mode_message.h"
 
 namespace urcl
@@ -209,10 +210,8 @@ class PrimaryParser : public comm::Parser<PrimaryPackage>
     {
       case RobotStateType::ROBOT_MODE_DATA:
         return new RobotModeData(type);
-
-        // return new rmd;
-      // case robot_state_type::MASTERBOARD_DATA:
-      // return new MBD;*/
+      case RobotStateType::MASTERBOARD_DATA:
+        return new MasterboardData(type);
       case RobotStateType::KINEMATICS_INFO:
         return new KinematicsInfo(type);
       case RobotStateType::CONFIGURATION_DATA:

include/ur_client_library/primary/robot_state/masterboard_data.h

@@ -0,0 +1,135 @@
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2026 Universal Robots A/S
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the {copyright_holder} nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+#ifndef UR_CLIENT_LIBRARY_MASTERBOARD_DATA_H_INCLUDED
+#define UR_CLIENT_LIBRARY_MASTERBOARD_DATA_H_INCLUDED
+
+#include <bitset>
+
+#include "ur_client_library/types.h"
+#include "ur_client_library/primary/robot_state.h"
+#include "ur_client_library/ur/datatypes.h"
+
+namespace urcl
+{
+namespace primary_interface
+{
+/*!
+ * \brief The MasterboardData class handles the masterboard data sub-package sent as part of the
+ * Robot State message on the primary UR interface.
+ *
+ * This package contains information about the control box IOs, analog inputs/outputs, voltages,
+ * currents, temperatures, the safety mode, as well as information about the optional IMMI
+ * interface. See the Universal Robots primary/secondary guide for details:
+ * https://docs.universal-robots.com/tutorials/communication-protocol-tutorials/primary-secondary-guide.html
+ */
+class MasterboardData : public RobotState
+{
+public:
+  MasterboardData() = delete;
+
+  /*!
+   * \brief Creates a new MasterboardData object.
+   *
+   * \param type The type of RobotState message received
+   */
+  MasterboardData(const RobotStateType type) : RobotState(type)
+  {
+  }
+
+  /*!
+   * \brief Creates a copy of a MasterboardData object.
+   *
+   * \param pkg The MasterboardData object to be copied
+   */
+  MasterboardData(const MasterboardData& pkg);
+
+  virtual ~MasterboardData() = default;
+
+  /*!
+   * \brief Sets the attributes of the package by parsing a serialized representation of the
+   * package.
+   *
+   * \param bp A parser containing a serialized version of the package
+   *
+   * \returns True, if the package was parsed successfully, false otherwise
+   */
+  virtual bool parseWith(comm::BinParser& bp);
+
+  /*!
+   * \brief Consume this specific package with a specific consumer.
+   *
+   * \param consumer Placeholder for the consumer calling this
+   *
+   * \returns true on success
+   */
+  virtual bool consumeWith(AbstractPrimaryConsumer& consumer);
+
+  /*!
+   * \brief Produces a human readable representation of the package object.
+   *
+   * \returns A string representing the object
+   */
+  virtual std::string toString() const;
+
+  std::bitset<32> digital_input_bits_;
+  std::bitset<32> digital_output_bits_;
+  uint8_t analog_input_range_0_;
+  uint8_t analog_input_range_1_;
+  double analog_input_0_;
+  double analog_input_1_;
+  char analog_output_domain_0_;
+  char analog_output_domain_1_;
+  double analog_output_0_;
+  double analog_output_1_;
+  float master_board_temperature_;
+  float robot_voltage_48v_;
+  float robot_current_;
+  float master_io_current_;
+  SafetyMode safety_mode_;
+  bool in_reduced_mode_;
+  bool immi_interface_installed_{ false };
+
+  // The following four fields are only valid if immi_interface_installed_ is true.
+  std::bitset<32> immi_input_bits_;
+  std::bitset<32> immi_output_bits_;
+  float immi_voltage_24v_{ 0.0f };
+  float immi_current_{ 0.0f };
+
+  uint32_t reserved_1_{ 0 };
+  uint8_t operational_mode_selector_input_{ 0 };
+  bool three_position_enabling_device_input_{ false };
+  uint8_t reserved_2_{ 0 };
+};
+
+}  // namespace primary_interface
+}  // namespace urcl
+
+#endif  // ifndef UR_CLIENT_LIBRARY_MASTERBOARD_DATA_H_INCLUDED

src/primary/robot_state/masterboard_data.cpp

@@ -0,0 +1,147 @@
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2025 Universal Robots A/S
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the {copyright_holder} nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+#include "ur_client_library/primary/robot_state/masterboard_data.h"
+#include "ur_client_library/primary/abstract_primary_consumer.h"
+
+#include <iomanip>
+#include <sstream>
+
+namespace urcl
+{
+namespace primary_interface
+{
+MasterboardData::MasterboardData(const MasterboardData& pkg) : RobotState(RobotStateType::MASTERBOARD_DATA)
+{
+  digital_input_bits_ = pkg.digital_input_bits_;
+  digital_output_bits_ = pkg.digital_output_bits_;
+  analog_input_range_0_ = pkg.analog_input_range_0_;
+  analog_input_range_1_ = pkg.analog_input_range_1_;
+  analog_input_0_ = pkg.analog_input_0_;
+  analog_input_1_ = pkg.analog_input_1_;
+  analog_output_domain_0_ = pkg.analog_output_domain_0_;
+  analog_output_domain_1_ = pkg.analog_output_domain_1_;
+  analog_output_0_ = pkg.analog_output_0_;
+  analog_output_1_ = pkg.analog_output_1_;
+  master_board_temperature_ = pkg.master_board_temperature_;
+  robot_voltage_48v_ = pkg.robot_voltage_48v_;
+  robot_current_ = pkg.robot_current_;
+  master_io_current_ = pkg.master_io_current_;
+  safety_mode_ = pkg.safety_mode_;
+  in_reduced_mode_ = pkg.in_reduced_mode_;
+  immi_interface_installed_ = pkg.immi_interface_installed_;
+  immi_input_bits_ = pkg.immi_input_bits_;
+  immi_output_bits_ = pkg.immi_output_bits_;
+  immi_voltage_24v_ = pkg.immi_voltage_24v_;
+  immi_current_ = pkg.immi_current_;
+  reserved_1_ = pkg.reserved_1_;
+  operational_mode_selector_input_ = pkg.operational_mode_selector_input_;
+  three_position_enabling_device_input_ = pkg.three_position_enabling_device_input_;
+  reserved_2_ = pkg.reserved_2_;
+}
+
+bool MasterboardData::parseWith(comm::BinParser& bp)
+{
+  bp.parse<uint32_t>(digital_input_bits_);
+  bp.parse<uint32_t>(digital_output_bits_);
+  bp.parse(analog_input_range_0_);
+  bp.parse(analog_input_range_1_);
+  bp.parse(analog_input_0_);
+  bp.parse(analog_input_1_);
+  bp.parse(analog_output_domain_0_);
+  bp.parse(analog_output_domain_1_);
+  bp.parse(analog_output_0_);
+  bp.parse(analog_output_1_);
+  bp.parse(master_board_temperature_);
+  bp.parse(robot_voltage_48v_);
+  bp.parse(robot_current_);
+  bp.parse(master_io_current_);
+  bp.parse(safety_mode_);
+  bp.parse(in_reduced_mode_);
+  bp.parse(immi_interface_installed_);
+
+  if (immi_interface_installed_)
+  {
+    bp.parse<uint32_t>(immi_input_bits_);
+    bp.parse<uint32_t>(immi_output_bits_);
+    bp.parse(immi_voltage_24v_);
+    bp.parse(immi_current_);
+  }
+
+  bp.parse(reserved_1_);
+  bp.parse(operational_mode_selector_input_);
+  bp.parse(three_position_enabling_device_input_);
+  bp.parse(reserved_2_);
+
+  return true;
+}
+
+bool MasterboardData::consumeWith(AbstractPrimaryConsumer& consumer)
+{
+  return consumer.consume(*this);
+}
+
+std::string MasterboardData::toString() const
+{
+  std::stringstream os;
+  os << std::boolalpha;
+  os << "MasterboardData:" << std::endl;
+  os << "Digital input bits: 0b" << digital_input_bits_ << std::endl;
+  os << "Digital output bits: 0b" << digital_output_bits_ << std::endl;
+  os << "Analog input range 0: " << unsigned(analog_input_range_0_) << std::endl;
+  os << "Analog input range 1: " << unsigned(analog_input_range_1_) << std::endl;
+  os << "Analog input 0: " << analog_input_0_ << std::endl;
+  os << "Analog input 1: " << analog_input_1_ << std::endl;
+  os << "Analog output domain 0: " << static_cast<int>(analog_output_domain_0_) << std::endl;
+  os << "Analog output domain 1: " << static_cast<int>(analog_output_domain_1_) << std::endl;
+  os << "Analog output 0: " << analog_output_0_ << std::endl;
+  os << "Analog output 1: " << analog_output_1_ << std::endl;
+  os << "Masterboard temperature: " << master_board_temperature_ << std::endl;
+  os << "Robot voltage 48V: " << robot_voltage_48v_ << std::endl;
+  os << "Robot current: " << robot_current_ << std::endl;
+  os << "Master I/O current: " << master_io_current_ << std::endl;
+  os << "Safety mode: " << safetyModeString(safety_mode_) << std::endl;
+  os << "In reduced mode: " << in_reduced_mode_ << std::endl;
+  os << "IMMI interface installed: " << immi_interface_installed_ << std::endl;
+  if (immi_interface_installed_)
+  {
+    os << "IMMI input bits: 0b" << immi_input_bits_ << std::endl;
+    os << "IMMI output bits: 0b" << immi_output_bits_ << std::endl;
+    os << "IMMI voltage 24V: " << immi_voltage_24v_ << std::endl;
+    os << "IMMI current: " << immi_current_ << std::endl;
+  }
+  os << "Operational mode selector input: " << unsigned(operational_mode_selector_input_) << std::endl;
+  os << "Three position enabling device input: " << three_position_enabling_device_input_ << std::endl;
+
+  return os.str();
+}
+
+}  // namespace primary_interface
+}  // namespace urcl