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Improve primary client#137

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urmarp wants to merge 14 commits intoUniversalRobots:masterUniversalRobots/Universal_Robots_Client_Library:masterfrom urmarp:improve_primary_interface_v2urmarp/Universal_Robots_Client_Library:improve_primary_interface_v2Copy head branch name to clipboard

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Commits on Jan 6, 2023

• Added debugging messages and moved when producer checks if it is running.

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• Added vector6f_t amd vectoruint8_t as types as they are needed to parse messages for primary client joint data messages.

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• Added classes for the different message types received from the primary interface.

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• Added message handlers for the messages from the primary interface. These handlers save the data from the latest message of each type, which can then be accessed through the primary client. The han…

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• Updated primary consumer, so it can consume the new message types.

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• Updated primary parser, so it parses the messages based on the type of message received.

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• Updated calibration checker to double as both the message handler for the kinematics info message type and a calibration checker. It is still possible to add a separate calibration checker, if that…

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• Added the new primary client. The primary client can through its consumer get the message handlers and from the message handlers get the latest message of each type.

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• Updated ur_driver to be compatible with new primary client. The ur_driver now also checks if the checksum is correct when an instance is made, as it makes an instance of the primary client, which c…

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• Updated examples to reflect changes to the primary client.

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• Added tests for the primary client and primary parser.

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• Now checks if robot is e-series or cb3. If robot is cb3 in_remote_control_ will always be true. The thread to check if robot is in remote control or not will only start if robot is e-series.

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• Updated primary client test to reflect changes from adding functionality to determine if robot is e-series or cb3.

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• Updated test to reflect changes to primary client

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