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[primary interface] More robot messages (UniversalRobots#429)
Add support for more RobotMessage types: - TextMessage - RuntimeExceptionMessage This also adds an integration test sending a program to the robot and verifying that the expected KeyMessage, TextMessage and RuntimeExceptionMessage objects are received.
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9 files changed

Lines changed: 566 additions & 11 deletions

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‎CMakeLists.txt‎

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@@ -28,6 +28,8 @@ add_library(urcl
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src/primary/robot_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/runtime_exception_message.cpp
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src/primary/robot_message/text_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

‎include/ur_client_library/primary/primary_parser.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_message/runtime_exception_message.h"
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#include "ur_client_library/primary/robot_message/text_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"
@@ -178,12 +180,16 @@ class PrimaryParser : public comm::Parser<PrimaryPackage>
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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 RobotMessagePackageType::ROBOT_MESSAGE_TEXT:
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return new TextMessage(timestamp, source);
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case RobotMessagePackageType::ROBOT_MESSAGE_VERSION:
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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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case RobotMessagePackageType::ROBOT_MESSAGE_RUNTIME_EXCEPTION:
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return new RuntimeExceptionMessage(timestamp, source);
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default:
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return new RobotMessage(timestamp, source, type);
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}

‎include/ur_client_library/primary/robot_message/runtime_exception_message.h‎

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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
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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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//----------------------------------------------------------------------
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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 2026-02-03
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*
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*/
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//----------------------------------------------------------------------
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#ifndef UR_CLIENT_LIBRARY_PRIMARY_RUNTIME_EXCEPTION_MESSAGE_H_INCLUDED
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#define UR_CLIENT_LIBRARY_PRIMARY_RUNTIME_EXCEPTION_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 RuntimeExceptionMessage robot message
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*/
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class RuntimeExceptionMessage : public RobotMessage
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{
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public:
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RuntimeExceptionMessage() = delete;
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/*!
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* \brief Creates a new RuntimeExceptionMessage 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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RuntimeExceptionMessage(uint64_t timestamp, int8_t source)
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: RobotMessage(timestamp, source, RobotMessagePackageType::ROBOT_MESSAGE_RUNTIME_EXCEPTION)
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{
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}
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/*!
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* \brief Creates a copy of a RuntimeExceptionMessage object.
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*
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* \param pkg The RuntimeExceptionMessage object to be copied
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*/
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RuntimeExceptionMessage(const RuntimeExceptionMessage& pkg);
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virtual ~RuntimeExceptionMessage() = 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;
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int32_t line_number_;
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int32_t column_number_;
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std::string text_;
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};
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} // namespace primary_interface
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} // namespace urcl
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#endif // UR_CLIENT_LIBRARY_PRIMARY_RUNTIME_EXCEPTION_MESSAGE_H_INCLUDED

‎include/ur_client_library/primary/robot_message/text_message.h‎

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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
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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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//----------------------------------------------------------------------
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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 2026-02-03
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*
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*/
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//----------------------------------------------------------------------
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#ifndef UR_CLIENT_LIBRARY_PRIMARY_TEXT_MESSAGE_H_INCLUDED
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#define UR_CLIENT_LIBRARY_PRIMARY_TEXT_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 The TextMessage class handles the text messages sent via the primary UR interface.
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*/
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class TextMessage : public RobotMessage
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{
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public:
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TextMessage() = delete;
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/*!
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* \brief Creates a new TextMessage 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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TextMessage(uint64_t timestamp, int8_t source)
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: RobotMessage(timestamp, source, RobotMessagePackageType::ROBOT_MESSAGE_TEXT)
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{
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}
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/*!
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* \brief Creates a copy of a TextMessage object.
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*
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* \param pkg The TextMessage object to be copied
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*/
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TextMessage(const TextMessage& pkg)
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: RobotMessage(pkg.timestamp_, pkg.source_, RobotMessagePackageType::ROBOT_MESSAGE_TEXT)
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{
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text_ = pkg.text_;
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}
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virtual ~TextMessage() = 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;
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std::string text_;
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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_PRIMARY_TEXT_MESSAGE_H_INCLUDED

‎src/primary/robot_message/runtime_exception_message.cpp‎

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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
16+
// 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
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
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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 2026-02-03
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*
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*/
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//----------------------------------------------------------------------
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#include "ur_client_library/primary/robot_message/runtime_exception_message.h"
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#include "ur_client_library/primary/abstract_primary_consumer.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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RuntimeExceptionMessage::RuntimeExceptionMessage(const RuntimeExceptionMessage& pkg)
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: RobotMessage(pkg.timestamp_, pkg.source_, RobotMessagePackageType::ROBOT_MESSAGE_RUNTIME_EXCEPTION)
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{
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line_number_ = pkg.line_number_;
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column_number_ = pkg.column_number_;
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text_ = pkg.text_;
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}
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bool RuntimeExceptionMessage::parseWith(comm::BinParser& bp)
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{
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bp.parse(line_number_);
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bp.parse(column_number_);
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bp.parseRemainder(text_);
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return true; // not really possible to check dynamic size packets
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}
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bool RuntimeExceptionMessage::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 RuntimeExceptionMessage::toString() const
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{
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std::stringstream ss;
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ss << "RuntimeException:" << std::endl;
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ss << "Runtime error in line " << line_number_;
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ss << ", column " << column_number_ << std::endl;
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ss << "Error: " << text_;
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return ss.str();
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}
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} // namespace primary_interface
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} // namespace urcl

‎src/primary/robot_message/text_message.cpp‎

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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
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.
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//
10+
// * 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.
13+
//
14+
// * Neither the name of the {copyright_holder} nor the names of its
15+
// 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
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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 2026-02-03
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*
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*/
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//----------------------------------------------------------------------
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#include "ur_client_library/primary/robot_message/text_message.h"
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#include "ur_client_library/primary/abstract_primary_consumer.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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bool TextMessage::parseWith(comm::BinParser& bp)
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{
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bp.parseRemainder(text_);
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return true;
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}
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bool TextMessage::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 TextMessage::toString() const
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{
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return "TextMessage: " + text_;
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}
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} // namespace primary_interface
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} // namespace urcl

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