bool RobotModeData_V1_X::parseWith(BinParser& bp)
{
if (!bp.checkSize<RobotModeData_V1_X>())
return false;
SharedRobotModeData::parseWith(bp);
bp.parse(robot_mode);
bp.parse(speed_fraction);
return true;
}
bool RobotModeData_V3_0__1::parseWith(BinParser& bp)
{
if (!bp.checkSize<RobotModeData_V3_0__1>())
return false;
SharedRobotModeData::parseWith(bp);
bp.parse(robot_mode);
bp.parse(control_mode);
bp.parse(target_speed_fraction);
bp.parse(speed_scaling);
return true;
}
bool SharedRobotModeData::parseWith(BinParser& bp)
{
bp.parse(timestamp);
bp.parse(physical_robot_connected);
bp.parse(real_robot_enabled);
bp.parse(robot_power_on);
bp.parse(emergency_stopped);
bp.parse(protective_stopped);
bp.parse(program_running);
bp.parse(program_paused);
return true;
}
bool RobotModeData_V3_5::parseWith(BinParser& bp)
{
if (!bp.checkSize<RobotModeData_V3_5>())
return false;
RobotModeData_V3_2::parseWith(bp);
bp.parse(unknown_internal_use);
return true;
}
bool RobotModeData_V3_2::parseWith(BinParser& bp)
{
if (!bp.checkSize<RobotModeData_V3_2>())
return false;
RobotModeData_V3_0__1::parseWith(bp);
bp.parse(target_speed_fraction_limit);
return true;
}
int disassemble(string &inFile, istream &in, ostream &out) {
/* Parse the binary */
BinParser p;
try {
p.parse(in);
} catch (BinParser::Exception ex) {
cerr << inFile << ": " << ex << endl;
return -1;
}
/* Write the assembly */
AsmWriter w (p.instructions(), map<string, vector<Instruction>::size_type> ());
try {
w.write(out);
} catch (AsmWriter::Exception ex) {
cerr << ex.msg << endl;
return -1;
} catch (BinWriter::Exception ex) {
cerr << ex.msg << endl;
return -1;
}
return 0;
}
