calibration_checker.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2019 FZI Forschungszentrum Informatik
// Created on behalf of Universal Robots A/S
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef UR_CLIENT_LIBRARY_UR_CALIBRATION_CHECKER_H_INCLUDED
#define UR_CLIENT_LIBRARY_UR_CALIBRATION_CHECKER_H_INCLUDED

#include <ur_client_library/comm/pipeline.h>

#include <ur_client_library/primary/robot_state/kinematics_info.h>

namespace urcl
{
class CalibrationChecker : public comm::IConsumer<primary_interface::PrimaryPackage>
{
public:
  CalibrationChecker(const std::string& expected_hash);
  virtual ~CalibrationChecker() = default;

  virtual void setupConsumer()
  {
  }
  virtual void teardownConsumer()
  {
  }
  virtual void stopConsumer()
  {
  }
  virtual void onTimeout()
  {
  }

  virtual bool consume(std::shared_ptr<primary_interface::PrimaryPackage> product);

  bool isChecked()
  {
    return checked_;
  }

  bool checkSuccessful()
  {
    return matches_;
  }

private:
  std::string expected_hash_;
  bool checked_;
  bool matches_;
};
}  // namespace urcl

#endif  // ifndef UR_CLIENT_LIBRARY_UR_CALIBRATION_CHECKER_H_INCLUDED