Program Listing for File abstract_primary_consumer.h
↰ Return to documentation for file (/tmp/ws/src/ur_client_library/include/ur_client_library/primary/abstract_primary_consumer.h
)
// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
//
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2020 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_ROBOT_DRIVER_ABSTRACT_PRIMARY_CONSUMER_H_INCLUDED
#define UR_ROBOT_DRIVER_ABSTRACT_PRIMARY_CONSUMER_H_INCLUDED
#include "ur_client_library/log.h"
#include "ur_client_library/comm/pipeline.h"
#include "ur_client_library/primary/robot_message/version_message.h"
#include "ur_client_library/primary/robot_state/kinematics_info.h"
namespace urcl
{
namespace primary_interface
{
class AbstractPrimaryConsumer : public comm::IConsumer<PrimaryPackage>
{
public:
AbstractPrimaryConsumer() = default;
virtual ~AbstractPrimaryConsumer() = default;
virtual bool consume(std::shared_ptr<PrimaryPackage> product) final
{
if (product != nullptr)
{
return product->consumeWith(*this);
}
return false;
}
// To be implemented in specific consumers
virtual bool consume(RobotMessage& pkg) = 0;
virtual bool consume(RobotState& pkg) = 0;
virtual bool consume(VersionMessage& pkg) = 0;
virtual bool consume(KinematicsInfo& pkg) = 0;
private:
/* data */
};
} // namespace primary_interface
} // namespace urcl
#endif // ifndef UR_ROBOT_DRIVER_ABSTRACT_PRIMARY_CONSUMER_H_INCLUDED