68 std::vector<unique_ptr<MessagePacket>> results;
72 if (!prod.
tryGet(results) || results.size() == 0)
74 LOG_FATAL(
"No version message received, init failed!");
75 std::exit(EXIT_FAILURE);
78 for (
auto const& p : results)
80 p->consumeWith(*
this);
83 if (major_version_ == 0 && minor_version_ == 0)
85 LOG_FATAL(
"No version message received, init failed!");
86 std::exit(EXIT_FAILURE);
94 return major_version_ == 3;
99 if (major_version_ == 1)
101 else if (minor_version_ < 3)
109 if (major_version_ == 1)
115 if (minor_version_ < 3)
117 else if (minor_version_ < 5)
126 if (major_version_ == 1)
128 if (minor_version_ < 8)
135 if (minor_version_ < 3)
std::unique_ptr< URParser< StatePacket > > getStateParser()
#define LOG_FATAL(format,...)
URStateParser< RobotModeData_V3_0__1, MasterBoardData_V3_0__1 > URStateParser_V3_0__1
URRTStateParser< RTState_V1_8 > URRTStateParser_V1_8
URRTStateParser< RTState_V3_2__3 > URRTStateParser_V3_2__3
bool consume(VersionMessage &vm)
URRTStateParser< RTState_V1_6__7 > URRTStateParser_V1_6__7
#define LOG_INFO(format,...)
URStateParser< RobotModeData_V1_X, MasterBoardData_V1_X > URStateParser_V1_X
std::unique_ptr< URParser< RTPacket > > getRTParser()
std::unique_ptr< URCommander > getCommander(URStream &stream)
bool tryGet(std::vector< unique_ptr< T >> &products)
URFactory(std::string &host)
URStateParser< RobotModeData_V3_2, MasterBoardData_V3_2 > URStateParser_V3_2
URRTStateParser< RTState_V3_0__1 > URRTStateParser_V3_0__1
URStateParser< RobotModeData_V3_5, MasterBoardData_V3_2 > URStateParser_V3_5
static const int UR_PRIMARY_PORT