Class PrimaryConsumer
Defined in File primary_consumer.h
Inheritance Relationships
Base Type
public urcl::primary_interface::AbstractPrimaryConsumer
(Class AbstractPrimaryConsumer)
Class Documentation
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class PrimaryConsumer : public urcl::primary_interface::AbstractPrimaryConsumer
Primary consumer implementation.
This class implements an AbstractPrimaryConsumer such that it can consume all incoming primary messages. The actual work for each package will be done in this class.
Public Functions
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inline PrimaryConsumer()
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virtual ~PrimaryConsumer() = default
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inline virtual bool consume(RobotMessage &msg) override
Consume a RobotMessage.
- Parameters:
msg – Robot message
- Returns:
True
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inline virtual bool consume(RobotState &msg) override
Consume a RobotState.
- Parameters:
msg – Robot state
- Returns:
True
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inline virtual bool consume(VersionMessage &pkg) override
Handle a VersionMessage.
- Parameters:
pkg – VersionMessage
- Returns:
True
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inline virtual bool consume(KinematicsInfo &pkg) override
Handle a KinematicsInfo.
- Parameters:
pkg – KinematicsInfo
- Returns:
True
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inline virtual bool consume(ErrorCodeMessage &pkg) override
Handle an ErrorCodeMessage.
- Parameters:
pkg – ErrorCodeMessage
- Returns:
True
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inline void setErrorCodeMessageCallback(std::function<void(ErrorCode&)> callback_function)
Set callback function which will be triggered whenever error code messages are received.
- Parameters:
callback_function – Function handling the event information. The error code message received is passed to the function.
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inline PrimaryConsumer()