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 [[deprecated("Using the standalone CalibrationChecker consumer to compare the kinematics hash is deprecated. "
                   "Please use the PrimaryClient instead.")]] 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