Obbart/universal_robots_ros_driver
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Improved pipeline design

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This commit is contained in:
Simon Rasmussen
2017-04-13 10:39:22 +02:00
parent a4ca9f1703
commit 06b2db45bf
3 changed files with 54 additions and 6 deletions
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6
include/ur_modern_driver/ur/consumer.h
View File

@@ -10,7 +10,7 @@
class URRTPacketConsumer : public IConsumer<RTPacket>
{
public:
virtual bool consume(unique_ptr<RTPacket> packet)
virtual bool consume(shared_ptr<RTPacket> packet)
{
return packet->consumeWith(*this);
}
@@ -24,7 +24,7 @@ public:
class URStatePacketConsumer : public IConsumer<StatePacket>
{
public:
virtual bool consume(unique_ptr<StatePacket> packet)
virtual bool consume(shared_ptr<StatePacket> packet)
{
return packet->consumeWith(*this);
}
@@ -41,7 +41,7 @@ public:
class URMessagePacketConsumer : public IConsumer<MessagePacket>
{
public:
virtual bool consume(unique_ptr<MessagePacket> packet)
virtual bool consume(shared_ptr<MessagePacket> packet)
{
return packet->consumeWith(*this);
}

2
include/ur_modern_driver/ur/state.h
View File

@@ -32,6 +32,8 @@ class URStatePacketConsumer;
class StatePacket
{
public:
StatePacket() {}
virtual ~StatePacket() {}
virtual bool parseWith(BinParser& bp) = 0;
virtual bool consumeWith(URStatePacketConsumer& consumer) = 0;
};