Added a common package ancestor

include/ur_rtde_driver/comm/package.h

@@ -0,0 +1,48 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// 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 ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Felix Mauch mauch@fzi.de
+ * \date    2019-04-08
+ *
+ */
+//----------------------------------------------------------------------
+#ifndef UR_RTDE_DRIVER_PACKAGE_H_INCLUDED
+#define UR_RTDE_DRIVER_PACKAGE_H_INCLUDED
+
+namespace ur_driver
+{
+namespace comm
+{
+template <typename HeaderT>
+class URPackage
+{
+public:
+  URPackage();
+  virtual ~URPackage();
+
+  using _header_type = HeaderT;
+
+private:
+  HeaderT header_;
+};
+}  // namespace comm
+}  // namespace ur_rtde_driver
+#endif  // ifndef UR_RTDE_DRIVER_PACKAGE_H_INCLUDED

include/ur_rtde_driver/primary/primary_header.h

@@ -36,7 +36,7 @@
 
 namespace ur_driver
 {
-namespace primary
+namespace primary_interface
 {
 enum class message_type : int8_t
 {
@@ -77,7 +77,6 @@ enum class robot_message_type : uint8_t
   ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
 };
 
-
 class Header
 {
 public:
@@ -87,18 +86,11 @@ public:
   using _package_size_type = int32_t;
   static size_t getPackageLength(uint8_t* buf)
   {
-    return be32toh(*(reinterpret_cast<int32_t*>(buf)));
+    return be32toh(*(reinterpret_cast<_package_size_type*>(buf)));
   }
 
-  static size_t getPackageSize()
-  {
-    return sizeof(package_size_);
-  }
-
-  
-
 private:
-  int32_t package_size_;
+  _package_size_type package_size_;
   int8_t package_type_;
 };
 }  // namespace primary_interface

include/ur_rtde_driver/primary/primary_package.h

@@ -29,25 +29,22 @@
 #define UR_RTDE_DRIVER_PRIMARY_PACKAGE_H_INCLUDED
 
 #include "ur_rtde_driver/primary/primary_header.h"
+#include "ur_rtde_driver/comm/package.h"
 
 namespace ur_driver
 {
 namespace primary_interface
 {
-
-
-class PrimaryPackage
+class PrimaryPackage : comm::URPackage<Header>
 {
-private:
-  uint8_t* data_buffer_;
 public:
   PrimaryPackage() = default;
   virtual ~PrimaryPackage() = default;
 
-  
+private:
+  uint8_t* data_buffer_;
 };
 
-
 }  // namespace primary_interface
 }  // namespace ur_driver
 

include/ur_rtde_driver/rtde/rtde_header.h

@@ -20,13 +20,10 @@
 #include <endian.h>
 #include "ur_rtde_driver/types.h"
 
-
 namespace ur_driver
 {
 namespace rtde_interface
 {
-
-
 enum class PackageType
 {
   RTDE_REQUEST_PROTOCOL_VERSION = 86,       // ascii V
@@ -39,30 +36,23 @@ enum class PackageType
   RTDE_CONTROL_PACKAGE_PAUSE = 80           // ascii P
 };
 
-
 class Header
 {
 public:
   Header() = default;
   virtual ~Header() = default;
+  using _package_size_type = uint16_t;
 
   static size_t getPackageLength(uint8_t* buf)
   {
-    return be16toh(*(reinterpret_cast<uint16_t*>(buf)));
+    return be16toh(*(reinterpret_cast<_package_size_type*>(buf)));
   }
 
-  static size_t getPackageSize()
-  {
-    return sizeof(package_size_);
-  }
-
-
 private:
-  uint16_t package_size_;
+  _package_size_type package_size_;
   PackageType package_type_;
 };
 
-
 }  // namespace rtde_interface
 }  // namespace ur_driver
 

include/ur_rtde_driver/rtde/rtde_package.h

@@ -25,28 +25,23 @@
  */
 //----------------------------------------------------------------------
 
-
 #ifndef UR_RTDE_DRIVER_RTDE_PACKAGE_H_INCLUDED
 #define UR_RTDE_DRIVER_RTDE_PACKAGE_H_INCLUDED
 
 #include "ur_rtde_driver/rtde/rtde_header.h"
+#include "ur_rtde_driver/comm/package.h"
 
 namespace ur_driver
 {
 namespace rtde_interface
 {
-
-
-class RTDEPackage
+class RTDEPackage : comm::URPackage<Header>
 {
 public:
   RTDEPackage() = default;
   virtual ~RTDEPackage() = default;
-
-  
 };
 
-
 }  // namespace rtde_interface
 }  // namespace ur_driver