Obbart/universal_robots_ros_driver
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Implemented parser functionality

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This commit is contained in:
Lea Steffen
2019-04-08 13:57:04 +02:00
committed by Felix Mauch
parent b090cdf833
commit 83125e63c1
6 changed files with 259 additions and 10 deletions
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17
include/ur_rtde_driver/comm/parser.h
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@@ -18,19 +18,24 @@
#pragma once
#include <vector>
#include "ur_rtde_driver/bin_parser.h"
#include "ur_rtde_driver/comm/pipeline.h"
#include "ur_rtde_driver/comm/bin_parser.h"
#include "ur_rtde_driver/comm/package.h"
namespace ur_driver
{
namespace comm
{
template <typename T>
class URParser
template <typename HeaderT>
class Parser
{
public:
virtual bool parse(BinParser& bp, std::vector<std::unique_ptr<T>>& results) = 0;
}; // namespace commtemplate<typenameT>classURParser
virtual bool parse(BinParser& bp, std::vector<std::unique_ptr<URPackage<HeaderT>>>& results) = 0;
using _header_type = HeaderT;
private:
HeaderT header_;
// URProducer producer_;
};
} // namespace comm
} // namespace ur_driver