From b090cdf833e8b8b51904018035a593e3b0e5f117 Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Tue, 9 Apr 2019 13:14:29 +0200
Subject: [PATCH] added shell consumer

---
 CMakeLists.txt                               |  1 +
 include/ur_rtde_driver/comm/shell_consumer.h | 52 ++++++++++++++++++++
 src/comm/shell_consumer.cpp                  | 29 +++++++++++
 3 files changed, 82 insertions(+)
 create mode 100644 include/ur_rtde_driver/comm/shell_consumer.h
 create mode 100644 src/comm/shell_consumer.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index cd90cad..2a0a250 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -68,6 +68,7 @@ include_directories(
 
 add_library(ur_rtde_driver
     src/comm/tcp_socket.cpp
+    src/comm/shell_consumer.cpp
     #src/ros/service_stopper.cpp
     #src/ur/commander.cpp
     #src/ur/master_board.cpp
diff --git a/include/ur_rtde_driver/comm/shell_consumer.h b/include/ur_rtde_driver/comm/shell_consumer.h
new file mode 100644
index 0000000..1f8c19f
--- /dev/null
+++ b/include/ur_rtde_driver/comm/shell_consumer.h
@@ -0,0 +1,52 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Felix Mauch mauch@fzi.de
+ * \date    2019-04-09
+ *
+ */
+//----------------------------------------------------------------------
+
+#ifndef UR_RTDE_DRIVER_SHELL_CONSUMER_H_INCLUDED
+#define UR_RTDE_DRIVER_SHELL_CONSUMER_H_INCLUDED
+
+#include "ur_rtde_driver/comm/pipeline.h"
+#include "ur_rtde_driver/comm/package.h"
+
+namespace ur_driver
+{
+namespace comm
+{
+template <typename HeaderT>
+class ShellConsumer : public IConsumer<URPackage<HeaderT>>
+{
+public:
+  ShellConsumer() = default;
+  virtual ~ShellConsumer() = default;
+
+  virtual void setupConsumer()
+  {
+  }
+  virtual void teardownConsumer()
+  {
+  }
+  virtual void stopConsumer()
+  {
+  }
+  virtual void onTimeout()
+  {
+  }
+
+  virtual bool consume(std::shared_ptr<URPackage<HeaderT>> product);
+
+private:
+  /* data */
+};
+}  // namespace comm
+}  // namespace ur_driver
+#endif  // ifndef UR_RTDE_DRIVER_SHELL_CONSUMER_H_INCLUDED
diff --git a/src/comm/shell_consumer.cpp b/src/comm/shell_consumer.cpp
new file mode 100644
index 0000000..b714eae
--- /dev/null
+++ b/src/comm/shell_consumer.cpp
@@ -0,0 +1,29 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Felix Mauch mauch@fzi.de
+ * \date    2019-04-09
+ *
+ */
+//----------------------------------------------------------------------
+
+#include "ur_rtde_driver/comm/shell_consumer.h"
+
+namespace ur_driver
+{
+namespace comm
+{
+template <typename HeaderT>
+bool ShellConsumer<HeaderT>::consume(std::shared_ptr<URPackage<HeaderT>> pkg)
+{
+  LOG_INFO("%s", pkg->toString());
+  return true;
+}
+}  // namespace comm
+
+}  // namespace ur_driver