Obbart/universal_robots_ros_driver
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added shell consumer

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This commit is contained in:
Felix Mauch
2019-04-09 13:14:29 +02:00
parent b1d82c2be6
commit b090cdf833
3 changed files with 82 additions and 0 deletions
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1
CMakeLists.txt
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@@ -68,6 +68,7 @@ include_directories(
add_library(ur_rtde_driver add_library(ur_rtde_driver
src/comm/tcp_socket.cpp src/comm/tcp_socket.cpp
src/comm/shell_consumer.cpp
#src/ros/service_stopper.cpp #src/ros/service_stopper.cpp
#src/ur/commander.cpp #src/ur/commander.cpp
#src/ur/master_board.cpp #src/ur/master_board.cpp

52
include/ur_rtde_driver/comm/shell_consumer.h Normal file
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@@ -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

29
src/comm/shell_consumer.cpp Normal file
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@@ -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