Completed parsing of UR state, messages and RT

include/ur_modern_driver/ur/consumer.h

@@ -0,0 +1,46 @@
+#pragma once
+
+#include "ur_modern_driver/pipeline.h"
+#include "ur_modern_driver/ur/state.h"
+#include "ur_modern_driver/ur/master_board.h"
+#include "ur_modern_driver/ur/robot_mode.h"
+#include "ur_modern_driver/ur/rt_state.h"
+#include "ur_modern_driver/ur/messages.h"
+
+class URRTPacketConsumer : public IConsumer<RTPacket> {
+public:
+    virtual bool consume(unique_ptr<RTPacket> packet) {
+        return packet->consume_with(*this);
+    }
+
+    virtual bool consume(RTState_V1_6__7 &state) = 0;
+    virtual bool consume(RTState_V1_8 &state) = 0;
+    virtual bool consume(RTState_V3_0__1 &state) = 0;
+    virtual bool consume(RTState_V3_2__3 &state) = 0;
+};
+
+
+class URStatePacketConsumer : public IConsumer<StatePacket> {
+public:
+    virtual bool consume(unique_ptr<StatePacket> packet) {
+        return packet->consume_with(*this);
+    }
+
+    virtual bool consume(MasterBoardData_V1_X &data) = 0;
+    virtual bool consume(MasterBoardData_V3_0__1 &data) = 0;
+    virtual bool consume(MasterBoardData_V3_2 &data) = 0;
+    
+    virtual bool consume(RobotModeData_V1_X &data) = 0;
+    virtual bool consume(RobotModeData_V3_0__1 &data) = 0;
+    virtual bool consume(RobotModeData_V3_2 &data) = 0;  
+};
+
+
+class URMessagePacketConsumer : public IConsumer<MessagePacket> {
+public:
+    virtual bool consume(unique_ptr<MessagePacket> packet) {
+        return packet->consume_with(*this);
+    }
+
+    virtual bool consume(VersionMessage &message) = 0;
+};