Obbart/universal_robots_ros_driver
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added package_header templating to the producer class

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This commit is contained in:
Tristan Schnell
2019-04-08 14:53:43 +02:00
parent 112148bcd8
commit dd43521a85
1 changed files with 12 additions and 6 deletions
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18
include/ur_rtde_driver/ur/producer.h → include/ur_rtde_driver/comm/producer.h
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@@ -1,4 +1,6 @@
/* /*
* Copyright 2019, FZI Forschungszentrum Informatik (templating)
*
* Copyright 2017, 2018 Simon Rasmussen (refactor) * Copyright 2017, 2018 Simon Rasmussen (refactor)
* *
* Copyright 2015, 2016 Thomas Timm Andersen (original version) * Copyright 2015, 2016 Thomas Timm Andersen (original version)
@@ -21,19 +23,22 @@
#include "ur_rtde_driver/comm/pipeline.h" #include "ur_rtde_driver/comm/pipeline.h"
#include "ur_rtde_driver/comm/parser.h" #include "ur_rtde_driver/comm/parser.h"
#include "ur_rtde_driver/comm/stream.h" #include "ur_rtde_driver/comm/stream.h"
#include "ur_rtde_driver/comm/package.h"
namespace ur_driver namespace ur_driver
{ {
template <typename T> namespace comm
class URProducer : public comm::IProducer<T> {
template <typename HeaderT>
class URProducer : public IProducer<HeaderT>
{ {
private: private:
comm::URStream& stream_; URStream<HeaderT>& stream_;
comm::URParser<T>& parser_; URParser<HeaderT>& parser_;
std::chrono::seconds timeout_; std::chrono::seconds timeout_;
public: public:
URProducer(comm::URStream& stream, comm::URParser<T>& parser) : stream_(stream), parser_(parser), timeout_(1) URProducer(URStream<HeaderT>& stream, URParser<HeaderT>& parser) : stream_(stream), parser_(parser), timeout_(1)
{ {
} }
@@ -50,7 +55,7 @@ public:
stream_.disconnect(); stream_.disconnect();
} }
bool tryGet(std::vector<std::unique_ptr<T>>& products) bool tryGet(std::vector<std::unique_ptr<URPackage<HeaderT>>>& products)
{ {
// 4KB should be enough to hold any packet received from UR // 4KB should be enough to hold any packet received from UR
uint8_t buf[4096]; uint8_t buf[4096];
@@ -83,4 +88,5 @@ public:
return parser_.parse(bp, products); return parser_.parse(bp, products);
} }
}; };
} // namespace comm
} // namespace ur_driver } // namespace ur_driver