renamed package

include/ur_rtde_driver/ur/consumer.h

@@ -0,0 +1,68 @@
+/*
+ * Copyright 2017, 2018 Simon Rasmussen (refactor)
+ *
+ * Copyright 2015, 2016 Thomas Timm Andersen (original version)
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include "ur_rtde_driver/pipeline.h"
+#include "ur_rtde_driver/ur/master_board.h"
+#include "ur_rtde_driver/ur/messages.h"
+#include "ur_rtde_driver/ur/robot_mode.h"
+#include "ur_rtde_driver/ur/rt_state.h"
+#include "ur_rtde_driver/ur/state.h"
+
+class URRTPacketConsumer : public IConsumer<RTPacket>
+{
+public:
+  virtual bool consume(shared_ptr<RTPacket> packet)
+  {
+    return packet->consumeWith(*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(shared_ptr<StatePacket> packet)
+  {
+    return packet->consumeWith(*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(shared_ptr<MessagePacket> packet)
+  {
+    return packet->consumeWith(*this);
+  }
+
+  virtual bool consume(VersionMessage& message) = 0;
+};