mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 10:00:48 +02:00
55 lines
1.5 KiB
C++
55 lines
1.5 KiB
C++
// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
|
|
|
|
// -- BEGIN LICENSE BLOCK ----------------------------------------------
|
|
// Copyright 2019 FZI Forschungszentrum Informatik
|
|
//
|
|
// 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.
|
|
// -- END LICENSE BLOCK ------------------------------------------------
|
|
|
|
//----------------------------------------------------------------------
|
|
/*!\file
|
|
*
|
|
* \author Felix Mauch mauch@fzi.de
|
|
* \date 2019-04-08
|
|
*
|
|
*/
|
|
//----------------------------------------------------------------------
|
|
#ifndef UR_RTDE_DRIVER_PACKAGE_H_INCLUDED
|
|
#define UR_RTDE_DRIVER_PACKAGE_H_INCLUDED
|
|
|
|
#include "ur_rtde_driver/comm/bin_parser.h"
|
|
|
|
namespace ur_driver
|
|
{
|
|
namespace comm
|
|
{
|
|
template <typename HeaderT>
|
|
class URPackage
|
|
{
|
|
public:
|
|
URPackage();
|
|
virtual ~URPackage();
|
|
|
|
using _header_type = HeaderT;
|
|
|
|
virtual bool parseWith(BinParser& bp) = 0;
|
|
|
|
virtual std::string toString() const = 0;
|
|
|
|
private:
|
|
HeaderT header_;
|
|
};
|
|
} // namespace comm
|
|
} // namespace ur_driver
|
|
#endif // ifndef UR_RTDE_DRIVER_PACKAGE_H_INCLUDED
|