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https://gitlab.com/obbart/universal_robots_ros_driver.git
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64 lines
1.9 KiB
C++
64 lines
1.9 KiB
C++
// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
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// -- BEGIN LICENSE BLOCK ----------------------------------------------
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// Copyright 2019 FZI Forschungszentrum Informatik
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// -- END LICENSE BLOCK ------------------------------------------------
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//----------------------------------------------------------------------
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/*!\file
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*
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* \author Felix Mauch mauch@fzi.de
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* \date 2019-04-08
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*
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*/
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//----------------------------------------------------------------------
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#ifndef UR_RTDE_DRIVER_PACKAGE_H_INCLUDED
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#define UR_RTDE_DRIVER_PACKAGE_H_INCLUDED
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#include "ur_rtde_driver/comm/bin_parser.h"
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namespace ur_driver
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{
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namespace comm
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{
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/*!
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* \brief The URPackage a parent class. From that two implementations are inherited,
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* one for the primary, one for the rtde interface (primary_interface::primaryPackage;
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* rtde_interface::rtdePackage). The URPackage makes use of the template HeaderT.
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*/
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template <typename HeaderT>
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class URPackage
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{
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public:
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/*!
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* \brief Creates a new URPackage object.
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*/
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URPackage() = default;
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virtual ~URPackage() = default;
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using _header_type = HeaderT;
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virtual bool parseWith(BinParser& bp) = 0;
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virtual std::string toString() const = 0;
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private:
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HeaderT header_;
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};
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} // namespace comm
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} // namespace ur_driver
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#endif // ifndef UR_RTDE_DRIVER_PACKAGE_H_INCLUDED
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