mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
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72 lines
2.1 KiB
C++
72 lines
2.1 KiB
C++
/*
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* Copyright 2017, 2018 Simon Rasmussen (refactor)
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*
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* Copyright 2015, 2016 Thomas Timm Andersen (original version)
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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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*/
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#pragma once
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#include "ur_rtde_driver/comm/pipeline.h"
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#include "ur_rtde_driver/ur/master_board.h"
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#include "ur_rtde_driver/ur/messages.h"
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#include "ur_rtde_driver/ur/robot_mode.h"
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#include "ur_rtde_driver/ur/rt_state.h"
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#include "ur_rtde_driver/ur/state.h"
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namespace ur_driver
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{
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class URRTPacketConsumer : public comm::IConsumer<RTPacket>
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{
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public:
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virtual bool consume(std::shared_ptr<RTPacket> packet)
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{
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return packet->consumeWith(*this);
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}
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virtual bool consume(RTState_V1_6__7& state) = 0;
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virtual bool consume(RTState_V1_8& state) = 0;
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virtual bool consume(RTState_V3_0__1& state) = 0;
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virtual bool consume(RTState_V3_2__3& state) = 0;
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};
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class URStatePacketConsumer : public comm::IConsumer<StatePacket>
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{
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public:
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virtual bool consume(std::shared_ptr<StatePacket> packet)
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{
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return packet->consumeWith(*this);
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}
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virtual bool consume(MasterBoardData_V1_X& data) = 0;
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virtual bool consume(MasterBoardData_V3_0__1& data) = 0;
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virtual bool consume(MasterBoardData_V3_2& data) = 0;
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virtual bool consume(RobotModeData_V1_X& data) = 0;
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virtual bool consume(RobotModeData_V3_0__1& data) = 0;
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virtual bool consume(RobotModeData_V3_2& data) = 0;
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};
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class URMessagePacketConsumer : public comm::IConsumer<MessagePacket>
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{
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public:
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virtual bool consume(std::shared_ptr<MessagePacket> packet)
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{
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return packet->consumeWith(*this);
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}
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virtual bool consume(VersionMessage& message) = 0;
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};
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} // namespace ur_driver
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