universal_robots_ros_driver/include/ur_modern_driver/ur/consumer.h

#pragma once

#include "ur_modern_driver/pipeline.h"
#include "ur_modern_driver/ur/master_board.h"
#include "ur_modern_driver/ur/messages.h"
#include "ur_modern_driver/ur/robot_mode.h"
#include "ur_modern_driver/ur/rt_state.h"
#include "ur_modern_driver/ur/state.h"

class URRTPacketConsumer : public IConsumer<RTPacket> {
public:
    virtual bool consume(unique_ptr<RTPacket> packet)
    {
        return packet->consume_with(*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(unique_ptr<StatePacket> packet)
    {
        return packet->consume_with(*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(unique_ptr<MessagePacket> packet)
    {
        return packet->consume_with(*this);
    }

    virtual bool consume(VersionMessage& message) = 0;
};