mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 18:10:47 +02:00
50 lines
1.4 KiB
C++
50 lines
1.4 KiB
C++
#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(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;
|
|
}; |