mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 10:00:48 +02:00
57 lines
1.5 KiB
C++
57 lines
1.5 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 <vector>
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#include "ur_rtde_driver/comm/bin_parser.h"
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#include "ur_rtde_driver/comm/package.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 parser is a general paser. The namsepace rtde_interface and primary_interface both
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* iclude classes which inherit from it (rtdeParser and primaryParser).
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* The parser functionality also embodies a factory function taking in an uint8.
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*/
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template <typename HeaderT>
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class Parser
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{
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public:
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Parser() = default;
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virtual ~Parser() = default;
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/*!
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* \brief declares the parse function.
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*
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* \param bp instant of class binaryParser
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* \param results unique pointer
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*/
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virtual bool parse(BinParser& bp, std::vector<std::unique_ptr<URPackage<HeaderT>>>& results) = 0;
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using _header_type = HeaderT;
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private:
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HeaderT header_;
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// URProducer producer_;
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};
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} // namespace comm
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} // namespace ur_driver
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