Implemented consuming for all primary types

Also removed unused datatypes

ur_robot_driver/CMakeLists.txt

@@ -89,6 +89,7 @@ add_library(ur_robot_driver
     #src/ur/robot_mode.cpp
     src/primary/primary_package.cpp
     src/primary/robot_message.cpp
+    src/primary/robot_state.cpp
     src/primary/robot_message/version_message.cpp
     src/primary/robot_state/kinematics_info.cpp
     src/rtde/control_package_pause.cpp

ur_robot_driver/include/ur_robot_driver/primary/abstract_primary_consumer.h

@@ -68,7 +68,8 @@ class AbstractPrimaryConsumer : public comm::IConsumer<PrimaryPackage>
   }
 
   // To be implemented in specific consumers
-  virtual bool consume(PrimaryPackage& pkg) = 0;
+  virtual bool consume(RobotMessage& pkg) = 0;
+  virtual bool consume(RobotState& pkg) = 0;
   virtual bool consume(VersionMessage& pkg) = 0;
   virtual bool consume(KinematicsInfo& pkg) = 0;
 

ur_robot_driver/include/ur_robot_driver/primary/primary_package.h

@@ -71,7 +71,7 @@ class PrimaryPackage : public comm::URPackage<PackageHeader>
    *
    * \returns true on success
    */
-  virtual bool consumeWith(AbstractPrimaryConsumer& consumer);
+  virtual bool consumeWith(AbstractPrimaryConsumer& consumer) = 0;
 
   /*!
    * \brief Produces a human readable representation of the package object.

ur_robot_driver/include/ur_robot_driver/primary/primary_parser.h

@@ -26,9 +26,7 @@
 #include "ur_robot_driver/primary/package_header.h"
 #include "ur_robot_driver/primary/robot_state.h"
 #include "ur_robot_driver/primary/robot_message.h"
-//#include "ur_robot_driver/primary/robot_state/robot_mode_data.h"
 #include "ur_robot_driver/primary/robot_state/kinematics_info.h"
-//#include "ur_robot_driver/primary/robot_state/master_board.h"
 #include "ur_robot_driver/primary/robot_message/version_message.h"
 
 namespace ur_driver

ur_robot_driver/include/ur_robot_driver/primary/robot_message.h

@@ -77,6 +77,15 @@ class RobotMessage : public PrimaryPackage
    */
   virtual bool parseWith(comm::BinParser& bp);
 
+  /*!
+   * \brief Consume this package with a specific consumer.
+   *
+   * \param consumer Placeholder for the consumer calling this
+   *
+   * \returns true on success
+   */
+  virtual bool consumeWith(AbstractPrimaryConsumer& consumer);
+
   /*!
    * \brief Produces a human readable representation of the package object.
    *

ur_robot_driver/include/ur_robot_driver/primary/robot_message/version_message.h

@@ -62,6 +62,15 @@ class VersionMessage : public RobotMessage
    */
   virtual bool parseWith(comm::BinParser& bp);
 
+  /*!
+   * \brief Consume this package with a specific consumer.
+   *
+   * \param consumer Placeholder for the consumer calling this
+   *
+   * \returns true on success
+   */
+  virtual bool consumeWith(AbstractPrimaryConsumer& consumer);
+
   /*!
    * \brief Produces a human readable representation of the package object.
    *

ur_robot_driver/include/ur_robot_driver/primary/robot_state.h

@@ -77,23 +77,23 @@ class RobotState : public PrimaryPackage
    *
    * \returns True, if the package was parsed successfully, false otherwise
    */
-  virtual bool parseWith(comm::BinParser& bp)
-  {
-    return PrimaryPackage::parseWith(bp);
-  }
+  virtual bool parseWith(comm::BinParser& bp);
+
+  /*!
+   * \brief Consume this specific package with a specific consumer.
+   *
+   * \param consumer Placeholder for the consumer calling this
+   *
+   * \returns true on success
+   */
+  virtual bool consumeWith(AbstractPrimaryConsumer& consumer);
 
   /*!
    * \brief Produces a human readable representation of the package object.
    *
    * \returns A string representing the object
    */
-  virtual std::string toString() const
-  {
-    std::stringstream ss;
-    ss << "Type: " << static_cast<int>(state_type_) << std::endl;
-    ss << PrimaryPackage::toString();
-    return ss.str();
-  }
+  virtual std::string toString() const;
 
 private:
   RobotStateType state_type_;

ur_robot_driver/include/ur_robot_driver/primary/robot_state/kinematics_info.h

@@ -63,6 +63,15 @@ class KinematicsInfo : public RobotState
    */
   virtual bool parseWith(comm::BinParser& bp);
 
+  /*!
+   * \brief Consume this specific package with a specific consumer.
+   *
+   * \param consumer Placeholder for the consumer calling this
+   *
+   * \returns true on success
+   */
+  virtual bool consumeWith(AbstractPrimaryConsumer& consumer);
+
   /*!
    * \brief Produces a human readable representation of the package object.
    *

ur_robot_driver/src/primary/primary_package.cpp

@@ -38,12 +38,6 @@ bool PrimaryPackage::parseWith(comm::BinParser& bp)
   return true;
 }
 
-
-bool PrimaryPackage ::consumeWith(AbstractPrimaryConsumer& consumer)
-{
-  return consumer.consume(*this);
-}
-
 std::string PrimaryPackage::toString() const
 {
   std::stringstream ss;

ur_robot_driver/src/primary/robot_message.cpp

@@ -25,6 +25,7 @@
  */
 //----------------------------------------------------------------------
 #include "ur_robot_driver/primary/robot_message.h"
+#include "ur_robot_driver/primary/abstract_primary_consumer.h"
 
 namespace ur_driver
 {
@@ -35,6 +36,11 @@ bool RobotMessage::parseWith(comm::BinParser& bp)
   return true;
 }
 
+bool RobotMessage::consumeWith(AbstractPrimaryConsumer& consumer)
+{
+  return consumer.consume(*this);
+}
+
 std::string RobotMessage::toString() const
 {
   std::stringstream ss;

ur_robot_driver/src/primary/robot_message/version_message.cpp

@@ -30,6 +30,7 @@
 
 #include "ur_robot_driver/log.h"
 #include "ur_robot_driver/primary/robot_message/version_message.h"
+#include "ur_robot_driver/primary/abstract_primary_consumer.h"
 
 namespace ur_driver
 {
@@ -48,6 +49,11 @@ bool VersionMessage::parseWith(comm::BinParser& bp)
   return true;  // not really possible to check dynamic size packets
 }
 
+bool VersionMessage ::consumeWith(AbstractPrimaryConsumer& consumer)
+{
+  return consumer.consume(*this);
+}
+
 std::string VersionMessage::toString() const
 {
   std::stringstream ss;