real_time_socket_interface.hpp

Go to the documentation of this file.

// Copyright 2025 ICUBE Laboratory, University of Strasbourg
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Thibault Poignonec (thibault.poignonec@gmail.fr)
 
#ifndef STAUBLI_ROBOT_DRIVER__REAL_TIME_SOCKET_INTERFACE_HPP_
#define STAUBLI_ROBOT_DRIVER__REAL_TIME_SOCKET_INTERFACE_HPP_
 
// C++
#include <cstdint>
#include <chrono>
#include <memory>
#include <string>
#include <vector>
 
// ROS2
#include "staubli_robot_driver/real_time_socket_subscriber.hpp"
 
namespace staubli_robot_driver {
 
template <typename MessageSub, typename MessagePub>
class RealTimeSocketInterface : public RealTimeSocketSubscriber<MessageSub> {
public:
    explicit RealTimeSocketInterface(std::shared_ptr<Socket> socket);
    ~RealTimeSocketInterface();
 
    bool send_message(const MessagePub& msg);
 
    bool is_ready() const override {
        return RealTimeSocketSubscriber<MessageSub>::is_ready();
    }
 
private:
    std::vector<uint8_t> data_out_;  // Buffer for serialized message
};
 
// Declarations for message types
template class RealTimeSocketInterface<RobotStateMessage, RobotCommandMessage>;
template class RealTimeSocketInterface<RobotCommandMessage, RobotStateMessage>;
 
}  // namespace staubli_robot_driver
 
#endif  // STAUBLI_ROBOT_DRIVER__REAL_TIME_SOCKET_INTERFACE_HPP_