From 8f134c88229b2e8b0f3351a39524fa2329869616 Mon Sep 17 00:00:00 2001
From: Ruixiang Du <ruixiang.du@westonrobot.com>
Date: Fri, 16 Jul 2021 17:57:04 +0800
Subject: [PATCH] added type check for parser in AgilexBase

---
 include/ugv_sdk/details/robot_base/agilex_base.hpp | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/include/ugv_sdk/details/robot_base/agilex_base.hpp b/include/ugv_sdk/details/robot_base/agilex_base.hpp
index 42f3a70..7ebeab0 100644
--- a/include/ugv_sdk/details/robot_base/agilex_base.hpp
+++ b/include/ugv_sdk/details/robot_base/agilex_base.hpp
@@ -24,12 +24,21 @@
 
 #include "ugv_sdk/details/async_port/async_can.hpp"
 #include "ugv_sdk/details/interface/robot_common_interface.hpp"
+#include "ugv_sdk/details/interface/parser_interface.hpp"
 
 namespace westonrobot {
 template <typename ParserType>
 class AgilexBase : public RobotCommonInterface {
  public:
-  AgilexBase() = default;
+  AgilexBase() {
+    static_assert(
+        std::is_base_of<ParserInterface<ProtocolVersion::AGX_V1>,
+                        ParserType>::value ||
+            std::is_base_of<ParserInterface<ProtocolVersion::AGX_V2>,
+                            ParserType>::value,
+        "Incompatible parser for the AgilexBase class, expecting one derived "
+        "from ParserInterface!");
+  };
   virtual ~AgilexBase() { DisconnectPort(); }
 
   // do not allow copy or assignment