text: #ifndef PARSER_BASE__
  #define PARSER_BASE__
  
  #include "sdk_sagittarius_arm/SDKSagittariusArmConfig.h"
  #include "sensor_msgs/LaserScan.h"
  
  namespace sdk_sagittarius_arm
  {
      enum ExitCode
      {
          ExitSuccess = 0,
          ExitError   = 1,
          ExitFatal   = 2
      };
  
      class CParserBase
      {
      public:
          CParserBase();
          virtual ~CParserBase();
  
          virtual int Parse(char *data,
                            size_t data_length,
                            SDKSagittariusArmConfig &config,
                            sensor_msgs::LaserScan &msg) = 0;
      };
  } /*namespace sdk_sagittarius_arm*/
  
  #endif /*PARSER_BASE__*/
  