joint_message.h
Go to the documentation of this file.00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Southwest Research Institute 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #ifndef JOINT_MESSAGE_H 00033 #define JOINT_MESSAGE_H 00034 00035 #ifdef ROS 00036 #include "simple_message/typed_message.h" 00037 #include "simple_message/simple_message.h" 00038 #include "simple_message/shared_types.h" 00039 #include "simple_message/joint_data.h" 00040 #endif 00041 00042 #ifdef MOTOPLUS 00043 #include "typed_message.h" 00044 #include "simple_message.h" 00045 #include "shared_types.h" 00046 #include "joint_data.h" 00047 #endif 00048 00049 namespace industrial 00050 { 00051 namespace joint_message 00052 { 00053 00054 // TODO: The JointMessage is currently overloaded (i.e. a single message means multiple 00055 // things). This is not ideal and seperate messages should be considered. 00060 namespace SpecialSeqValues 00061 { 00062 enum SpecialSeqValue 00063 { 00064 END_TRAJECTORY = -1, STOP_TRAJECTORY = -2 00065 }; 00066 } 00067 typedef SpecialSeqValues::SpecialSeqValue SpecialSeqValue; 00068 00069 00070 00075 //* JointMessage 00091 class JointMessage : public industrial::typed_message::TypedMessage 00092 { 00093 public: 00100 JointMessage(void); 00105 ~JointMessage(void); 00113 bool init(industrial::simple_message::SimpleMessage & msg); 00114 00122 void init(industrial::shared_types::shared_int seq, industrial::joint_data::JointData & joints); 00123 00128 void init(); 00129 00135 void setSequence(industrial::shared_types::shared_int sequence); 00136 00142 industrial::shared_types::shared_int getSequence() 00143 { 00144 return sequence_; 00145 } 00146 00152 industrial::joint_data::JointData& getJoints() 00153 { 00154 return this->joints_; 00155 } 00156 00157 // Overrides - SimpleSerialize 00158 bool load(industrial::byte_array::ByteArray *buffer); 00159 bool unload(industrial::byte_array::ByteArray *buffer); 00160 00161 00162 unsigned int byteLength() 00163 { 00164 return sizeof(industrial::shared_types::shared_int) + this->joints_.byteLength(); 00165 } 00166 00167 private: 00171 industrial::shared_types::shared_int sequence_; 00175 industrial::joint_data::JointData joints_; 00176 00177 }; 00178 00179 } 00180 } 00181 00182 #endif /* JOINT_MESSAGE_H */