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message_manager.h

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/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *       * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *       * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *       * Neither the name of the Southwest Research Institute, nor the names
 *       of its contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

#ifndef MESSAGE_MANAGER_H
#define MESSAGE_MANAGER_H

#ifdef ROS

#include "simple_message/smpl_msg_connection.h"
#include "simple_message/message_handler.h"
#include "simple_message/ping_handler.h"
#include "simple_message/comms_fault_handler.h"
#include "simple_message/simple_comms_fault_handler.h"

#endif

#ifdef MOTOPLUS

#include "smpl_msg_connection.h"
#include "message_handler.h"
#include "ping_handler.h"
#include "comms_fault_handler.h"
#include "simple_comms_fault_handler.h"

#endif


namespace industrial
{
namespace message_manager
{

//* MessageManager
class MessageManager
{

public:

  MessageManager();

  ~MessageManager();

  bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection);

  bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection,
            industrial::comms_fault_handler::CommsFaultHandler* fault_handler);

  void spinOnce();

  void spin();

  bool add(industrial::message_handler::MessageHandler* handler);

  unsigned int getNumHandlers()
  {
    return this->num_handlers_;
  }
  ;

  unsigned int getMaxNumHandlers()
  {
    return this->MAX_NUM_HANDLERS;
  }
  ;

private:

  static const unsigned int MAX_NUM_HANDLERS = 64;

  industrial::message_handler::MessageHandler* handlers_[MAX_NUM_HANDLERS];

  industrial::smpl_msg_connection::SmplMsgConnection* connection_;

  industrial::ping_handler::PingHandler ping_hndlr_;

  industrial::simple_comms_fault_handler::SimpleCommsFaultHandler def_comms_hndlr_;

  industrial::comms_fault_handler::CommsFaultHandler* comms_hndlr_;

  unsigned int num_handlers_;

  industrial::message_handler::MessageHandler* getHandler(int msg_type);

  industrial::comms_fault_handler::CommsFaultHandler* getCommsFaultHandler()
  {
    return this->comms_hndlr_;
  }

  void setCommsFaultHandler(industrial::comms_fault_handler::CommsFaultHandler* handler)
  {
    this->comms_hndlr_ = handler;
  }

  industrial::simple_comms_fault_handler::SimpleCommsFaultHandler& getDefaultCommsFaultHandler()
  {
    return this->def_comms_hndlr_;
  }
  industrial::ping_handler::PingHandler& getPingHandler()
  {
    return this->ping_hndlr_;
  }
  ;

  void setConnection(industrial::smpl_msg_connection::SmplMsgConnection* connection)
  {
    this->connection_ = connection;
  }
  ;

  industrial::smpl_msg_connection::SmplMsgConnection* getConnection()
  {
    return this->connection_;
  }
  ;

  void setNumHandlers(unsigned int num_handlers)
  {
    this->num_handlers_ = num_handlers;
  }
  ;

};

} // namespace industrial
} // namespace message_manager

#endif //MESSAGE_MANAGER

---

simple_message
Author(s): Shaun Edwards
autogenerated on Mon Mar 4 11:36:26 2013