gripper_message.cpp
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 #ifdef ROS 00033 #include "armadillo/armadillo.h" 00034 #include "armadillo/messages/gripper_message.h" 00035 #include "simple_message/byte_array.h" 00036 #include "simple_message/log_wrapper.h" 00037 #endif 00038 00039 #ifdef MOTOPLUS 00040 #include "armadillo.h" 00041 #include "gripper_message.h" 00042 #include "byte_array.h" 00043 #include "log_wrapper.h" 00044 #endif 00045 00046 using namespace industrial::shared_types; 00047 using namespace industrial::byte_array; 00048 using namespace industrial::simple_message; 00049 using namespace industrial::armadillo; 00050 00051 namespace industrial 00052 { 00053 namespace gripper_message 00054 { 00055 00056 GripperMessage::GripperMessage(void) 00057 { 00058 this->setMessageType(ArmadilloMsgTypes::GRIPPER); 00059 this->init(); 00060 } 00061 00062 GripperMessage::~GripperMessage(void) 00063 { 00064 00065 } 00066 00067 bool GripperMessage::init(industrial::simple_message::SimpleMessage & msg) 00068 { 00069 bool rtn = false; 00070 ByteArray data = msg.getData(); 00071 00072 this->setMessageType(ArmadilloMsgTypes::GRIPPER); 00073 this->unload(&msg.getData()); 00074 return rtn; 00075 00076 } 00077 00078 void GripperMessage::init(GripperOperationType operation) 00079 { 00080 this->operation_ = operation; 00081 } 00082 00083 void GripperMessage::init() 00084 { 00085 this->operation_ = GripperOperationTypes::INVALID; 00086 } 00087 00088 bool GripperMessage::load(ByteArray *buffer) 00089 { 00090 bool rtn = false; 00091 LOG_COMM("Executing gripper message load"); 00092 if (buffer->load(this->operation_)) 00093 { 00094 rtn = true; 00095 } 00096 00097 else 00098 { 00099 rtn = false; 00100 LOG_ERROR("Failed to load operation data"); 00101 } 00102 return rtn; 00103 } 00104 00105 bool GripperMessage::unload(ByteArray *buffer) 00106 { 00107 bool rtn = false; 00108 LOG_COMM("Executing gripper message unload"); 00109 shared_int op_int; 00110 00111 if (buffer->unload(op_int)) 00112 { 00113 this->operation_ = (GripperOperationType)op_int; 00114 rtn = true; 00115 } 00116 else 00117 { 00118 rtn = false; 00119 LOG_ERROR("Failed to unload operation data"); 00120 } 00121 return rtn; 00122 } 00123 00124 } 00125 } 00126