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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 GRIPPER_MESSAGE_H 00033 #define GRIPPER_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 "armadillo/armadillo.h" 00040 #endif 00041 00042 #ifdef MOTOPLUS 00043 #include "typed_message.h" 00044 #include "simple_message.h" 00045 #include "shared_types.h" 00046 #include "armadillo.h" 00047 #endif 00048 00049 00050 namespace industrial 00051 { 00052 namespace gripper_message 00053 { 00054 00058 namespace GripperOperationTypes 00059 { 00060 enum GripperOperationType 00061 { 00062 INVALID = 0, 00063 INIT, 00064 OPEN, 00065 CLOSE 00066 }; 00067 } 00068 typedef GripperOperationTypes::GripperOperationType GripperOperationType; 00069 00073 //* GripperMessage 00081 class GripperMessage : public industrial::typed_message::TypedMessage 00082 00083 { 00084 public: 00091 GripperMessage(void); 00096 ~GripperMessage(void); 00104 bool init(industrial::simple_message::SimpleMessage & msg); 00105 00112 void init(GripperOperationType operation); 00113 00118 void init(); 00119 00120 // Overrides - SimpleSerialize 00121 bool load(industrial::byte_array::ByteArray *buffer); 00122 bool unload(industrial::byte_array::ByteArray *buffer); 00123 00124 unsigned int byteLength() 00125 { 00126 return sizeof(industrial::shared_types::shared_int(operation_)); 00127 } 00128 00129 GripperOperationType operation_; 00130 00131 private: 00132 00133 00134 }; 00135 00136 } 00137 } 00138 00139 #endif /* GRIPPER_MESSAGE_H */