joint_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 "simple_message/messages/joint_message.h"
00034 #include "simple_message/joint_data.h"
00035 #include "simple_message/byte_array.h"
00036 #include "simple_message/log_wrapper.h"
00037 #endif
00038 
00039 #ifdef MOTOPLUS
00040 #include "joint_message.h"
00041 #include "joint_data.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::joint_data;
00050 
00051 namespace industrial
00052 {
00053 namespace joint_message
00054 {
00055 
00056 JointMessage::JointMessage(void)
00057 {
00058   this->setMessageType(StandardMsgTypes::JOINT_POSITION);
00059   this->init();
00060 }
00061 
00062 JointMessage::~JointMessage(void)
00063 {
00064 
00065 }
00066 
00067 bool JointMessage::init(industrial::simple_message::SimpleMessage & msg)
00068 {
00069   bool rtn = false;
00070   ByteArray data = msg.getData();
00071 
00072   this->setMessageType(StandardMsgTypes::JOINT_POSITION);
00073 
00074   if (data.unload(this->joints_))
00075   {
00076     if (data.unload(this->sequence_))
00077     {
00078       rtn = true;
00079     }
00080     else
00081     {
00082       rtn = false;
00083       LOG_ERROR("Failed to unload sequence data");
00084     }
00085   }
00086   else
00087   {
00088     LOG_ERROR("Failed to unload joint data");
00089   }
00090   return rtn;
00091 }
00092 
00093 void JointMessage::setSequence(shared_int sequence)
00094 {
00095   this->sequence_ = sequence;
00096 }
00097 
00098 void JointMessage::init(shared_int seq, JointData& joints)
00099 {
00100   this->setSequence(seq);
00101   this->joints_.copyFrom(joints);
00102 }
00103 
00104 void JointMessage::init()
00105 {
00106   this->setSequence(0);
00107   this->joints_.init();
00108 }
00109 
00110 bool JointMessage::load(ByteArray *buffer)
00111 {
00112   bool rtn = false;
00113   LOG_COMM("Executing joint message load");
00114   if (buffer->load(this->getSequence()))
00115   {
00116 
00117     if (buffer->load(this->joints_))
00118     {
00119       rtn = true;
00120     }
00121     else
00122     {
00123       rtn = false;
00124       LOG_ERROR("Failed to load sequence data");
00125     }
00126   }
00127   else
00128   {
00129     rtn = false;
00130     LOG_ERROR("Failed to load sequence data");
00131   }
00132   return rtn;
00133 }
00134 
00135 bool JointMessage::unload(ByteArray *buffer)
00136 {
00137   bool rtn = false;
00138   LOG_COMM("Executing joint message unload");
00139 
00140   if (buffer->unload(this->joints_))
00141   {
00142 
00143     if (buffer->unload(this->sequence_))
00144     {
00145       rtn = true;
00146     }
00147     else
00148     {
00149       rtn = false;
00150       LOG_ERROR("Failed to unload sequence data");
00151     }
00152   }
00153   else
00154   {
00155     rtn = false;
00156     LOG_ERROR("Failed to unload joint data");
00157   }
00158   return rtn;
00159 }
00160 
00161 }
00162 }
00163 


simple_message
Author(s): Shaun Edwards
autogenerated on Fri Jan 3 2014 11:26:56