joint_traj.cpp

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#ifdef ROS
#include "simple_message/joint_traj.h"
#include "simple_message/shared_types.h"
#include "simple_message/log_wrapper.h"
#endif

#ifdef MOTOPLUS
#include "joint_traj.h"
#include "shared_types.h"
#include "log_wrapper.h"
#endif

using namespace industrial::shared_types;
using namespace industrial::joint_traj_pt;

namespace industrial
{
namespace joint_traj
{

JointTraj::JointTraj(void)
{
        this->init();
}
JointTraj::~JointTraj(void)
{

}

void JointTraj::init()
{
        JointTrajPt empty;

        this->size_ = 0;
        for (shared_int i = 0; i < this->getMaxNumPoints(); i++)
        {
                this->points_[i].copyFrom(empty);
        }
}

bool JointTraj::addPoint(JointTrajPt & point)
{
        bool rtn = false;

        if (!this->isFull())
        {
                this->points_[this->size()].copyFrom(point);
                this->size_++;
                rtn = true;
        }
        else
        {
                rtn = false;
                LOG_ERROR("Failed to add point, buffer is full");
        }

        return rtn;
}

bool JointTraj::getPoint(shared_int index, JointTrajPt & point)
{
        bool rtn = false;

        if (index < this->size())
        {
                point.copyFrom(this->points_[index]);
                rtn = true;
        }
        else
        {
                LOG_ERROR("Point index: %d, is greater than size: %d", index, this->size());
                rtn = false;
        }
        return rtn;
}

void JointTraj::copyFrom(JointTraj &src)
{
        JointTrajPt value;

        this->size_ = src.size();
        for (shared_int i = 0; i < this->size(); i++)
        {
                src.getPoint(i, value);
                this->points_[i].copyFrom(value);
        }
}

bool JointTraj::operator==(JointTraj &rhs)
{
        bool rtn = true;

        if(this->size() == rhs.size())
        {
                for(shared_int i = 0; i < this->size(); i++)
                {
                        JointTrajPt value;
                        rhs.getPoint(i, value);
                        if(!(this->points_[i] == value))
                        {
                                LOG_DEBUG("Joint trajectory point different");
                                rtn = false;
                                break;
                        }
                        else
                        {
                                rtn = true;
                        }
                }
        }
        else
        {
                LOG_DEBUG("Joint trajectory compare failed, size mismatch");
                rtn = false;
        }

        return rtn;
}


bool JointTraj::load(industrial::byte_array::ByteArray *buffer)
{
        bool rtn = false;
        JointTrajPt value;

        LOG_COMM("Executing joint trajectory load");
        for (shared_int i = 0; i < this->size(); i++)
        {
                this->getPoint(i, value);
                rtn = buffer->load(value);
                if (!rtn)
                {
                        LOG_ERROR("Failed to load joint traj.pt. data");
                        rtn = false;
                        break;
                }
                rtn = true;
        }

        if (rtn)
        {
                rtn = buffer->load(this->size());
        }
        return rtn;
}

bool JointTraj::unload(industrial::byte_array::ByteArray *buffer)
{
        bool rtn = false;
        JointTrajPt value;

        LOG_COMM("Executing joint trajectory unload");

        rtn = buffer->unload(this->size_);

        if(rtn)
        {
                for (int i = this->size() - 1; i >= 0; i--)
                {
                        rtn = buffer->unload(value);
                        if (!rtn)
                        {
                                LOG_ERROR("Failed to unload message point: %d from data[%d]", i, buffer->getBufferSize());
                                break;
                        }
                        this->points_[i].copyFrom(value);
                }
        }
        else
        {
                LOG_ERROR("Failed to unload trajectory size");
        }
        return rtn;
}

}
}