joint_traj_pt.cpp

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

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

using namespace industrial::joint_data;
using namespace industrial::shared_types;

namespace industrial
{
namespace joint_traj_pt
{

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

}

void JointTrajPt::init()
{
        this->joint_position_.init();
        this->sequence_ = 0;
        this->velocity_ = 0.0;
}

void JointTrajPt::init(shared_int sequence, JointData & position, shared_real velocity)
{
        this->setJointPosition(position);
        this->setSequence(sequence);
        this->setVelocity(velocity);
}


void JointTrajPt::copyFrom(JointTrajPt &src)
{
  this->setSequence(src.getSequence());
  src.getJointPosition(this->joint_position_);
  this->setVelocity(src.getVelocity());
}

bool JointTrajPt::operator==(JointTrajPt &rhs)
{
  return this->joint_position_ == rhs.joint_position_ &&
                  this->sequence_ == rhs.sequence_ &&
                  this->velocity_ == rhs.velocity_;

}

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

        LOG_COMM("Executing joint trajectory point load");

        if (buffer->load(this->sequence_))
        {
                if (this->joint_position_.load(buffer))
                {
                        if (buffer->load(this->velocity_))
                        {
                                LOG_COMM("Trajectory point successfully loaded");
                                rtn = true;
                        }
                        else
                        {
                                rtn = false;
                                LOG_ERROR("Failed to load joint traj pt. velocity");
                        }

                }
                else
                {
                        rtn = false;
                        LOG_ERROR("Failed to load joint traj. pt.  position data");
                }
        }
        else
        {
                rtn = false;
                LOG_ERROR("Failed to load joint traj. pt. sequence number");
        }

        return rtn;
}

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

  LOG_COMM("Executing joint traj. pt. unload");
  if (buffer->unload(this->velocity_))
  {
          if(this->joint_position_.unload(buffer))
          {
                  if (buffer->unload(this->sequence_))
                  {
                          rtn = true;
                          LOG_COMM("Joint traj. pt successfully unloaded");
                  }
                  else
                  {
                                LOG_ERROR("Failed to unload joint traj. pt. sequence number");
                                rtn = false;
                  }
          }
          else
          {
                  LOG_ERROR("Failed to unload joint traj. pt.  position data");
                  rtn = false;
          }

  }
  else
  {
          LOG_ERROR("Failed to unload joint traj. pt. velocity");
          rtn = false;
  }

  return rtn;
}

}
}