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 JOINT_MESSAGE_H 00033 #define JOINT_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 "simple_message/joint_data.h" 00040 #endif 00041 00042 #ifdef MOTOPLUS 00043 #include "typed_message.h" 00044 #include "simple_message.h" 00045 #include "shared_types.h" 00046 #include "joint_data.h" 00047 #endif 00048 00049 namespace industrial 00050 { 00051 namespace joint_message 00052 { 00053 00058 namespace SpecialSeqValues 00059 { 00060 enum SpecialSeqValue 00061 { 00062 END_TRAJECTORY = -1, STOP_TRAJECTORY = -2 00063 }; 00064 } 00065 typedef SpecialSeqValues::SpecialSeqValue SpecialSeqValue; 00066 00087 class JointMessage : public industrial::typed_message::TypedMessage 00088 { 00089 public: 00096 JointMessage(void); 00101 ~JointMessage(void); 00109 bool init(industrial::simple_message::SimpleMessage & msg); 00110 00118 void init(industrial::shared_types::shared_int seq, industrial::joint_data::JointData & joints); 00119 00124 void init(); 00125 00131 void setSequence(industrial::shared_types::shared_int sequence); 00132 00138 industrial::shared_types::shared_int getSequence() 00139 { 00140 return sequence_; 00141 } 00142 00148 industrial::joint_data::JointData& getJoints() 00149 { 00150 return this->joints_; 00151 } 00152 00153 // Overrides - SimpleSerialize 00154 bool load(industrial::byte_array::ByteArray *buffer); 00155 bool unload(industrial::byte_array::ByteArray *buffer); 00156 00157 unsigned int byteLength() 00158 { 00159 return sizeof(industrial::shared_types::shared_int) + this->joints_.byteLength(); 00160 } 00161 00162 private: 00166 industrial::shared_types::shared_int sequence_; 00170 industrial::joint_data::JointData joints_; 00171 00172 }; 00173 00174 } 00175 } 00176 00177 #endif /* JOINT_MESSAGE_H */