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 MESSAGE_HANDLER_H 00033 #define MESSAGE_HANDLER_H 00034 00035 #ifdef ROS 00036 00037 #include "simple_message/simple_message.h" 00038 #include "simple_message/smpl_msg_connection.h" 00039 00040 #endif 00041 00042 #ifdef MOTOPLUS 00043 00044 #include "simple_message.h" 00045 #include "smpl_msg_connection.h" 00046 00047 #endif 00048 00049 00050 namespace industrial 00051 { 00052 namespace message_handler 00053 { 00054 00059 //* MessageHandler 00068 class MessageHandler 00069 00070 { 00071 public: 00072 00076 MessageHandler(); 00077 00081 ~MessageHandler(); 00082 00093 bool callback(industrial::simple_message::SimpleMessage & in); 00094 00100 int getMsgType() 00101 { 00102 return this->msg_type_; 00103 } 00104 ; 00105 00106 protected: 00112 industrial::smpl_msg_connection::SmplMsgConnection*getConnection() 00113 { 00114 return this->connection_; 00115 } 00116 ; 00117 00126 bool init(int msg_type, industrial::smpl_msg_connection::SmplMsgConnection* connection); 00127 00128 private: 00129 00133 industrial::smpl_msg_connection::SmplMsgConnection* connection_; 00134 00138 int msg_type_; 00139 00147 virtual bool internalCB(industrial::simple_message::SimpleMessage & in)=0; 00148 00156 bool validateMsg(industrial::simple_message::SimpleMessage & in); 00157 00163 void setConnection(industrial::smpl_msg_connection::SmplMsgConnection* connection) 00164 { 00165 this->connection_ = connection; 00166 } 00167 ; 00168 00174 void setMsgType(int msg_type) 00175 { 00176 this->msg_type_ = msg_type; 00177 } 00178 ; 00179 00180 }; 00181 00182 } //namespace message_handler 00183 } //namespace industrial 00184 00185 #endif //MESSAGE_HANDLER_H