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_MANAGER_H 00033 #define MESSAGE_MANAGER_H 00034 00035 #ifdef ROS 00036 00037 #include "simple_message/smpl_msg_connection.h" 00038 #include "simple_message/message_handler.h" 00039 #include "simple_message/ping_handler.h" 00040 #include "simple_message/comms_fault_handler.h" 00041 #include "simple_message/simple_comms_fault_handler.h" 00042 00043 #endif 00044 00045 #ifdef MOTOPLUS 00046 00047 #include "smpl_msg_connection.h" 00048 #include "message_handler.h" 00049 #include "ping_handler.h" 00050 #include "comms_fault_handler.h" 00051 #include "simple_comms_fault_handler.h" 00052 00053 #endif 00054 00055 00056 namespace industrial 00057 { 00058 namespace message_manager 00059 { 00060 00064 //* MessageManager 00080 class MessageManager 00081 { 00082 00083 public: 00084 00088 MessageManager(); 00089 00093 ~MessageManager(); 00094 00104 bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection); 00105 00118 bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection, 00119 industrial::comms_fault_handler::CommsFaultHandler* fault_handler); 00120 00125 void spinOnce(); 00126 00130 void spin(); 00131 00140 bool add(industrial::message_handler::MessageHandler* handler, bool allow_replace = false); 00141 00147 unsigned int getNumHandlers() 00148 { 00149 return this->num_handlers_; 00150 } 00151 00157 unsigned int getMaxNumHandlers() 00158 { 00159 return this->MAX_NUM_HANDLERS; 00160 } 00161 00162 00168 industrial::comms_fault_handler::CommsFaultHandler* getCommsFaultHandler() 00169 { 00170 return this->comms_hndlr_; 00171 } 00172 00178 void setCommsFaultHandler(industrial::comms_fault_handler::CommsFaultHandler* handler) 00179 { 00180 this->comms_hndlr_ = handler; 00181 } 00182 00183 00184 private: 00185 00192 static const unsigned int MAX_NUM_HANDLERS = 64; 00193 00197 industrial::message_handler::MessageHandler* handlers_[MAX_NUM_HANDLERS]; 00198 00202 industrial::smpl_msg_connection::SmplMsgConnection* connection_; 00203 00207 industrial::ping_handler::PingHandler ping_hndlr_; 00208 00213 industrial::simple_comms_fault_handler::SimpleCommsFaultHandler def_comms_hndlr_; 00214 00218 industrial::comms_fault_handler::CommsFaultHandler* comms_hndlr_; 00219 00223 unsigned int num_handlers_; 00224 00232 industrial::message_handler::MessageHandler* getHandler(int msg_type); 00233 00241 int getHandlerIdx(int msg_type); 00242 00248 industrial::simple_comms_fault_handler::SimpleCommsFaultHandler& getDefaultCommsFaultHandler() 00249 { 00250 return this->def_comms_hndlr_; 00251 } 00257 industrial::ping_handler::PingHandler& getPingHandler() 00258 { 00259 return this->ping_hndlr_; 00260 } 00261 ; 00262 00268 void setConnection(industrial::smpl_msg_connection::SmplMsgConnection* connection) 00269 { 00270 this->connection_ = connection; 00271 } 00272 ; 00273 00279 industrial::smpl_msg_connection::SmplMsgConnection* getConnection() 00280 { 00281 return this->connection_; 00282 } 00283 ; 00284 00290 void setNumHandlers(unsigned int num_handlers) 00291 { 00292 this->num_handlers_ = num_handlers; 00293 } 00294 ; 00295 00296 }; 00297 00298 } // namespace industrial 00299 } // namespace message_manager 00300 00301 #endif //MESSAGE_MANAGER