smpl_msg_connection.h

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#ifndef SIMPLE_MESSAGE_CONNECTION_H
#define SIMPLE_MESSAGE_CONNECTION_H

#ifdef ROS

#include "simple_message/byte_array.h"
#include "simple_message/simple_message.h"
#include "simple_message/shared_types.h"

#endif

#ifdef MOTOPLUS

#include "byte_array.h"
#include "simple_message.h"
#include "shared_types.h"

#endif


namespace industrial
{
namespace smpl_msg_connection
{

class SmplMsgConnection

{
public:

  // Message
  
  virtual bool sendMsg(industrial::simple_message::SimpleMessage & message);
  
  virtual bool receiveMsg(industrial::simple_message::SimpleMessage & message);
  
  bool sendAndReceiveMsg(industrial::simple_message::SimpleMessage & send,
                         industrial::simple_message::SimpleMessage & recv, 
                         bool verbose = false);

  virtual bool isConnected()=0;

  virtual bool makeConnect()=0;

private:

  // Overrides
  virtual bool sendBytes(industrial::byte_array::ByteArray & buffer) =0;
  
  virtual bool receiveBytes(industrial::byte_array::ByteArray & buffer,
                            industrial::shared_types::shared_int num_bytes) =0;

};

} //namespace message_connection
} //namespace industrial

#endif //SIMPLE_MESSAGE_CONNECTION_H