motoman_motion_ctrl_message.cpp
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2013, 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
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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
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00031 
00032 #ifdef ROS
00033 #include "fs100/simple_message/motoman_motion_ctrl_message.h"
00034 #include "simple_message/byte_array.h"
00035 #include "simple_message/log_wrapper.h"
00036 #endif
00037 
00038 #ifdef MOTOPLUS
00039 #include "motoman_motion_ctrl_message.h"
00040 #include "byte_array.h"
00041 #include "log_wrapper.h"
00042 #endif
00043 
00044 using namespace industrial::shared_types;
00045 using industrial::byte_array::ByteArray;
00046 using industrial::simple_message::SimpleMessage;
00047 using motoman::simple_message::motion_ctrl::MotionCtrl;
00048 
00049 namespace motoman
00050 {
00051 namespace simple_message
00052 {
00053 namespace motion_ctrl_message
00054 {
00055 
00056 MotionCtrlMessage::MotionCtrlMessage(void)
00057 {
00058   this->init();
00059 }
00060 
00061 MotionCtrlMessage::~MotionCtrlMessage(void)
00062 {
00063 
00064 }
00065 
00066 bool MotionCtrlMessage::init(SimpleMessage & msg)
00067 {
00068   ByteArray data = msg.getData();
00069   this->init();
00070 
00071   if (!data.unload(this->cmd_))
00072   {
00073     LOG_ERROR("Failed to unload MotionCtrl data");
00074     return false;
00075   }
00076 
00077   return true;
00078 }
00079 
00080 void MotionCtrlMessage::init(MotionCtrl & cmd)
00081 {
00082   this->init();
00083   this->cmd_.copyFrom(cmd);
00084 }
00085 
00086 void MotionCtrlMessage::init()
00087 {
00088   this->setMessageType(MotomanMsgTypes::MOTOMAN_MOTION_CTRL);
00089   this->cmd_.init();
00090 }
00091 
00092 bool MotionCtrlMessage::load(ByteArray *buffer)
00093 {
00094   LOG_COMM("Executing MotionCtrl message load");
00095   if (!buffer->load(this->cmd_))
00096   {
00097     LOG_ERROR("Failed to load MotionCtrl message");
00098     return false;
00099   }
00100 
00101   return true;
00102 }
00103 
00104 bool MotionCtrlMessage::unload(ByteArray *buffer)
00105 {
00106   LOG_COMM("Executing MotionCtrl message unload");
00107 
00108   if (!buffer->unload(this->cmd_))
00109   {
00110     LOG_ERROR("Failed to unload MotionCtrl message");
00111     return false;
00112   }
00113 
00114   return true;
00115 }
00116 
00117 }
00118 }
00119 }
00120 
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fs100
Author(s): Jeremy Zoss (Southwest Research Institute)
autogenerated on Mon May 27 2013 19:43:14