joint_data.h

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#ifndef JOINT_DATA_H
#define JOINT_DATA_H

#ifdef ROS

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

#endif

#ifdef MOTOPLUS

#include "simple_message.h"
#include "simple_serialize.h"
#include "shared_types.h"

#endif

namespace industrial
{
namespace joint_data
{

class JointData : public industrial::simple_serialize::SimpleSerialize
{
public:
  JointData(void);
  ~JointData(void);

  void init();

  bool setJoint(industrial::shared_types::shared_int index, industrial::shared_types::shared_real value);

  bool getJoint(industrial::shared_types::shared_int index, industrial::shared_types::shared_real & value);

  industrial::shared_types::shared_real getJoint(industrial::shared_types::shared_int index);

  void copyFrom(JointData &src);

  int getMaxNumJoints() const
  {
    return MAX_NUM_JOINTS;
  }

  bool operator==(JointData &rhs);

  // Overrides - SimpleSerialize
  bool load(industrial::byte_array::ByteArray *buffer);
  bool unload(industrial::byte_array::ByteArray *buffer);
  unsigned int byteLength()
  {
    return MAX_NUM_JOINTS * sizeof(industrial::shared_types::shared_real);
  }

private:

  static const industrial::shared_types::shared_int MAX_NUM_JOINTS = 10;
  industrial::shared_types::shared_real joints_[MAX_NUM_JOINTS];

};

}
}

#endif /* JOINT_DATA_H */