robot_status_message.cpp
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2012, 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 #ifdef ROS
00033 #include "simple_message/messages/robot_status_message.h"
00034 #include "simple_message/robot_status.h"
00035 #include "simple_message/byte_array.h"
00036 #include "simple_message/log_wrapper.h"
00037 #endif
00038 
00039 #ifdef MOTOPLUS
00040 #include "robot_status_message.h"
00041 #include "robot_status.h"
00042 #include "byte_array.h"
00043 #include "log_wrapper.h"
00044 #endif
00045 
00046 using namespace industrial::shared_types;
00047 using namespace industrial::byte_array;
00048 using namespace industrial::simple_message;
00049 using namespace industrial::robot_status;
00050 
00051 namespace industrial
00052 {
00053 namespace robot_status_message
00054 {
00055 
00056 RobotStatusMessage::RobotStatusMessage(void)
00057 {
00058   this->init();
00059 }
00060 
00061 RobotStatusMessage::~RobotStatusMessage(void)
00062 {
00063 
00064 }
00065 
00066 bool RobotStatusMessage::init(industrial::simple_message::SimpleMessage & msg)
00067 {
00068   bool rtn = false;
00069   ByteArray data = msg.getData();
00070   this->init();
00071 
00072   if (data.unload(this->status_))
00073   {
00074     rtn = true;
00075   }
00076   else
00077   {
00078     LOG_ERROR("Failed to unload robot status data");
00079   }
00080   return rtn;
00081 }
00082 
00083 void RobotStatusMessage::init(industrial::robot_status::RobotStatus & status)
00084 {
00085   this->init();
00086   this->status_.copyFrom(status);
00087 }
00088 
00089 void RobotStatusMessage::init()
00090 {
00091   this->setMessageType(StandardMsgTypes::STATUS);
00092   this->status_.init();
00093 }
00094 
00095 bool RobotStatusMessage::load(ByteArray *buffer)
00096 {
00097   bool rtn = false;
00098   LOG_COMM("Executing robot status message load");
00099   if (buffer->load(this->status_))
00100   {
00101     rtn = true;
00102   }
00103   else
00104   {
00105     rtn = false;
00106     LOG_ERROR("Failed to load robot status data");
00107   }
00108   return rtn;
00109 }
00110 
00111 bool RobotStatusMessage::unload(ByteArray *buffer)
00112 {
00113   bool rtn = false;
00114   LOG_COMM("Executing robot status message unload");
00115 
00116   if (buffer->unload(this->status_))
00117   {
00118     rtn = true;
00119   }
00120   else
00121   {
00122     rtn = false;
00123     LOG_ERROR("Failed to unload robot status data");
00124   }
00125   return rtn;
00126 }
00127 
00128 }
00129 }
00130 


simple_message
Author(s): Shaun Edwards
autogenerated on Mon Oct 6 2014 00:54:18