simple_message.cpp
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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"
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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
00029  * POSSIBILITY OF SUCH DAMAGE.
00030  */
00031 
00032 #ifdef ROS
00033 #include "simple_message/simple_message.h"
00034 #include "simple_message/log_wrapper.h"
00035 #endif
00036 
00037 #ifdef MOTOPLUS
00038 #include "motoPlus.h"
00039 #include "simple_message.h"
00040 #include "log_wrapper.h"
00041 #endif
00042 
00043 
00044 
00045 using namespace industrial::byte_array;
00046 
00047 namespace industrial
00048 {
00049 
00050 namespace simple_message
00051 {
00052 
00053 SimpleMessage::SimpleMessage(void)
00054 {
00055 }
00056 
00057 SimpleMessage::~SimpleMessage(void)
00058 {
00059 }
00060 
00061 
00062 
00063 bool SimpleMessage::init(int msgType, int commType, int replyCode)
00064 {
00065   ByteArray data;
00066   data.init();
00067   return this->init(msgType, commType, replyCode, data);
00068 }
00069 
00070 bool SimpleMessage::init(int msgType, int commType, int replyCode, ByteArray & data )
00071 {
00072   LOG_COMM("SimpleMessage::init(type: %d, comm: %d, reply: %d, data[%d]...)",
00073             msgType, commType, replyCode, data.getBufferSize());
00074   this->setMessageType(msgType);
00075   this->setCommType(commType);
00076   this->setReplyCode(replyCode);
00077   this->data_.copyFrom(data);
00078 
00079   return this->validateMessage();
00080 }
00081 
00082 bool SimpleMessage::init(ByteArray & msg)
00083 {
00084   int dataSize = 0;
00085   bool rtn = false;
00086 
00087   if (msg.getBufferSize() >= this->getHeaderSize())
00088   {
00089     // Check to see if the message is larger than the standard header
00090     // If so, copy out the data portion.
00091     if (msg.getBufferSize() > this->getHeaderSize())
00092     {
00093       dataSize = msg.getBufferSize() - this->getHeaderSize();
00094       LOG_COMM("Unloading data portion of message: %d bytes", dataSize);
00095       msg.unload(this->data_, dataSize);
00096     }
00097     LOG_COMM("Unloading header data");
00098     msg.unload(this->reply_code_);
00099     msg.unload(this->comm_type_);
00100     msg.unload(this->message_type_);
00101     LOG_COMM("SimpleMessage::init(type: %d, comm: %d, reply: %d, data[%d]...)",
00102               this->message_type_, this->comm_type_, this->reply_code_, this->data_.getBufferSize());
00103     rtn = this->validateMessage();
00104   }
00105   else
00106   {
00107     LOG_ERROR("Failed to init message, buffer size too small: %u", msg.getBufferSize());
00108     rtn = false;
00109   }
00110   return rtn;
00111 }
00112 
00113 void SimpleMessage::toByteArray(ByteArray & msg)
00114 {
00115   msg.init();
00116 
00117   msg.load(this->getMessageType());
00118   msg.load(this->getCommType());
00119   msg.load(this->getReplyCode());
00120   if (this->data_.getBufferSize() > 0 )
00121   {
00122     msg.load(this->getData().getRawDataPtr(), this->data_.getBufferSize());
00123   }
00124 
00125 }
00126 
00127 
00128 void SimpleMessage::setData( ByteArray & data)
00129 {
00130   this->data_.copyFrom(data);
00131 }
00132 
00133 
00134 bool SimpleMessage::validateMessage()
00135 {
00136 
00137   if ( StandardMsgTypes::INVALID == this->getMessageType())
00138   {
00139     LOG_WARN("Invalid message type: %u", this->getMessageType());
00140     return false;
00141   }
00142 
00143   if ( CommTypes::INVALID == this->getCommType())
00144   {
00145     LOG_WARN("Invalid comms. type: %u", this->getCommType());
00146     return false;
00147   }
00148 
00149   if (
00150       (CommTypes::SERVICE_REPLY ==  this->getCommType() &&
00151           ReplyTypes::INVALID == this->getReplyCode()) ||
00152           ((CommTypes::SERVICE_REPLY !=  this->getCommType() &&
00153               ReplyTypes::INVALID != this->getReplyCode()))
00154   )
00155   {
00156     LOG_WARN("Invalid reply. Comm type: %u, Reply type: %u",
00157              this->getCommType(), this->getReplyCode());
00158     return false;
00159   }
00160 
00161   return true;
00162 }
00163 
00164 
00165 
00166         
00167 } // namespace simple_message
00168 } // namespace industrial


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