simple_message.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *       * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *       * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *       * Neither the name of the Southwest Research Institute, nor the names
 *       of its contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef SIMPLE_MSG_H
#define SIMPLE_MSG_H

#ifdef ROS

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

#endif

#ifdef MOTOPLUS

#include "simple_serialize.h"
#include "byte_array.h"
#include "shared_types.h"

#endif


namespace industrial
{

namespace simple_message
{

namespace StandardMsgTypes
{
  enum StandardMsgType
  {
 INVALID = 0,
 PING = 1,

 //TODO: Keeping these message type for the time being.  Refactoring
 // the messages should remove the need for this message.
 JOINT_POSITION = 10,
 JOINT = 10, 
 READ_INPUT = 20,
 WRITE_OUTPUT = 21,

 JOINT_TRAJ_PT = 11,  //Joint trajectory point message (typically for streaming)
 JOINT_TRAJ = 12,         //Joint trajectory message (typically for trajectory downloading)
 STATUS = 13,         //Robot status message (for reporting the robot state)

 // Begin vendor specific message types (only define the beginning enum value,
 // specific enum values should be defined locally, within in the range reserved
 // here.  Each vendor can reserve up 1000 types

 SWRI_MSG_BEGIN = 1000,
 MOTOMAN_MSG_BEGIN = 2000
  };
}
typedef StandardMsgTypes::StandardMsgType StandardMsgType;

namespace CommTypes
{
  enum CommType
  {
 INVALID = 0,
 TOPIC = 1,
 SERVICE_REQUEST = 2,
 SERVICE_REPLY = 3
  };
}
typedef CommTypes::CommType CommType;

namespace ReplyTypes
{
  enum ReplyType
  {
 INVALID = 0,
 SUCCESS = 1,
 FAILURE = 2
  };
}
typedef ReplyTypes::ReplyType ReplyType;



class SimpleMessage
{

  
public:
        SimpleMessage();

        ~SimpleMessage(void);
        bool init(int msgType, int commType, int replyCode,
                  industrial::byte_array::ByteArray &data );
            
  bool init(int msgType, int commType, int replyCode);
  
  bool init(industrial::byte_array::ByteArray & msg);

  void toByteArray(industrial::byte_array::ByteArray & msg);

  static unsigned int getHeaderSize() { return SimpleMessage::HEADER_SIZE; };
  
  static unsigned int getLengthSize() { return SimpleMessage::LENGTH_SIZE; };

        int getMessageType() {return this->message_type_;};
  
        int getCommType() {return this->comm_type_;};
  
  int getReplyCode() {return this->reply_code_;};
  
        int getMsgLength() {return this->getHeaderSize() + this->data_.getBufferSize();};
  
        int getDataLength() {return this->data_.getBufferSize();};
  
  industrial::byte_array::ByteArray & getData() {return this->data_;};
        
  bool validateMessage();
        


private:

  industrial::shared_types::shared_int message_type_;
  
  industrial::shared_types::shared_int comm_type_;
  
  industrial::shared_types::shared_int reply_code_;
  
        industrial::byte_array::ByteArray data_;

        static const unsigned int HEADER_SIZE = sizeof(industrial::shared_types::shared_int) +
            sizeof(industrial::shared_types::shared_int) +
            sizeof(industrial::shared_types::shared_int);
      
        static const unsigned int LENGTH_SIZE = sizeof(industrial::shared_types::shared_int);

  void setMessageType(int msgType) {this->message_type_ = msgType;};
  
  void setCommType(int commType) {this->comm_type_ = commType;};
  
  void setReplyCode(int replyCode) {this->reply_code_ = replyCode;};
  
  void setData(industrial::byte_array::ByteArray & data);
};

}//namespace simple_message
}//namespace industrial

#endif //SIMPLE_MSG_