typed_message.h

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#ifndef TYPED_MESSAGE_H
#define TYPED_MESSAGE_H

#ifdef ROS

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

#endif

#ifdef MOTOPLUS

#include "simple_message.h"
#include "byte_array.h"

#endif


namespace industrial
{
namespace typed_message
{

class TypedMessage : public industrial::simple_serialize::SimpleSerialize
{

public:
  virtual bool init(industrial::simple_message::SimpleMessage & msg)=0;

  virtual void init()=0;

  virtual bool toRequest(industrial::simple_message::SimpleMessage & msg)
  {
          industrial::byte_array::ByteArray data;
          data.load(*this);
          return msg.init(this->getMessageType(),
                          industrial::simple_message::CommTypes::SERVICE_REQUEST,
                          industrial::simple_message::ReplyTypes::INVALID, data);
  }

  virtual bool toReply(industrial::simple_message::SimpleMessage & msg,
                  industrial::simple_message::ReplyType reply)
  {
          industrial::byte_array::ByteArray data;
        data.load(*this);
        return msg.init(this->getMessageType(),
                        industrial::simple_message::CommTypes::SERVICE_REPLY,
                        reply, data);
  }
  virtual bool toTopic(industrial::simple_message::SimpleMessage & msg)
  {
          industrial::byte_array::ByteArray data;
    data.load(*this);
    return msg.init(this->getMessageType(),
                industrial::simple_message::CommTypes::TOPIC,
                industrial::simple_message::ReplyTypes::INVALID, data);
  }
  int getMessageType() const
  {
    return message_type_;
  }

protected:

  void setMessageType(int message_type = industrial::simple_message::StandardMsgTypes::INVALID)
  {
    this->message_type_ = message_type;
  }

private:

  int message_type_;

};

}
}

#endif /* TYPED_MESSAGE_H */