This class defines a simple messaging protocol for communicating with an industrial robot controller. More...

#include <simple_message.h>

Public Member Functions
int	getCommType ()
	Gets message type(see CommType)
industrial::byte_array::ByteArray &	getData ()
	Returns a reference to the internal data member.
int	getDataLength ()
	Gets length of message data portion.
int	getMessageType ()
	Gets message type(see StandardMsgType)
int	getMsgLength ()
	Gets message length (total size, HEADER + data)
int	getReplyCode ()
	Gets reply code(see ReplyType)
bool	init (int msgType, int commType, int replyCode, industrial::byte_array::ByteArray &data)
	Initializes a fully populated simple message.
bool	init (int msgType, int commType, int replyCode)
	Initializes a simple message with an emtpy data payload.
bool	init (industrial::byte_array::ByteArray &msg)
	Initializes a simple message from a generic byte array. The byte array is assumed to hold a valid message with a HEADER and data payload.
	SimpleMessage ()
	Constructs an empty message.
void	toByteArray (industrial::byte_array::ByteArray &msg)
	Populates a raw byte array with the message. Any data stored in the passed in byte array is deleted.
bool	validateMessage ()
	performs logical checks to ensure that the message is fully defined and adheres to the message conventions.
	~SimpleMessage (void)
	Destructs a message.
Static Public Member Functions
static unsigned int	getHeaderSize ()
	Gets size of message header in bytes(fixed)
static unsigned int	getLengthSize ()
	Gets size of message length member in bytes (fixed)
Private Member Functions
void	setCommType (int commType)
	Sets communications type.
void	setData (industrial::byte_array::ByteArray &data)
	Sets data portion.
void	setMessageType (int msgType)
	Sets message type.
void	setReplyCode (int replyCode)
	Sets reply code.
Private Attributes
industrial::shared_types::shared_int	comm_type_
	Communications type(see CommType)
industrial::byte_array::ByteArray	data_
	Message data portion.
industrial::shared_types::shared_int	message_type_
	Message type(see StandardMsgType)
industrial::shared_types::shared_int	reply_code_
	Reply code(see ReplyType)
Static Private Attributes
static const unsigned int	HEADER_SIZE
	Size(in bytes) of message header (fixed)
static const unsigned int	LENGTH_SIZE = sizeof(industrial::shared_types::shared_int)
	Size (in bytes) of message length parameter (fixed)

Detailed Description

This class defines a simple messaging protocol for communicating with an industrial robot controller.

The protocol meets the following requirements:

1. Format should be simple enough that code can be shared between ROS and the controller (for those controllers that support C/C++). For those controllers that do not support C/C++, the protocol must be simple enough to be decoded with the limited capabilities of the typical robot programming language. A corollary to this requirement is that the protocol should not be so onerous as to overwhelm the limited resources of the robot controller

2. Format should allow for data streaming (ROS topic like)

3. Format should allow for data reply (ROS service like)

4. The protocol is not intended to encapsulate version information It is up to individual developers to ensure that code developed for communicating platforms does not have any version conflicts (this includes message type identifiers).

Message Structure

<PREFIX> Not considered part of the message
- int LENGTH (HEADER + DATA) in bytes

<HEADER>
- int MSG_TYPE identifies type of message (standard (see StandardMsgTypes::StandardMsgType) and robot specific values)
- int COMM_TYPE identified communications type (see CommTypes::CommType)
- int REPLY CODE (service reply only) reply code (see ReplyTypes::ReplyType)

<BODY>
- ByteArray DATA variable length data determined by message type and and communications type.

THIS CLASS IS NOT THREAD-SAFE

Definition at line 160 of file simple_message.h.

Constructor & Destructor Documentation

industrial::simple_message::SimpleMessage::SimpleMessage ( void )

Constructs an empty message.

Definition at line 53 of file simple_message.cpp.

industrial::simple_message::SimpleMessage::~SimpleMessage ( void )

Destructs a message.

Definition at line 57 of file simple_message.cpp.

Member Function Documentation

int industrial::simple_message::SimpleMessage::getCommType ( ) [inline]

Gets message type(see CommType)

Returns:: communications type

Definition at line 242 of file simple_message.h.

industrial::byte_array::ByteArray& industrial::simple_message::SimpleMessage::getData ( ) [inline]

Returns a reference to the internal data member.

Returns:: reference to message data portion.

Definition at line 270 of file simple_message.h.

int industrial::simple_message::SimpleMessage::getDataLength ( ) [inline]

Gets length of message data portion.

Returns:: message data length

Definition at line 263 of file simple_message.h.

static unsigned int industrial::simple_message::SimpleMessage::getHeaderSize ( ) [inline, static]

Gets size of message header in bytes(fixed)

Returns:: message header size

Definition at line 221 of file simple_message.h.

static unsigned int industrial::simple_message::SimpleMessage::getLengthSize ( ) [inline, static]

Gets size of message length member in bytes (fixed)

Returns:: message header size

Definition at line 228 of file simple_message.h.

int industrial::simple_message::SimpleMessage::getMessageType ( ) [inline]

Gets message type(see StandardMsgType)

Returns:: message type

Definition at line 235 of file simple_message.h.

int industrial::simple_message::SimpleMessage::getMsgLength ( ) [inline]

Gets message length (total size, HEADER + data)

Returns:: message length

Definition at line 256 of file simple_message.h.

int industrial::simple_message::SimpleMessage::getReplyCode ( ) [inline]

Gets reply code(see ReplyType)

Returns:: reply code

Definition at line 249 of file simple_message.h.

bool industrial::simple_message::SimpleMessage::init	(	int	msgType,
		int	commType,
		int	replyCode,
		industrial::byte_array::ByteArray &	data
	)

Initializes a fully populated simple message.

Parameters:

message	type. Globally unique message ID (see StandardMsgType)
communications	types (see CommType)
reply	code(see ReplyType), only valide if comms type is a reply
data	payload for the message

Returns:: true if valid message created

Definition at line 70 of file simple_message.cpp.

bool industrial::simple_message::SimpleMessage::init	(	int	msgType,
		int	commType,
		int	replyCode
	)

Initializes a simple message with an emtpy data payload.

Parameters:

message	type. Globally unique message ID (see StandardMsgType)
communications	types (see CommType)
reply	code(see ReplyType), only valide if comms type is a reply

Returns:: true if valid message created

Definition at line 63 of file simple_message.cpp.

bool industrial::simple_message::SimpleMessage::init ( industrial::byte_array::ByteArray & msg )

Initializes a simple message from a generic byte array. The byte array is assumed to hold a valid message with a HEADER and data payload.

Parameters:

valid message (as bytes)

Returns:: true if valid message created

Definition at line 82 of file simple_message.cpp.

void industrial::simple_message::SimpleMessage::setCommType ( int commType ) [inline, private]

Sets communications type.

Parameters:

communications type

Definition at line 328 of file simple_message.h.

void industrial::simple_message::SimpleMessage::setData ( industrial::byte_array::ByteArray & data ) [private]

Sets data portion.

Parameters:

data portion

Definition at line 128 of file simple_message.cpp.

void industrial::simple_message::SimpleMessage::setMessageType ( int msgType ) [inline, private]

Sets message type.

Parameters:

message type

Definition at line 321 of file simple_message.h.

void industrial::simple_message::SimpleMessage::setReplyCode ( int replyCode ) [inline, private]

Sets reply code.

Parameters:

reply code

Definition at line 335 of file simple_message.h.

void industrial::simple_message::SimpleMessage::toByteArray ( industrial::byte_array::ByteArray & msg )

Populates a raw byte array with the message. Any data stored in the passed in byte array is deleted.

Parameters:

byte	array to be populated

Definition at line 113 of file simple_message.cpp.

bool industrial::simple_message::SimpleMessage::validateMessage ( )

performs logical checks to ensure that the message is fully defined and adheres to the message conventions.

Returns:: true if message valid, false otherwise

Definition at line 134 of file simple_message.cpp.

Member Data Documentation

industrial::shared_types::shared_int industrial::simple_message::SimpleMessage::comm_type_ [private]

Communications type(see CommType)

Definition at line 292 of file simple_message.h.

industrial::byte_array::ByteArray industrial::simple_message::SimpleMessage::data_ [private]

Message data portion.

Definition at line 302 of file simple_message.h.

const unsigned int industrial::simple_message::SimpleMessage::HEADER_SIZE [static, private]

Initial value:

 sizeof(industrial::shared_types::shared_int) +
            sizeof(industrial::shared_types::shared_int) +
            sizeof(industrial::shared_types::shared_int)

Size(in bytes) of message header (fixed)

Definition at line 307 of file simple_message.h.

const unsigned int industrial::simple_message::SimpleMessage::LENGTH_SIZE = sizeof(industrial::shared_types::shared_int) [static, private]

Size (in bytes) of message length parameter (fixed)

Definition at line 314 of file simple_message.h.

industrial::shared_types::shared_int industrial::simple_message::SimpleMessage::message_type_ [private]

Message type(see StandardMsgType)

Definition at line 287 of file simple_message.h.

industrial::shared_types::shared_int industrial::simple_message::SimpleMessage::reply_code_ [private]

Reply code(see ReplyType)

Definition at line 297 of file simple_message.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation