joint_traj_pt_full_ex.h

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/*
 * Software License Agreement (BSD License)
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 * Copyright (c) 2014, Fraunhofer IPA
 * Author: Thiago de Freitas
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#ifndef MOTOMAN_DRIVER_SIMPLE_MESSAGE_JOINT_TRAJ_PT_FULL_EX_H
#define MOTOMAN_DRIVER_SIMPLE_MESSAGE_JOINT_TRAJ_PT_FULL_EX_H

#ifndef FLATHEADERS
#include "simple_message/joint_data.h"
#include "simple_message/simple_message.h"
#include "simple_message/simple_serialize.h"
#include "simple_message/shared_types.h"
#include "simple_message/joint_traj_pt_full.h"
#else
#include "joint_data.h"
#include "simple_message.h"
#include "simple_serialize.h"
#include "shared_types.h"
#endif

#include<vector>
namespace industrial
{
namespace joint_traj_pt_full_ex
{

namespace SpecialSeqValues
{
enum SpecialSeqValue
{
  START_TRAJECTORY_DOWNLOAD = -1, START_TRAJECOTRY_STREAMING = -2, END_TRAJECTORY = -3, STOP_TRAJECTORY = -4
};
}
typedef SpecialSeqValues::SpecialSeqValue SpecialSeqValue;

class JointTrajPtFullEx : public industrial::simple_serialize::SimpleSerialize
{
public:
  JointTrajPtFullEx(void);
  ~JointTrajPtFullEx(void);

  void init();

  void init(industrial::shared_types::shared_int num_groups,
            industrial::shared_types::shared_int sequence,
            std::vector<industrial::joint_traj_pt_full::JointTrajPtFull> joint_trajectory_points);

  void setNumGroups(industrial::shared_types::shared_int num_groups)
  {
    this->num_groups_ = num_groups;
  }

  industrial::shared_types::shared_int getNumGroups()
  {
    return this->num_groups_;
  }

  void setMultiJointTrajPtData(std::vector<industrial::joint_traj_pt_full::JointTrajPtFull> joint_trajectory_points)
  {
    this->joint_trajectory_points_ = joint_trajectory_points;
  }

  void setSequence(industrial::shared_types::shared_int sequence)
  {
    this->sequence_ = sequence;
  }

  industrial::shared_types::shared_int getMaxGroups()
  {
    return MAX_NUM_GROUPS;
  }

  industrial::shared_types::shared_int getSequence()
  {
    return this->sequence_;
  }

  void copyFrom(JointTrajPtFullEx &src);

  bool operator==(JointTrajPtFullEx &rhs);


  // Overrides - SimpleSerialize
  bool load(industrial::byte_array::ByteArray *buffer);
  bool unload(industrial::byte_array::ByteArray *buffer);
  unsigned int byteLength()
  {
    return sizeof(industrial::shared_types::shared_int) + sizeof(industrial::shared_types::shared_int) + MAX_NUM_GROUPS * (this->joint_traj_full_sample_.byteLength() - sizeof(industrial::shared_types::shared_int));
  }

private:
  std::vector<industrial::joint_traj_pt_full::JointTrajPtFull> joint_trajectory_points_;

  industrial::joint_traj_pt_full::JointTrajPtFull joint_traj_full_sample_;
  industrial::shared_types::shared_int num_groups_;
  industrial::shared_types::shared_int sequence_;

  industrial::shared_types::shared_int valid_fields_from_message_;

  static const industrial::shared_types::shared_int MAX_NUM_GROUPS = 4;
};
}  // namespace joint_traj_pt_full_ex
}  // namespace industrial

#endif  // MOTOMAN_DRIVER_SIMPLE_MESSAGE_JOINT_TRAJ_PT_FULL_EX_H