motoman_motion_reply_message.cpp
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2013, 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"
00020  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00021  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00022  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00023  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00024  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00025  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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 "motoman_driver/simple_message/motoman_motion_reply_message.h"
00034 #include "simple_message/byte_array.h"
00035 #include "simple_message/log_wrapper.h"
00036 #endif
00037 
00038 #ifdef MOTOPLUS
00039 #include "motoman_motion_reply_message.h"
00040 #include "byte_array.h"
00041 #include "log_wrapper.h"
00042 #endif
00043 
00044 using industrial::byte_array::ByteArray;
00045 using industrial::simple_message::SimpleMessage;
00046 using motoman::simple_message::motion_reply::MotionReply;
00047 
00048 namespace motoman
00049 {
00050 namespace simple_message
00051 {
00052 namespace motion_reply_message
00053 {
00054 
00055 MotionReplyMessage::MotionReplyMessage(void)
00056 {
00057   this->init();
00058 }
00059 
00060 MotionReplyMessage::~MotionReplyMessage(void)
00061 {
00062 }
00063 
00064 bool MotionReplyMessage::init(SimpleMessage & msg)
00065 {
00066   ByteArray data = msg.getData();
00067   this->init();
00068 
00069   if (!data.unload(this->reply_))
00070   {
00071     LOG_ERROR("Failed to unload MotionReplyMessage data");
00072     return false;
00073   }
00074   return true;
00075 }
00076 
00077 void MotionReplyMessage::init(MotionReply & reply)
00078 {
00079   this->init();
00080   this->reply_.copyFrom(reply);
00081 }
00082 
00083 void MotionReplyMessage::init()
00084 {
00085   this->setMessageType(MotomanMsgTypes::MOTOMAN_MOTION_REPLY);
00086   this->reply_.init();
00087 }
00088 
00089 bool MotionReplyMessage::load(ByteArray *buffer)
00090 {
00091   LOG_COMM("Executing MotionReply message load");
00092   if (!buffer->load(this->reply_))
00093   {
00094     LOG_ERROR("Failed to load MotionReply message");
00095     return false;
00096   }
00097 
00098   return true;
00099 }
00100 
00101 bool MotionReplyMessage::unload(ByteArray *buffer)
00102 {
00103   LOG_COMM("Executing MotionReply message unload");
00104 
00105   if (!buffer->unload(this->reply_))
00106   {
00107     LOG_ERROR("Failed to unload MotionReply message");
00108     return false;
00109   }
00110 
00111   return true;
00112 }
00113 
00114 }  // namespace motion_reply_message
00115 }  // namespace simple_message
00116 }  // namespace motoman
00117 


motoman_driver
Author(s): Jeremy Zoss (Southwest Research Institute)
autogenerated on Sat Jun 8 2019 19:06:58