motoman_read_single_io.h

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/*
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 * Copyright (c) 2016, Delft Robotics Institute
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 *    of its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
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 * \author G.A. vd. Hoorn (TU Delft Robotics Institute)
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#ifndef MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_READ_SINGLE_IO_H
#define MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_READ_SINGLE_IO_H

#ifdef ROS
#include "simple_message/simple_serialize.h"
#include "simple_message/shared_types.h"
#include "simple_message/log_wrapper.h"
#endif

#ifdef MOTOPLUS
#include "simple_serialize.h"
#include "shared_types.h"
#include "log_wrapper.h"
#endif

namespace motoman
{
namespace simple_message
{
namespace io_ctrl
{

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

  void init();

  void init(industrial::shared_types::shared_int address);

  void setAddress(industrial::shared_types::shared_int address)
  {
    this->address_ = address;
  }

  industrial::shared_types::shared_int getAddress()
  {
    return this->address_;
  }

  void copyFrom(ReadSingleIO &src);

  bool operator==(ReadSingleIO &rhs);

  // Overrides - SimpleSerialize
  bool load(industrial::byte_array::ByteArray *buffer);
  bool unload(industrial::byte_array::ByteArray *buffer);
  unsigned int byteLength()
  {
    return 1 * sizeof(industrial::shared_types::shared_int);
  }

private:
  industrial::shared_types::shared_int address_;

};
}  // namespace io_ctrl
}  // namespace simple_message
}  // namespace motoman

#endif /* MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_READ_SINGLE_IO_H */