motoman_write_single_io.cpp

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/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2016, Delft Robotics Institute
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *  * Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *  * Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *  * Neither the name of the Delft Robotics Institute, nor the names
 *    of its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * \author G.A. vd. Hoorn (TU Delft Robotics Institute)
 */

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

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

using industrial::shared_types::shared_int;

namespace motoman
{
namespace simple_message
{
namespace io_ctrl
{
WriteSingleIO::WriteSingleIO(void)
{
  this->init();
}
WriteSingleIO::~WriteSingleIO(void)
{
}

void WriteSingleIO::init()
{
  // TODO: is '0' a good initial value?
  this->init(0, 0);
}

void WriteSingleIO::init(shared_int address, shared_int value)
{
  this->setAddress(address);
  this->setValue(value);
}

void WriteSingleIO::copyFrom(WriteSingleIO &src)
{
  this->setAddress(src.getAddress());
  this->setValue(src.getValue());
}

bool WriteSingleIO::operator==(WriteSingleIO &rhs)
{
  bool rslt = this->address_ == rhs.address_ &&
              this->value_ == rhs.value_;

  return rslt;
}

bool WriteSingleIO::load(industrial::byte_array::ByteArray *buffer)
{
  LOG_COMM("Executing WriteSingleIO command load");

  if (!buffer->load(this->address_))
  {
    LOG_ERROR("Failed to load WriteSingleIO address");
    return false;
  }

  if (!buffer->load(this->value_))
  {
    LOG_ERROR("Failed to load WriteSingleIO value");
    return false;
  }

  LOG_COMM("WriteSingleIO data successfully loaded");
  return true;
}

bool WriteSingleIO::unload(industrial::byte_array::ByteArray *buffer)
{
  LOG_COMM("Executing WriteSingleIO command unload");

  if (!buffer->load(this->value_))
  {
    LOG_ERROR("Failed to unload WriteSingleIO value");
    return false;
  }

  if (!buffer->unload(this->address_))
  {
    LOG_ERROR("Failed to unload WriteSingleIO address");
    return false;
  }

  LOG_COMM("WriteSingleIO data successfully unloaded");
  return true;
}

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