motoman_write_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)
 */

#ifndef MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_WRITE_SINGLE_IO_H
#define MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_WRITE_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 WriteSingleIO : public industrial::simple_serialize::SimpleSerialize
{
public:
  WriteSingleIO(void);
  ~WriteSingleIO(void);

  void init();

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

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

  void setValue(industrial::shared_types::shared_int value)
  {
    this->value_ = value;
  }

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

  industrial::shared_types::shared_int getValue()
  {
    return this->value_;
  }

  void copyFrom(WriteSingleIO &src);

  bool operator==(WriteSingleIO &rhs);

  // Overrides - SimpleSerialize
  bool load(industrial::byte_array::ByteArray *buffer);
  bool unload(industrial::byte_array::ByteArray *buffer);
  unsigned int byteLength()
  {
    return 2 * sizeof(industrial::shared_types::shared_int);
  }

private:
  industrial::shared_types::shared_int address_;

  industrial::shared_types::shared_int value_;

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

#endif /* MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_WRITE_SINGLE_IO_H */