joint_message.cpp
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00001 /*
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00004  * Copyright (c) 2011, Southwest Research Institute
00005  * All rights reserved.
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00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
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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.
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00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00031 
00032 #ifndef FLATHEADERS
00033 #include "simple_message/messages/joint_message.h"
00034 #include "simple_message/joint_data.h"
00035 #include "simple_message/byte_array.h"
00036 #include "simple_message/log_wrapper.h"
00037 #else
00038 #include "joint_message.h"
00039 #include "joint_data.h"
00040 #include "byte_array.h"
00041 #include "log_wrapper.h"
00042 #endif
00043 
00044 using namespace industrial::shared_types;
00045 using namespace industrial::byte_array;
00046 using namespace industrial::simple_message;
00047 using namespace industrial::joint_data;
00048 
00049 namespace industrial
00050 {
00051 namespace joint_message
00052 {
00053 
00054 JointMessage::JointMessage(void)
00055 {
00056   this->setMessageType(StandardMsgTypes::JOINT_POSITION);
00057   this->init();
00058 }
00059 
00060 JointMessage::~JointMessage(void)
00061 {
00062 
00063 }
00064 
00065 bool JointMessage::init(industrial::simple_message::SimpleMessage & msg)
00066 {
00067   bool rtn = false;
00068   ByteArray data = msg.getData();
00069 
00070   this->setMessageType(StandardMsgTypes::JOINT_POSITION);
00071 
00072   if (data.unload(this->joints_))
00073   {
00074     if (data.unload(this->sequence_))
00075     {
00076       rtn = true;
00077     }
00078     else
00079     {
00080       rtn = false;
00081       LOG_ERROR("Failed to unload sequence data");
00082     }
00083   }
00084   else
00085   {
00086     LOG_ERROR("Failed to unload joint data");
00087   }
00088   return rtn;
00089 }
00090 
00091 void JointMessage::setSequence(shared_int sequence)
00092 {
00093   this->sequence_ = sequence;
00094 }
00095 
00096 void JointMessage::init(shared_int seq, JointData& joints)
00097 {
00098   this->setSequence(seq);
00099   this->joints_.copyFrom(joints);
00100 }
00101 
00102 void JointMessage::init()
00103 {
00104   this->setSequence(0);
00105   this->joints_.init();
00106 }
00107 
00108 bool JointMessage::load(ByteArray *buffer)
00109 {
00110   bool rtn = false;
00111   LOG_COMM("Executing joint message load");
00112   if (buffer->load(this->getSequence()))
00113   {
00114 
00115     if (buffer->load(this->joints_))
00116     {
00117       rtn = true;
00118     }
00119     else
00120     {
00121       rtn = false;
00122       LOG_ERROR("Failed to load sequence data");
00123     }
00124   }
00125   else
00126   {
00127     rtn = false;
00128     LOG_ERROR("Failed to load sequence data");
00129   }
00130   return rtn;
00131 }
00132 
00133 bool JointMessage::unload(ByteArray *buffer)
00134 {
00135   bool rtn = false;
00136   LOG_COMM("Executing joint message unload");
00137 
00138   if (buffer->unload(this->joints_))
00139   {
00140 
00141     if (buffer->unload(this->sequence_))
00142     {
00143       rtn = true;
00144     }
00145     else
00146     {
00147       rtn = false;
00148       LOG_ERROR("Failed to unload sequence data");
00149     }
00150   }
00151   else
00152   {
00153     rtn = false;
00154     LOG_ERROR("Failed to unload joint data");
00155   }
00156   return rtn;
00157 }
00158 
00159 }
00160 }
00161 


simple_message
Author(s): Shaun Edwards
autogenerated on Tue Jan 17 2017 21:10:02