io_state.cpp

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#include "fsrobo_r_driver/simple_message/io_state.h"
#include "simple_message/shared_types.h"
#include "simple_message/log_wrapper.h"

using namespace industrial::shared_types;

namespace fsrobo_r_driver
{
namespace simple_message
{
namespace io_state
{

IOState::IOState(void)
{
  this->init();
}

IOState::~IOState(void)
{

}

void IOState::init()
{
  this->setDigital(0, 0);
  this->setDigital(1, 0);
  this->setAnalog(0, 0);
}

void IOState::copyFrom(IOState &src)
{
  this->setDigital(0, src.getDigital(0));
  this->setDigital(1, src.getDigital(1));
  this->setAnalog(0, src.getAnalog(0));
}

bool IOState::operator==(IOState &rhs)
{
  return this->digital_[0] == rhs.digital_[0] && this->digital_[1] == rhs.digital_[1]
      && this->analog_[0] == rhs.analog_[0];
}

bool IOState::load(industrial::byte_array::ByteArray *buffer)
{
  bool rtn = false;

  LOG_COMM("Executing I/O state load");

  if (buffer->load(this->digital_[0]) && buffer->load(this->digital_[1]) && buffer->load(this->analog_[0]))
  {

    LOG_COMM("I/O state successfully loaded");
    rtn = true;
  }
  else
  {
    LOG_COMM("I/O state not loaded");
    rtn = false;
  }

  return rtn;
}

bool IOState::unload(industrial::byte_array::ByteArray *buffer)
{
  bool rtn = false;

  LOG_COMM("Executing I/O state unload");
  if (buffer->unload(this->analog_[0]) && buffer->unload(this->digital_[1]) && buffer->unload(this->digital_[0]))
  {
    rtn = true;
    LOG_COMM("I/O state successfully unloaded");
  }

  else
  {
    LOG_ERROR("Failed to unload I/O state");
    rtn = false;
  }

  return rtn;
}

}
}
}