74 ROS_ERROR(
"Failed to send READ_SINGLE_IO command");
80 bool read_success = reply.
getResultCode() == ReadSingleIOReplyResultCodes::SUCCESS;
95 ROS_ERROR(
"Failed to send WRITE_SINGLE_IO command");
99 bool write_success = reply.
getResultCode() == WriteSingleIOReplyResultCodes::SUCCESS;
105 return write_success;
116 read_io_msg.
init(data);
121 ROS_ERROR(
"Failed to send ReadSingleIO message");
125 read_io_reply.
init(res);
138 data.
init(address, value);
139 write_io_msg.
init(data);
144 ROS_ERROR(
"Failed to send WriteSingleIO message");
148 write_io_reply.
init(res);
Class encapsulated write single io reply data. These messages are sent by the FS100 controller in res...
bool init(industrial::simple_message::SimpleMessage &msg)
Initializes message from a simple message.
industrial::shared_types::shared_int getResultCode() const
Returns the result code.
bool sendAndReceive(industrial::shared_types::shared_int address, ReadSingleIOReply &reply)
void init()
Initializes a empty write single io command.
bool init(industrial::simple_message::SimpleMessage &msg)
Initializes message from a simple message.
motoman::simple_message::io_ctrl_reply::WriteSingleIOReply reply_
Class encapsulated motoman write single io message generation methods (either to or from a industrial...
SmplMsgConnection * connection_
industrial::shared_types::shared_int getValue() const
Returns the value.
bool readSingleIO(industrial::shared_types::shared_int address, industrial::shared_types::shared_int &value, std::string &err_msg)
Reads a single IO point on the controller.
Class encapsulated write single io data. Motoman specific interface to write a single IO element on t...
virtual bool toRequest(industrial::simple_message::SimpleMessage &msg)
Class encapsulated read single io reply data. These messages are sent by the FS100 controller in resp...
bool init(SmplMsgConnection *connection)
void init()
Initializes a empty motion control command.
bool sendAndReceiveMsg(industrial::simple_message::SimpleMessage &send, industrial::simple_message::SimpleMessage &recv, bool verbose=false)
Class encapsulated motoman write single io reply message generation methods (either to or from a indu...
Class encapsulated motoman read single io message generation methods (either to or from a industrial:...
Class encapsulated read single io data. Motoman specific interface to read a single IO element on the...
static std::string getResultString(industrial::shared_types::shared_int code)
industrial::shared_types::shared_int getResultCode() const
Returns the result code.
void copyFrom(ReadSingleIOReply &src)
Copies the passed in value.
bool init(industrial::simple_message::SimpleMessage &msg)
Initializes message from a simple message.
bool init(industrial::simple_message::SimpleMessage &msg)
Initializes message from a simple message.
float data[ROS_MAX_JOINT]
Enumeration of Write Single IO reply result codes.
Enumeration of Read Single IO reply result codes.
motoman::simple_message::io_ctrl_reply::ReadSingleIOReply reply_
static std::string getResultString(industrial::shared_types::shared_int code)
Class encapsulated motoman read single io reply message generation methods (either to or from a indus...
bool writeSingleIO(industrial::shared_types::shared_int address, industrial::shared_types::shared_int value, std::string &err_msg)
Writes to a single IO point on the controller.
void copyFrom(WriteSingleIOReply &src)
Copies the passed in value.