This class defines a simple messaging protocol for communicating with an industrial robot controller. More...

#include <simple_message.h>

Public Member Functions
int	getCommType ()
	Gets message type(see CommType) More...

industrial::byte_array::ByteArray &	getData ()
	Returns a reference to the internal data member. More...

int	getDataLength ()
	Gets length of message data portion. More...

int	getMessageType ()
	Gets message type(see StandardMsgType) More...

int	getMsgLength ()
	Gets message length (total size, HEADER + data) More...

int	getReplyCode ()
	Gets reply code(see ReplyType) More...

bool	init (int msgType, int commType, int replyCode, industrial::byte_array::ByteArray &data)
	Initializes a fully populated simple message. More...

bool	init (int msgType, int commType, int replyCode)
	Initializes a simple message with an emtpy data payload. More...

bool	init (industrial::byte_array::ByteArray &msg)
	Initializes a simple message from a generic byte array. The byte array is assumed to hold a valid message with a HEADER and data payload. More...

	SimpleMessage ()
	Constructs an empty message. More...

void	toByteArray (industrial::byte_array::ByteArray &msg)
	Populates a raw byte array with the message. Any data stored in the passed in byte array is deleted. More...

bool	validateMessage ()
	performs logical checks to ensure that the message is fully defined and adheres to the message conventions. More...

	~SimpleMessage (void)
	Destructs a message. More...

Static Public Member Functions
static unsigned int	getHeaderSize ()
	Gets size of message header in bytes(fixed) More...

static unsigned int	getLengthSize ()
	Gets size of message length member in bytes (fixed) More...

Private Member Functions
void	setCommType (int commType)
	Sets communications type. More...

void	setData (industrial::byte_array::ByteArray &data)
	Sets data portion. More...

void	setMessageType (int msgType)
	Sets message type. More...

void	setReplyCode (int replyCode)
	Sets reply code. More...

Private Attributes
industrial::shared_types::shared_int	comm_type_
	Communications type(see CommType) More...

industrial::byte_array::ByteArray	data_
	Message data portion. More...

industrial::shared_types::shared_int	message_type_
	Message type(see StandardMsgType) More...

industrial::shared_types::shared_int	reply_code_
	Reply code(see ReplyType) More...

Static Private Attributes
static const unsigned int	HEADER_SIZE
	Size(in bytes) of message header (fixed) More...

static const unsigned int	LENGTH_SIZE = sizeof(industrial::shared_types::shared_int)
	Size (in bytes) of message length parameter (fixed) More...

Detailed Description

This class defines a simple messaging protocol for communicating with an industrial robot controller.

The protocol meets the following requirements:

Format should be simple enough that code can be shared between ROS and the controller (for those controllers that support C/C++). For those controllers that do not support C/C++, the protocol must be simple enough to be decoded with the limited capabilities of the typical robot programming language. A corollary to this requirement is that the protocol should not be so onerous as to overwhelm the limited resources of the robot controller
Format should allow for data streaming (ROS topic like)
Format should allow for data reply (ROS service like)
The protocol is not intended to encapsulate version information It is up to individual developers to ensure that code developed for communicating platforms does not have any version conflicts (this includes message type identifiers).

Message Structure

<PREFIX> Not considered part of the message
- int LENGTH (HEADER + DATA) in bytes
<HEADER>
- int MSG_TYPE identifies type of message (standard (see StandardMsgTypes::StandardMsgType) and robot specific values)
- int COMM_TYPE identified communications type (see CommTypes::CommType)
- int REPLY CODE (service reply only) reply code (see ReplyTypes::ReplyType)
<BODY>
- ByteArray DATA variable length data determined by message type and and communications type.

THIS CLASS IS NOT THREAD-SAFE

Definition at line 164 of file simple_message.h.

Constructor & Destructor Documentation

industrial::simple_message::SimpleMessage::SimpleMessage ( void )

Constructs an empty message.

Definition at line 53 of file simple_message.cpp.

industrial::simple_message::SimpleMessage::~SimpleMessage ( void )

Destructs a message.

Definition at line 57 of file simple_message.cpp.

Member Function Documentation

int industrial::simple_message::SimpleMessage::getCommType ( )

inline

Gets message type(see CommType)

Returns: communications type

Definition at line 246 of file simple_message.h.

industrial::byte_array::ByteArray& industrial::simple_message::SimpleMessage::getData ( )

inline

Returns a reference to the internal data member.

Returns: reference to message data portion.

Definition at line 274 of file simple_message.h.

int industrial::simple_message::SimpleMessage::getDataLength ( )

inline

Gets length of message data portion.

Returns: message data length

Definition at line 267 of file simple_message.h.

static unsigned int industrial::simple_message::SimpleMessage::getHeaderSize ( )

inlinestatic

Gets size of message header in bytes(fixed)

Returns: message header size

Definition at line 225 of file simple_message.h.

static unsigned int industrial::simple_message::SimpleMessage::getLengthSize ( )

inlinestatic

Gets size of message length member in bytes (fixed)

Returns: message header size

Definition at line 232 of file simple_message.h.

int industrial::simple_message::SimpleMessage::getMessageType ( )

inline

Gets message type(see StandardMsgType)

Returns: message type

Definition at line 239 of file simple_message.h.

int industrial::simple_message::SimpleMessage::getMsgLength ( )

inline

Gets message length (total size, HEADER + data)

Returns: message length

Definition at line 260 of file simple_message.h.

int industrial::simple_message::SimpleMessage::getReplyCode ( )

inline

Gets reply code(see ReplyType)

Returns: reply code

Definition at line 253 of file simple_message.h.

bool industrial::simple_message::SimpleMessage::init	(	int	msgType,
		int	commType,
		int	replyCode,
		industrial::byte_array::ByteArray &	data
	)

Initializes a fully populated simple message.

Parameters

message	type. Globally unique message ID (see StandardMsgType)
communications	types (see CommType)
reply	code(see ReplyType), only valide if comms type is a reply
data	payload for the message

Returns: true if valid message created

Definition at line 70 of file simple_message.cpp.

bool industrial::simple_message::SimpleMessage::init	(	int	msgType,
		int	commType,
		int	replyCode
	)

Initializes a simple message with an emtpy data payload.

Parameters

message	type. Globally unique message ID (see StandardMsgType)
communications	types (see CommType)
reply	code(see ReplyType), only valide if comms type is a reply

Returns: true if valid message created

Definition at line 63 of file simple_message.cpp.

bool industrial::simple_message::SimpleMessage::init ( industrial::byte_array::ByteArray & msg )

Initializes a simple message from a generic byte array. The byte array is assumed to hold a valid message with a HEADER and data payload.

Parameters

valid message (as bytes)

Returns: true if valid message created

Definition at line 82 of file simple_message.cpp.

void industrial::simple_message::SimpleMessage::setCommType ( int commType )

inlineprivate

Sets communications type.

Parameters

communications type

Definition at line 332 of file simple_message.h.

void industrial::simple_message::SimpleMessage::setData ( industrial::byte_array::ByteArray & data )

private

Sets data portion.

Parameters

data portion

Definition at line 128 of file simple_message.cpp.

void industrial::simple_message::SimpleMessage::setMessageType ( int msgType )

inlineprivate

Sets message type.

Parameters

message type

Definition at line 325 of file simple_message.h.

void industrial::simple_message::SimpleMessage::setReplyCode ( int replyCode )

inlineprivate

Sets reply code.

Parameters

reply code

Definition at line 339 of file simple_message.h.

void industrial::simple_message::SimpleMessage::toByteArray ( industrial::byte_array::ByteArray & msg )

Populates a raw byte array with the message. Any data stored in the passed in byte array is deleted.

Parameters

byte	array to be populated

Definition at line 113 of file simple_message.cpp.

bool industrial::simple_message::SimpleMessage::validateMessage ( )

performs logical checks to ensure that the message is fully defined and adheres to the message conventions.

Returns: true if message valid, false otherwise

Definition at line 134 of file simple_message.cpp.

Member Data Documentation

industrial::shared_types::shared_int industrial::simple_message::SimpleMessage::comm_type_

private

Communications type(see CommType)

Definition at line 296 of file simple_message.h.

industrial::byte_array::ByteArray industrial::simple_message::SimpleMessage::data_

private

Message data portion.

Definition at line 306 of file simple_message.h.

const unsigned int industrial::simple_message::SimpleMessage::HEADER_SIZE

staticprivate

Initial value:

= sizeof(industrial::shared_types::shared_int) +
            sizeof(industrial::shared_types::shared_int) +
            sizeof(industrial::shared_types::shared_int)

Size(in bytes) of message header (fixed)

Definition at line 311 of file simple_message.h.

const unsigned int industrial::simple_message::SimpleMessage::LENGTH_SIZE = sizeof(industrial::shared_types::shared_int)

staticprivate

Size (in bytes) of message length parameter (fixed)

Definition at line 318 of file simple_message.h.

industrial::shared_types::shared_int industrial::simple_message::SimpleMessage::message_type_

private

Message type(see StandardMsgType)

Definition at line 291 of file simple_message.h.

industrial::shared_types::shared_int industrial::simple_message::SimpleMessage::reply_code_

private

Reply code(see ReplyType)

Definition at line 301 of file simple_message.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation