joint_feedback_message.cpp
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31 #ifndef FLATHEADERS
36 #else
37 #include "joint_feedback_message.h"
38 #include "joint_data.h"
39 #include "byte_array.h"
40 #include "log_wrapper.h"
41 #endif
42 
43 using namespace industrial::shared_types;
44 using namespace industrial::byte_array;
45 using namespace industrial::simple_message;
46 using namespace industrial::joint_feedback;
47 
48 namespace industrial
49 {
50 namespace joint_feedback_message
51 {
52 
53 JointFeedbackMessage::JointFeedbackMessage(void)
54 {
55  this->init();
56 }
57 
58 JointFeedbackMessage::~JointFeedbackMessage(void)
59 {
60 
61 }
62 
63 bool JointFeedbackMessage::init(industrial::simple_message::SimpleMessage & msg)
64 {
65  bool rtn = false;
66  ByteArray data = msg.getData();
67  this->init();
68 
69  if (data.unload(this->data_))
70  {
71  rtn = true;
72  }
73  else
74  {
75  LOG_ERROR("Failed to unload joint feedback message data");
76  }
77  return rtn;
78 }
79 
80 void JointFeedbackMessage::init(industrial::joint_feedback::JointFeedback & data)
81 {
82  this->init();
83  this->data_.copyFrom(data);
84 }
85 
86 void JointFeedbackMessage::init()
87 {
88  this->setMessageType(StandardMsgTypes::JOINT_FEEDBACK);
89  this->data_.init();
90 }
91 
92 bool JointFeedbackMessage::load(ByteArray *buffer)
93 {
94  bool rtn = false;
95  LOG_COMM("Executing joint feedback message load");
96  if (buffer->load(this->data_))
97  {
98  rtn = true;
99  }
100  else
101  {
102  rtn = false;
103  LOG_ERROR("Failed to load joint feedback message data");
104  }
105  return rtn;
106 }
107 
108 bool JointFeedbackMessage::unload(ByteArray *buffer)
109 {
110  bool rtn = false;
111  LOG_COMM("Executing joint feedback message unload");
112 
113  if (buffer->unload(this->data_))
114  {
115  rtn = true;
116  }
117  else
118  {
119  rtn = false;
120  LOG_ERROR("Failed to unload joint feedback message data");
121  }
122  return rtn;
123 }
124 
125 }
126 }
127 
void init(const M_string &remappings)
Contains platform specific type definitions that guarantee the size of primitive data types...
Definition: shared_types.h:52
This class defines a simple messaging protocol for communicating with an industrial robot controller...
#define LOG_COMM(format,...)
Definition: log_wrapper.h:104
bool load(industrial::shared_types::shared_bool value)
loads a boolean into the byte array
Definition: byte_array.cpp:142
#define LOG_ERROR(format,...)
Definition: log_wrapper.h:108
The byte array wraps a dynamic array of bytes (i.e. char).
Definition: byte_array.h:80
industrial::byte_array::ByteArray & getData()
Returns a reference to the internal data member.
Class encapsulated joint feedback data. This data represents the current state of each robot joint...
bool unload(industrial::shared_types::shared_bool &value)
unloads a boolean value from the byte array
Definition: byte_array.cpp:233


simple_message
Author(s): Shaun Edwards
autogenerated on Sat Sep 21 2019 03:30:09