industrial::joint_message::JointMessage Class Reference

Class encapsulated joint message generation methods (either to or from a SimpleMessage type. This message represents the joint position data. NOTE: In earlier versions this was simply referred to as JOINT message. This caused confusion as there are many types of joint messages (position, velocity, feedback). To remove confusion, this message was changed to JOINT_POSITION. Other types of messages will have to be created for velocity and other feedback. More...

#include <joint_message.h>

Inheritance diagram for industrial::joint_message::JointMessage:

Public Member Functions
unsigned int	byteLength ()
	Virtual method returns the object size when packed into a ByteArray. More...
industrial::joint_data::JointData &	getJoints ()
	returns reference to underlying joint class More...
industrial::shared_types::shared_int	getSequence ()
	returns the maximum message sequence number More...
bool	init (industrial::simple_message::SimpleMessage &msg)
	Initializes message from a simple message. More...
void	init (industrial::shared_types::shared_int seq, industrial::joint_data::JointData &joints)
	Initializes message from a joint structure. More...
void	init ()
	Initializes a new joint message. More...
	JointMessage (void)
	Default constructor. More...
bool	load (industrial::byte_array::ByteArray *buffer)
	Virtual method for loading an object into a ByteArray. More...
void	setSequence (industrial::shared_types::shared_int sequence)
	Sets message sequence number. More...
bool	unload (industrial::byte_array::ByteArray *buffer)
	Virtual method for unloading an object from a ByteArray. More...
	~JointMessage (void)
	Destructor. More...
Public Member Functions inherited from industrial::typed_message::TypedMessage
int	getCommType () const
	Gets the communication type of the message. More...
int	getMessageType () const
	gets message type (enumeration) More...
virtual bool	toReply (industrial::simple_message::SimpleMessage &msg, industrial::simple_message::ReplyType reply)
	creates a simple_message reply More...
virtual bool	toRequest (industrial::simple_message::SimpleMessage &msg)
	creates a simple_message request More...
virtual bool	toTopic (industrial::simple_message::SimpleMessage &msg)
	creates a simple_message topic More...

Private Attributes
industrial::joint_data::JointData	joints_
	maximum number of joints positions that can be held in the message. More...
industrial::shared_types::shared_int	sequence_
	sequence number (for those joints messages that require it) More...

Additional Inherited Members
Protected Member Functions inherited from industrial::typed_message::TypedMessage
void	setCommType (int comm_type=industrial::simple_message::CommTypes::INVALID)
	Sets the communication type of the message. More...
void	setMessageType (int message_type=industrial::simple_message::StandardMsgTypes::INVALID)
	sets message type More...

Detailed Description

Class encapsulated joint message generation methods (either to or from a SimpleMessage type. This message represents the joint position data. NOTE: In earlier versions this was simply referred to as JOINT message. This caused confusion as there are many types of joint messages (position, velocity, feedback). To remove confusion, this message was changed to JOINT_POSITION. Other types of messages will have to be created for velocity and other feedback.

The byte representation of a joint message is as follow (in order lowest index to highest). The standard sizes are given, but can change based on type sizes:

member: type size sequence (industrial::shared_types::shared_int) 4 bytes joints (industrial::joint_data) 40 bytes

THIS CLASS IS NOT THREAD-SAFE

Definition at line 85 of file joint_message.h.

Constructor & Destructor Documentation

JointMessage()

industrial::joint_message::JointMessage::JointMessage

(

void

)

Default constructor.

This method creates an empty message.

Definition at line 54 of file joint_message.cpp.

~JointMessage()

industrial::joint_message::JointMessage::~JointMessage

(

void

)

Destructor.

Definition at line 60 of file joint_message.cpp.

Member Function Documentation

byteLength()

unsigned int industrial::joint_message::JointMessage::byteLength ( )

inlinevirtual

Virtual method returns the object size when packed into a ByteArray.

Returns

object size (in bytes)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 155 of file joint_message.h.

getJoints()

industrial::joint_data::JointData& industrial::joint_message::JointMessage::getJoints ( )

inline

returns reference to underlying joint class

Returns

reference to joint class

Definition at line 146 of file joint_message.h.

getSequence()

industrial::shared_types::shared_int industrial::joint_message::JointMessage::getSequence ( )

inline

returns the maximum message sequence number

Returns

message sequence number

Definition at line 136 of file joint_message.h.

init() [1/3]

bool industrial::joint_message::JointMessage::init ( industrial::simple_message::SimpleMessage &  msg )

virtual

Initializes message from a simple message.

Parameters

simple

message to construct from

Returns

true if message successfully initialized, otherwise false

Implements industrial::typed_message::TypedMessage.

Definition at line 65 of file joint_message.cpp.

init() [2/3]

void industrial::joint_message::JointMessage::init	(	industrial::shared_types::shared_int	seq,
		industrial::joint_data::JointData &	joints
	)

Initializes message from a joint structure.

Parameters

sequence	number
joints

Definition at line 96 of file joint_message.cpp.

init() [3/3]

void industrial::joint_message::JointMessage::init ( )

virtual

Initializes a new joint message.

Implements industrial::typed_message::TypedMessage.

Definition at line 102 of file joint_message.cpp.

load()

bool industrial::joint_message::JointMessage::load ( industrial::byte_array::ByteArray *  buffer )

virtual

Virtual method for loading an object into a ByteArray.

This method should load all the required data to reconstruct the class object into the buffer

Parameters

buffer

pointer to ByteArray

Returns

true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 108 of file joint_message.cpp.

setSequence()

void industrial::joint_message::JointMessage::setSequence

(

industrial::shared_types::shared_int

sequence

)

Sets message sequence number.

Parameters

message

sequence number

Definition at line 91 of file joint_message.cpp.

unload()

bool industrial::joint_message::JointMessage::unload ( industrial::byte_array::ByteArray *  buffer )

virtual

Virtual method for unloading an object from a ByteArray.

This method should unload all the required data to reconstruct the class object (in place)

Parameters

buffer

pointer to ByteArray

Returns

true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 133 of file joint_message.cpp.

Member Data Documentation

joints_

industrial::joint_data::JointData industrial::joint_message::JointMessage::joints_

private

maximum number of joints positions that can be held in the message.

Definition at line 168 of file joint_message.h.

sequence_

industrial::shared_types::shared_int industrial::joint_message::JointMessage::sequence_

private

sequence number (for those joints messages that require it)

Definition at line 164 of file joint_message.h.

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

• joint_message.h
• joint_message.cpp