robot_status.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *      * Redistributions of source code must retain the above copyright
 *      notice, this list of conditions and the following disclaimer.
 *      * Redistributions in binary form must reproduce the above copyright
 *      notice, this list of conditions and the following disclaimer in the
 *      documentation and/or other materials provided with the distribution.
 *      * Neither the name of the Southwest Research Institute, nor the names
 *      of its contributors may be used to endorse or promote products derived
 *      from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef ROBOT_STATUS_H
#define ROBOT_STATUS_H

#ifndef FLATHEADERS
#include "simple_message/simple_message.h"
#include "simple_message/simple_serialize.h"
#include "simple_message/shared_types.h"
#else
#include "simple_message.h"
#include "simple_serialize.h"
#include "shared_types.h"
#endif

namespace industrial
{
namespace robot_status
{

namespace RobotModes
{
enum RobotMode
{
  UNKNOWN = -1,

  MANUAL = 1, AUTO = 2,
};

// remove ROS after Melodic (bw compat for #262)
#if defined(SIMPLE_MESSAGE_USE_ROS) || defined(ROS)
int toROSMsgEnum(RobotModes::RobotMode mode);
#endif

}
typedef RobotModes::RobotMode RobotMode;

namespace TriStates
{

enum TriState
{
  TS_UNKNOWN = -1,
  // These values must all be the same
  TS_TRUE = 1,   TS_ON = 1,  TS_ENABLED = 1,  TS_HIGH = 1,
  // These values must all be the same
  TS_FALSE = 0,   TS_OFF = 0,  TS_DISABLED = 0,  TS_LOW = 0
};

// remove ROS after Melodic (bw compat for #262)
#if defined(SIMPLE_MESSAGE_USE_ROS) || defined(ROS)
int toROSMsgEnum(TriStates::TriState state);
#endif

}
typedef TriStates::TriState TriState;

class RobotStatus : public industrial::simple_serialize::SimpleSerialize
{
public:
RobotStatus(void);
~RobotStatus(void);

void init();

void init(TriState drivesPowered, TriState eStopped, industrial::shared_types::shared_int errorCode, TriState inError,
          TriState inMotion, RobotMode mode, TriState motionPossible);

TriState getDrivesPowered()
{
  return TriState(drives_powered_);
}

TriState getEStopped()
{
  return TriState(e_stopped_);
}

industrial::shared_types::shared_int getErrorCode() const
{
  return error_code_;
}

TriState getInError()
{
  return TriState(in_error_);
}

TriState getInMotion()
{
  return TriState(in_motion_);
}

RobotMode getMode()
{
  return RobotMode(mode_);
}

TriState getMotionPossible()
{
  return TriState(motion_possible_);
}

void setDrivesPowered(TriState drivesPowered)
{
  this->drives_powered_ = drivesPowered;
}

void setEStopped(TriState eStopped)
{
  this->e_stopped_ = eStopped;
}

void setErrorCode(industrial::shared_types::shared_int errorCode)
{
  this->error_code_ = errorCode;
}

void setInError(TriState inError)
{
  this->in_error_ = inError;
}

void setInMotion(TriState inMotion)
{
  this->in_motion_ = inMotion;
}

void setMode(RobotMode mode)
{
  this->mode_ = mode;
}

void setMotionPossible(TriState motionPossible)
{
  this->motion_possible_ = motionPossible;
}

void copyFrom(RobotStatus &src);

bool operator==(RobotStatus &rhs);

// Overrides - SimpleSerialize
bool load(industrial::byte_array::ByteArray *buffer);
bool unload(industrial::byte_array::ByteArray *buffer);
unsigned int byteLength()
{
  return 7 * sizeof(industrial::shared_types::shared_int);
}

private:

industrial::shared_types::shared_int mode_;

industrial::shared_types::shared_int e_stopped_;

industrial::shared_types::shared_int drives_powered_;

industrial::shared_types::shared_int motion_possible_;

industrial::shared_types::shared_int in_motion_;

industrial::shared_types::shared_int in_error_;

industrial::shared_types::shared_int error_code_;

};

}
}

#endif /* JOINT_TRAJ_PT_H */