smpl_msg_connection.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011, Southwest Research Institute
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions are met:
9  *
10  * * Redistributions of source code must retain the above copyright
11  * notice, this list of conditions and the following disclaimer.
12  * * Redistributions in binary form must reproduce the above copyright
13  * notice, this list of conditions and the following disclaimer in the
14  * documentation and/or other materials provided with the distribution.
15  * * Neither the name of the Southwest Research Institute, nor the names
16  * of its contributors may be used to endorse or promote products derived
17  * from this software without specific prior written permission.
18  *
19  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
20  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
21  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
22  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
23  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
24  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
25  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
26  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
27  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
28  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
29  * POSSIBILITY OF SUCH DAMAGE.
30  */
31 
32 #ifndef SIMPLE_MESSAGE_CONNECTION_H
33 #define SIMPLE_MESSAGE_CONNECTION_H
34 
35 #ifndef FLATHEADERS
39 #else
40 #include "byte_array.h"
41 #include "simple_message.h"
42 #include "shared_types.h"
43 #endif
44 
45 
46 namespace industrial
47 {
48 namespace smpl_msg_connection
49 {
50 
62 
63 {
64 public:
65 
66  // Message
67 
75  virtual bool sendMsg(industrial::simple_message::SimpleMessage & message);
76 
85 
96 
109  bool verbose = false);
110 
125  bool verbose = false);
126 
132  virtual bool isConnected()=0;
133 
139  virtual bool makeConnect()=0;
140 
141 private:
142 
143  // Overrides
152  virtual bool sendBytes(industrial::byte_array::ByteArray & buffer) =0;
153 
165  virtual bool receiveBytes(industrial::byte_array::ByteArray & buffer,
167  industrial::shared_types::shared_int timeout_ms) = 0;
168 };
169 
170 } //namespace message_connection
171 } //namespace industrial
172 
173 #endif //SIMPLE_MESSAGE_CONNECTION_H
virtual bool sendMsg(industrial::simple_message::SimpleMessage &message)
Sends a message using the data connection.
Defines an interface and common methods for sending simple messages (see simple_message). This interface makes a bare minimum of assumptions:
This class defines a simple messaging protocol for communicating with an industrial robot controller...
virtual bool receiveBytes(industrial::byte_array::ByteArray &buffer, industrial::shared_types::shared_int num_bytes, industrial::shared_types::shared_int timeout_ms)=0
Method used by receive message interface method. This should be overridden for the specific connectio...
bool sendAndReceiveMsg(industrial::simple_message::SimpleMessage &send, industrial::simple_message::SimpleMessage &recv, bool verbose=false)
Performs a complete send and receive. This is helpful when sending a message that requires and explic...
The byte array wraps a dynamic array of bytes (i.e. char).
Definition: byte_array.h:80
virtual bool receiveMsg(industrial::simple_message::SimpleMessage &message)
Receives a message using the data connection.
virtual bool isConnected()=0
return connection status
virtual bool sendBytes(industrial::byte_array::ByteArray &buffer)=0
Method used by send message interface method. This should be overridden for the specific connection t...
virtual bool makeConnect()=0
connects to the remote host


simple_message
Author(s): Shaun Edwards
autogenerated on Mon Jul 19 2021 12:45:19