joint_feedback_message.cpp

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/*
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 *
 * Copyright (c) 2013, 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.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef FLATHEADERS
#include "simple_message/messages/joint_feedback_message.h"
#include "simple_message/joint_data.h"
#include "simple_message/byte_array.h"
#include "simple_message/log_wrapper.h"
#else
#include "joint_feedback_message.h"
#include "joint_data.h"
#include "byte_array.h"
#include "log_wrapper.h"
#endif
 
using namespace industrial::shared_types;
using namespace industrial::byte_array;
using namespace industrial::simple_message;
using namespace industrial::joint_feedback;
 
namespace industrial
{
namespace joint_feedback_message
{
 
JointFeedbackMessage::JointFeedbackMessage(void)
{
  this->init();
}
 
JointFeedbackMessage::~JointFeedbackMessage(void)
{
 
}
 
bool JointFeedbackMessage::init(industrial::simple_message::SimpleMessage & msg)
{
  bool rtn = false;
  ByteArray data = msg.getData();
  this->init();
 
  if (data.unload(this->data_))
  {
    rtn = true;
  }
  else
  {
    LOG_ERROR("Failed to unload joint feedback message data");
  }
  return rtn;
}
 
void JointFeedbackMessage::init(industrial::joint_feedback::JointFeedback & data)
{
  this->init();
  this->data_.copyFrom(data);
}
 
void JointFeedbackMessage::init()
{
  this->setMessageType(StandardMsgTypes::JOINT_FEEDBACK);
  this->data_.init();
}
 
bool JointFeedbackMessage::load(ByteArray *buffer)
{
  bool rtn = false;
  LOG_COMM("Executing joint feedback message load");
  if (buffer->load(this->data_))
  {
    rtn = true;
  }
  else
  {
    rtn = false;
    LOG_ERROR("Failed to load joint feedback message data");
  }
  return rtn;
}
 
bool JointFeedbackMessage::unload(ByteArray *buffer)
{
  bool rtn = false;
  LOG_COMM("Executing joint feedback message unload");
 
  if (buffer->unload(this->data_))
  {
    rtn = true;
  }
  else
  {
    rtn = false;
    LOG_ERROR("Failed to unload joint feedback message data");
  }
  return rtn;
}
 
}
}