joint_message.cpp

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/*
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 *
 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *      notice, this list of conditions and the following disclaimer.
 *      * Redistributions in binary form must reproduce the above copyright
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 *      documentation and/or other materials provided with the distribution.
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 *      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_message.h"
#include "simple_message/joint_data.h"
#include "simple_message/byte_array.h"
#include "simple_message/log_wrapper.h"
#else
#include "joint_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_data;
 
namespace industrial
{
namespace joint_message
{
 
JointMessage::JointMessage(void)
{
  this->setMessageType(StandardMsgTypes::JOINT_POSITION);
  this->init();
}
 
JointMessage::~JointMessage(void)
{
 
}
 
bool JointMessage::init(industrial::simple_message::SimpleMessage & msg)
{
  bool rtn = false;
  ByteArray data = msg.getData();
 
  this->setMessageType(StandardMsgTypes::JOINT_POSITION);
 
  if (data.unload(this->joints_))
  {
    if (data.unload(this->sequence_))
    {
      rtn = true;
    }
    else
    {
      rtn = false;
      LOG_ERROR("Failed to unload sequence data");
    }
  }
  else
  {
    LOG_ERROR("Failed to unload joint data");
  }
  return rtn;
}
 
void JointMessage::setSequence(shared_int sequence)
{
  this->sequence_ = sequence;
}
 
void JointMessage::init(shared_int seq, JointData& joints)
{
  this->setSequence(seq);
  this->joints_.copyFrom(joints);
}
 
void JointMessage::init()
{
  this->setSequence(0);
  this->joints_.init();
}
 
bool JointMessage::load(ByteArray *buffer)
{
  bool rtn = false;
  LOG_COMM("Executing joint message load");
  if (buffer->load(this->getSequence()))
  {
 
    if (buffer->load(this->joints_))
    {
      rtn = true;
    }
    else
    {
      rtn = false;
      LOG_ERROR("Failed to load sequence data");
    }
  }
  else
  {
    rtn = false;
    LOG_ERROR("Failed to load sequence data");
  }
  return rtn;
}
 
bool JointMessage::unload(ByteArray *buffer)
{
  bool rtn = false;
  LOG_COMM("Executing joint message unload");
 
  if (buffer->unload(this->joints_))
  {
 
    if (buffer->unload(this->sequence_))
    {
      rtn = true;
    }
    else
    {
      rtn = false;
      LOG_ERROR("Failed to unload sequence data");
    }
  }
  else
  {
    rtn = false;
    LOG_ERROR("Failed to unload joint data");
  }
  return rtn;
}
 
}
}