robot_status_message.cpp

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/*
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 * Copyright (c) 2012, Southwest Research Institute
 * All rights reserved.
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 *      notice, this list of conditions and the following disclaimer.
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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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#ifndef FLATHEADERS
#include "simple_message/messages/robot_status_message.h"
#include "simple_message/robot_status.h"
#include "simple_message/byte_array.h"
#include "simple_message/log_wrapper.h"
#else
#include "robot_status_message.h"
#include "robot_status.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::robot_status;
 
namespace industrial
{
namespace robot_status_message
{
 
RobotStatusMessage::RobotStatusMessage(void)
{
  this->init();
}
 
RobotStatusMessage::~RobotStatusMessage(void)
{
 
}
 
bool RobotStatusMessage::init(industrial::simple_message::SimpleMessage & msg)
{
  bool rtn = false;
  ByteArray data = msg.getData();
  this->init();
  this->setCommType(msg.getCommType());
 
  if (data.unload(this->status_))
  {
    rtn = true;
  }
  else
  {
    LOG_ERROR("Failed to unload robot status data");
  }
  return rtn;
}
 
void RobotStatusMessage::init(industrial::robot_status::RobotStatus & status)
{
  this->init();
  this->status_.copyFrom(status);
}
 
void RobotStatusMessage::init()
{
  this->setMessageType(StandardMsgTypes::STATUS);
  this->status_.init();
}
 
bool RobotStatusMessage::load(ByteArray *buffer)
{
  bool rtn = false;
  LOG_COMM("Executing robot status message load");
  if (buffer->load(this->status_))
  {
    rtn = true;
  }
  else
  {
    rtn = false;
    LOG_ERROR("Failed to load robot status data");
  }
  return rtn;
}
 
bool RobotStatusMessage::unload(ByteArray *buffer)
{
  bool rtn = false;
  LOG_COMM("Executing robot status message unload");
 
  if (buffer->unload(this->status_))
  {
    rtn = true;
  }
  else
  {
    rtn = false;
    LOG_ERROR("Failed to unload robot status data");
  }
  return rtn;
}
 
}
}