joint_message.h

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#ifndef JOINT_MESSAGE_H
#define JOINT_MESSAGE_H

#ifdef ROS
#include "simple_message/typed_message.h"
#include "simple_message/simple_message.h"
#include "simple_message/shared_types.h"
#include "simple_message/joint_data.h"
#endif

#ifdef MOTOPLUS
#include "typed_message.h"
#include "simple_message.h"
#include "shared_types.h"
#include "joint_data.h"
#endif

namespace industrial
{
namespace joint_message
{

// TODO: The JointMessage is currently overloaded (i.e. a single message means multiple
// things).  This is not ideal and seperate messages should be considered.
namespace SpecialSeqValues
{
enum SpecialSeqValue
{
  END_TRAJECTORY = -1, STOP_TRAJECTORY = -2
};
}
typedef SpecialSeqValues::SpecialSeqValue SpecialSeqValue;



//* JointMessage
class JointMessage : public industrial::typed_message::TypedMessage
{
public:
  JointMessage(void);
  ~JointMessage(void);
  bool init(industrial::simple_message::SimpleMessage & msg);

  void init(industrial::shared_types::shared_int seq, industrial::joint_data::JointData & joints);

  void init();

  void setSequence(industrial::shared_types::shared_int sequence);

  industrial::shared_types::shared_int getSequence()
  {
    return sequence_;
  }

  industrial::joint_data::JointData& getJoints()
  {
    return this->joints_;
  }

  // Overrides - SimpleSerialize
  bool load(industrial::byte_array::ByteArray *buffer);
  bool unload(industrial::byte_array::ByteArray *buffer);


  unsigned int byteLength()
  {
    return sizeof(industrial::shared_types::shared_int) + this->joints_.byteLength();
  }

private:
  industrial::shared_types::shared_int sequence_;
  industrial::joint_data::JointData joints_;

};

}
}

#endif /* JOINT_MESSAGE_H */