00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Southwest Research Institute 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #ifndef SIMPLE_MESSAGE_CONNECTION_H 00033 #define SIMPLE_MESSAGE_CONNECTION_H 00034 00035 #ifdef ROS 00036 00037 #include "simple_message/byte_array.h" 00038 #include "simple_message/simple_message.h" 00039 #include "simple_message/shared_types.h" 00040 00041 #endif 00042 00043 #ifdef MOTOPLUS 00044 00045 #include "byte_array.h" 00046 #include "simple_message.h" 00047 #include "shared_types.h" 00048 00049 #endif 00050 00051 00052 namespace industrial 00053 { 00054 namespace smpl_msg_connection 00055 { 00056 00057 class SmplMsgConnection 00058 00059 { 00060 public: 00061 00062 // Message 00063 virtual bool sendMsg(industrial::simple_message::SimpleMessage & message); 00064 virtual bool receiveMsg(industrial::simple_message::SimpleMessage & message); 00065 bool sendAndReceiveMsg(industrial::simple_message::SimpleMessage & send, 00066 industrial::simple_message::SimpleMessage & recv, 00067 bool verbose = false); 00068 00074 virtual bool isConnected()=0; 00075 00081 virtual bool makeConnect()=0; 00082 00083 private: 00084 00085 // Overrides 00086 virtual bool sendBytes(industrial::byte_array::ByteArray & buffer) =0; 00087 virtual bool receiveBytes(industrial::byte_array::ByteArray & buffer, 00088 industrial::shared_types::shared_int num_bytes) =0; 00089 00090 }; 00091 00092 } //namespace message_connection 00093 } //namespace industrial 00094 00095 #endif //SIMPLE_MESSAGE_CONNECTION_H