joint_data.cpp

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

#ifdef MOTOPLUS
#include "joint_data.h"
#include "shared_types.h"
#include "log_wrapper.h"
#endif

using namespace industrial::shared_types;

namespace industrial
{
namespace joint_data
{

JointData::JointData(void)
{
  this->init();
}
JointData::~JointData(void)
{

}

void JointData::init()
{
  for (int i = 0; i < this->getMaxNumJoints(); i++)
  {
    this->setJoint(i, 0.0);
  }
}

bool JointData::setJoint(shared_int index, shared_real value)
{
  bool rtn = false;

  if (index < this->getMaxNumJoints())
  {
    this->joints_[index] = value;
    rtn = true;
  }
  else
  {
    LOG_ERROR("Joint index: %d, is greater than size: %d", index, this->getMaxNumJoints());
    rtn = false;
  }
  return rtn;
}

bool JointData::getJoint(shared_int index, shared_real & value)
{
  bool rtn = false;

  if (index < this->getMaxNumJoints())
  {
    value = this->joints_[index];
    rtn = true;
  }
  else
  {
    LOG_ERROR("Joint index: %d, is greater than size: %d", index, this->getMaxNumJoints());
    rtn = false;
  }
  return rtn;
}

shared_real JointData::getJoint(shared_int index)
{
  shared_real rtn = 0.0;
  this->getJoint(index, rtn);
  return rtn;
}
  

void JointData::copyFrom(JointData &src)
{
  shared_real value = 0.0;

  for (int i = 0; i < this->getMaxNumJoints(); i++)
  {
    src.getJoint(i, value);
    this->setJoint(i, value);
  }
}

bool JointData::operator==(JointData &rhs)
{
  bool rtn = true;

  shared_real lhsvalue, rhsvalue;

  for (int i = 0; i < this->getMaxNumJoints(); i++)
  {
    this->getJoint(i, lhsvalue);
    rhs.getJoint(i, rhsvalue);
    if (lhsvalue != rhsvalue)
    {
      rtn = false;
      break;
    }
  }
  return rtn;

}

bool JointData::load(industrial::byte_array::ByteArray *buffer)
{
  bool rtn = false;
  shared_real value = 0.0;

  LOG_COMM("Executing joint position load");
  for (int i = 0; i < this->getMaxNumJoints(); i++)
  {
    this->getJoint(i, value);
    rtn = buffer->load(value);
    if (!rtn)
    {
      LOG_ERROR("Failed to load joint position data");
      break;
    }
  }
  return rtn;
}

bool JointData::unload(industrial::byte_array::ByteArray *buffer)
{
  bool rtn = false;
  shared_real value = 0.0;

  LOG_COMM("Executing joint position unload");
  for (int i = this->getMaxNumJoints() - 1; i >= 0; i--)
  {
    rtn = buffer->unload(value);
    if (!rtn)
    {
      LOG_ERROR("Failed to unload message joint: %d from data[%d]", i, buffer->getBufferSize());
      break;
    }
    this->setJoint(i, value);
  }
  return rtn;
}

}
}