joint_message.cpp

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/*
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 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
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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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#ifdef ROS
#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"
#endif

#ifdef MOTOPLUS
#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;
}

}
}