joint_traj_pt_message.cpp
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00001 /*
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00004  * Copyright (c) 2011, Southwest Research Institute
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00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
00009  *
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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"
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00031 
00032 #ifdef ROS
00033 #include "simple_message/messages/joint_traj_pt_message.h"
00034 #include "simple_message/joint_data.h"
00035 #include "simple_message/byte_array.h"
00036 #include "simple_message/log_wrapper.h"
00037 #endif
00038 
00039 #ifdef MOTOPLUS
00040 #include "joint_traj_pt_message.h"
00041 #include "joint_data.h"
00042 #include "byte_array.h"
00043 #include "log_wrapper.h"
00044 #endif
00045 
00046 using namespace industrial::shared_types;
00047 using namespace industrial::byte_array;
00048 using namespace industrial::simple_message;
00049 using namespace industrial::joint_traj_pt;
00050 
00051 namespace industrial
00052 {
00053 namespace joint_traj_pt_message
00054 {
00055 
00056 JointTrajPtMessage::JointTrajPtMessage(void)
00057 {
00058   this->init();
00059 }
00060 
00061 JointTrajPtMessage::~JointTrajPtMessage(void)
00062 {
00063 
00064 }
00065 
00066 bool JointTrajPtMessage::init(industrial::simple_message::SimpleMessage & msg)
00067 {
00068   bool rtn = false;
00069   ByteArray data = msg.getData();
00070   this->init();
00071 
00072   if (data.unload(this->point_))
00073   {
00074     rtn = true;
00075   }
00076   else
00077   {
00078     LOG_ERROR("Failed to unload joint traj pt data");
00079   }
00080   return rtn;
00081 }
00082 
00083 void JointTrajPtMessage::init(industrial::joint_traj_pt::JointTrajPt & point)
00084 {
00085         this->init();
00086         this->point_.copyFrom(point);
00087 }
00088 
00089 void JointTrajPtMessage::init()
00090 {
00091         this->setMessageType(StandardMsgTypes::JOINT_TRAJ_PT);
00092   this->point_.init();
00093 }
00094 
00095 
00096 bool JointTrajPtMessage::load(ByteArray *buffer)
00097 {
00098         bool rtn = false;
00099         LOG_COMM("Executing joint traj. pt. message load");
00100         if (buffer->load(this->point_))
00101         {
00102                 rtn = true;
00103         }
00104         else
00105         {
00106                 rtn = false;
00107                 LOG_ERROR("Failed to load joint traj. pt data");
00108         }
00109         return rtn;
00110 }
00111 
00112 bool JointTrajPtMessage::unload(ByteArray *buffer)
00113 {
00114   bool rtn = false;
00115   LOG_COMM("Executing joint traj pt message unload");
00116 
00117   if (buffer->unload(this->point_))
00118   {
00119           rtn = true;
00120   }
00121   else
00122   {
00123     rtn = false;
00124     LOG_ERROR("Failed to unload joint traj pt data");
00125   }
00126   return rtn;
00127 }
00128 
00129 }
00130 }
00131 


simple_message
Author(s): Shaun Edwards
autogenerated on Fri Jan 3 2014 11:26:56