simple_message.cpp

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/*
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 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
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 *       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/simple_message.h"
#include "simple_message/log_wrapper.h"
#endif

#ifdef MOTOPLUS
#include "motoPlus.h"
#include "simple_message.h"
#include "log_wrapper.h"
#endif



using namespace industrial::byte_array;

namespace industrial
{

namespace simple_message
{

SimpleMessage::SimpleMessage(void)
{
}

SimpleMessage::~SimpleMessage(void)
{
}



bool SimpleMessage::init(int msgType, int commType, int replyCode)
{
  ByteArray data;
  data.init();
  return this->init(msgType, commType, replyCode, data);
}

bool SimpleMessage::init(int msgType, int commType, int replyCode, ByteArray & data )
{
  LOG_COMM("SimpleMessage::init(type: %d, comm: %d, reply: %d, data[%d]...)",
            msgType, commType, replyCode, data.getBufferSize());
  this->setMessageType(msgType);
  this->setCommType(commType);
  this->setReplyCode(replyCode);
  this->data_.copyFrom(data);

  return this->validateMessage();
}

bool SimpleMessage::init(ByteArray & msg)
{
  int dataSize = 0;
  bool rtn = false;

  if (msg.getBufferSize() >= this->getHeaderSize())
  {
    // Check to see if the message is larger than the standard header
    // If so, copy out the data portion.
    if (msg.getBufferSize() > this->getHeaderSize())
    {
      dataSize = msg.getBufferSize() - this->getHeaderSize();
      LOG_COMM("Unloading data portion of message: %d bytes", dataSize);
      msg.unload(this->data_, dataSize);
    }
    LOG_COMM("Unloading header data");
    msg.unload(this->reply_code_);
    msg.unload(this->comm_type_);
    msg.unload(this->message_type_);
    LOG_COMM("SimpleMessage::init(type: %d, comm: %d, reply: %d, data[%d]...)",
              this->message_type_, this->comm_type_, this->reply_code_, this->data_.getBufferSize());
    rtn = this->validateMessage();
  }
  else
  {
    LOG_ERROR("Failed to init message, buffer size too small: %u", msg.getBufferSize());
    rtn = false;
  }
  return rtn;
}

void SimpleMessage::toByteArray(ByteArray & msg)
{
  msg.init();

  msg.load(this->getMessageType());
  msg.load(this->getCommType());
  msg.load(this->getReplyCode());
  if (this->data_.getBufferSize() > 0 )
  {
    msg.load(this->getData().getRawDataPtr(), this->data_.getBufferSize());
  }

}


void SimpleMessage::setData( ByteArray & data)
{
  this->data_.copyFrom(data);
}


bool SimpleMessage::validateMessage()
{

  if ( StandardMsgTypes::INVALID == this->getMessageType())
  {
    LOG_WARN("Invalid message type: %u", this->getMessageType());
    return false;
  }

  if ( CommTypes::INVALID == this->getCommType())
  {
    LOG_WARN("Invalid comms. type: %u", this->getCommType());
    return false;
  }

  if (
      (CommTypes::SERVICE_REPLY ==  this->getCommType() &&
          ReplyTypes::INVALID == this->getReplyCode()) ||
          ((CommTypes::SERVICE_REPLY !=  this->getCommType() &&
              ReplyTypes::INVALID != this->getReplyCode()))
  )
  {
    LOG_WARN("Invalid reply. Comm type: %u, Reply type: %u",
             this->getCommType(), this->getReplyCode());
    return false;
  }

  return true;
}



        
} // namespace simple_message
} // namespace industrial