message_manager.h
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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"
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00031 
00032 #ifndef MESSAGE_MANAGER_H
00033 #define MESSAGE_MANAGER_H
00034 
00035 #ifdef ROS
00036 
00037 #include "simple_message/smpl_msg_connection.h"
00038 #include "simple_message/message_handler.h"
00039 #include "simple_message/ping_handler.h"
00040 #include "simple_message/comms_fault_handler.h"
00041 #include "simple_message/simple_comms_fault_handler.h"
00042 
00043 #endif
00044 
00045 #ifdef MOTOPLUS
00046 
00047 #include "smpl_msg_connection.h"
00048 #include "message_handler.h"
00049 #include "ping_handler.h"
00050 #include "comms_fault_handler.h"
00051 #include "simple_comms_fault_handler.h"
00052 
00053 #endif
00054 
00055 
00056 namespace industrial
00057 {
00058 namespace message_manager
00059 {
00060 
00064 //* MessageManager
00080 class MessageManager
00081 {
00082 
00083 public:
00084 
00088   MessageManager();
00089 
00093   ~MessageManager();
00094 
00104   bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection);
00105 
00118   bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection,
00119             industrial::comms_fault_handler::CommsFaultHandler* fault_handler);
00120 
00125   void spinOnce();
00126 
00130   void spin();
00131 
00140   bool add(industrial::message_handler::MessageHandler* handler, bool allow_replace = false);
00141 
00147   unsigned int getNumHandlers()
00148   {
00149     return this->num_handlers_;
00150   }
00151 
00157   unsigned int getMaxNumHandlers()
00158   {
00159     return this->MAX_NUM_HANDLERS;
00160   }
00161 
00162 
00168   industrial::comms_fault_handler::CommsFaultHandler* getCommsFaultHandler()
00169   {
00170     return this->comms_hndlr_;
00171   }
00172 
00178   void setCommsFaultHandler(industrial::comms_fault_handler::CommsFaultHandler* handler)
00179   {
00180     this->comms_hndlr_ = handler;
00181   }
00182 
00183 
00184 private:
00185 
00192   static const unsigned int MAX_NUM_HANDLERS = 64;
00193 
00197   industrial::message_handler::MessageHandler* handlers_[MAX_NUM_HANDLERS];
00198 
00202   industrial::smpl_msg_connection::SmplMsgConnection* connection_;
00203 
00207   industrial::ping_handler::PingHandler ping_hndlr_;
00208 
00213   industrial::simple_comms_fault_handler::SimpleCommsFaultHandler def_comms_hndlr_;
00214 
00218   industrial::comms_fault_handler::CommsFaultHandler* comms_hndlr_;
00219 
00223   unsigned int num_handlers_;
00224 
00232   industrial::message_handler::MessageHandler* getHandler(int msg_type);
00233 
00241   int getHandlerIdx(int msg_type);
00242 
00248   industrial::simple_comms_fault_handler::SimpleCommsFaultHandler& getDefaultCommsFaultHandler()
00249   {
00250     return this->def_comms_hndlr_;
00251   }
00257   industrial::ping_handler::PingHandler& getPingHandler()
00258   {
00259     return this->ping_hndlr_;
00260   }
00261   ;
00262 
00268   void setConnection(industrial::smpl_msg_connection::SmplMsgConnection* connection)
00269   {
00270     this->connection_ = connection;
00271   }
00272   ;
00273 
00279   industrial::smpl_msg_connection::SmplMsgConnection* getConnection()
00280   {
00281     return this->connection_;
00282   }
00283   ;
00284 
00290   void setNumHandlers(unsigned int num_handlers)
00291   {
00292     this->num_handlers_ = num_handlers;
00293   }
00294   ;
00295 
00296 };
00297 
00298 } // namespace industrial
00299 } // namespace message_manager
00300 
00301 #endif //MESSAGE_MANAGER


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Mon Oct 6 2014 02:25:33