message_manager.h

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/*
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 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
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#ifndef MESSAGE_MANAGER_H
#define MESSAGE_MANAGER_H

#ifdef ROS

#include "simple_message/smpl_msg_connection.h"
#include "simple_message/message_handler.h"
#include "simple_message/ping_handler.h"
#include "simple_message/comms_fault_handler.h"
#include "simple_message/simple_comms_fault_handler.h"

#endif

#ifdef MOTOPLUS

#include "smpl_msg_connection.h"
#include "message_handler.h"
#include "ping_handler.h"
#include "comms_fault_handler.h"
#include "simple_comms_fault_handler.h"

#endif


namespace industrial
{
namespace message_manager
{

//* MessageManager
class MessageManager
{

public:

  MessageManager();

  ~MessageManager();

  bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection);

  bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection,
            industrial::comms_fault_handler::CommsFaultHandler* fault_handler);

  void spinOnce();

  void spin();

  bool add(industrial::message_handler::MessageHandler* handler, bool allow_replace = false);

  unsigned int getNumHandlers()
  {
    return this->num_handlers_;
  }

  unsigned int getMaxNumHandlers()
  {
    return this->MAX_NUM_HANDLERS;
  }


  industrial::comms_fault_handler::CommsFaultHandler* getCommsFaultHandler()
  {
    return this->comms_hndlr_;
  }

  void setCommsFaultHandler(industrial::comms_fault_handler::CommsFaultHandler* handler)
  {
    this->comms_hndlr_ = handler;
  }


private:

  static const unsigned int MAX_NUM_HANDLERS = 64;

  industrial::message_handler::MessageHandler* handlers_[MAX_NUM_HANDLERS];

  industrial::smpl_msg_connection::SmplMsgConnection* connection_;

  industrial::ping_handler::PingHandler ping_hndlr_;

  industrial::simple_comms_fault_handler::SimpleCommsFaultHandler def_comms_hndlr_;

  industrial::comms_fault_handler::CommsFaultHandler* comms_hndlr_;

  unsigned int num_handlers_;

  industrial::message_handler::MessageHandler* getHandler(int msg_type);

  int getHandlerIdx(int msg_type);

  industrial::simple_comms_fault_handler::SimpleCommsFaultHandler& getDefaultCommsFaultHandler()
  {
    return this->def_comms_hndlr_;
  }
  industrial::ping_handler::PingHandler& getPingHandler()
  {
    return this->ping_hndlr_;
  }
  ;

  void setConnection(industrial::smpl_msg_connection::SmplMsgConnection* connection)
  {
    this->connection_ = connection;
  }
  ;

  industrial::smpl_msg_connection::SmplMsgConnection* getConnection()
  {
    return this->connection_;
  }
  ;

  void setNumHandlers(unsigned int num_handlers)
  {
    this->num_handlers_ = num_handlers;
  }
  ;

};

} // namespace industrial
} // namespace message_manager

#endif //MESSAGE_MANAGER