simple_message.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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00027  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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00030  */
00031 
00032 #ifndef SIMPLE_MSG_H
00033 #define SIMPLE_MSG_H
00034 
00035 #ifdef ROS
00036 
00037 #include "simple_message/simple_serialize.h"
00038 #include "simple_message/byte_array.h"
00039 #include "simple_message/shared_types.h"
00040 
00041 #endif
00042 
00043 #ifdef MOTOPLUS
00044 
00045 #include "simple_serialize.h"
00046 #include "byte_array.h"
00047 #include "shared_types.h"
00048 
00049 #endif
00050 
00051 
00052 namespace industrial
00053 {
00054 
00055 namespace simple_message
00056 {
00057 
00062 namespace StandardMsgTypes
00063 {
00064   enum StandardMsgType
00065   {
00066  INVALID = 0,
00067  PING = 1,
00068 
00069  //TODO: Keeping these message type for the time being.  Refactoring
00070  // the messages should remove the need for this message.
00071  JOINT_POSITION = 10,
00072  JOINT = 10, 
00073  READ_INPUT = 20,
00074  WRITE_OUTPUT = 21,
00075 
00076  JOINT_TRAJ_PT = 11,  //Joint trajectory point message (typically for streaming)
00077  JOINT_TRAJ = 12,         //Joint trajectory message (typically for trajectory downloading)
00078  STATUS = 13,         //Robot status message (for reporting the robot state)
00079 
00080  // Begin vendor specific message types (only define the beginning enum value,
00081  // specific enum values should be defined locally, within in the range reserved
00082  // here.  Each vendor can reserve up 1000 types
00083 
00084  SWRI_MSG_BEGIN = 1000,
00085  MOTOMAN_MSG_BEGIN = 2000
00086   };
00087 }
00088 typedef StandardMsgTypes::StandardMsgType StandardMsgType;
00089 
00093 namespace CommTypes
00094 {
00095   enum CommType
00096   {
00097  INVALID = 0,
00098  TOPIC = 1,
00099  SERVICE_REQUEST = 2,
00100  SERVICE_REPLY = 3
00101   };
00102 }
00103 typedef CommTypes::CommType CommType;
00104 
00109 namespace ReplyTypes
00110 {
00111   enum ReplyType
00112   {
00113  INVALID = 0,
00114  SUCCESS = 1,
00115  FAILURE = 2
00116   };
00117 }
00118 typedef ReplyTypes::ReplyType ReplyType;
00119 
00120 
00121 
00164 class SimpleMessage
00165 {
00166 
00167   
00168 public:
00172         SimpleMessage();
00173 
00177         ~SimpleMessage(void);
00188         bool init(int msgType, int commType, int replyCode,
00189                   industrial::byte_array::ByteArray &data );
00190             
00200   bool init(int msgType, int commType, int replyCode);
00201   
00210   bool init(industrial::byte_array::ByteArray & msg);
00211 
00218   void toByteArray(industrial::byte_array::ByteArray & msg);
00219 
00225   static unsigned int getHeaderSize() { return SimpleMessage::HEADER_SIZE; };
00226   
00232   static unsigned int getLengthSize() { return SimpleMessage::LENGTH_SIZE; };
00233 
00239         int getMessageType() {return this->message_type_;};
00240   
00246         int getCommType() {return this->comm_type_;};
00247   
00253   int getReplyCode() {return this->reply_code_;};
00254   
00260         int getMsgLength() {return this->getHeaderSize() + this->data_.getBufferSize();};
00261   
00267         int getDataLength() {return this->data_.getBufferSize();};
00268   
00274   industrial::byte_array::ByteArray & getData() {return this->data_;};
00275         
00282   bool validateMessage();
00283         
00284 
00285 
00286 private:
00287 
00291   industrial::shared_types::shared_int message_type_;
00292   
00296   industrial::shared_types::shared_int comm_type_;
00297   
00301   industrial::shared_types::shared_int reply_code_;
00302   
00306         industrial::byte_array::ByteArray data_;
00307 
00311         static const unsigned int HEADER_SIZE = sizeof(industrial::shared_types::shared_int) +
00312             sizeof(industrial::shared_types::shared_int) +
00313             sizeof(industrial::shared_types::shared_int);
00314       
00318         static const unsigned int LENGTH_SIZE = sizeof(industrial::shared_types::shared_int);
00319 
00325   void setMessageType(int msgType) {this->message_type_ = msgType;};
00326   
00332   void setCommType(int commType) {this->comm_type_ = commType;};
00333   
00339   void setReplyCode(int replyCode) {this->reply_code_ = replyCode;};
00340   
00346   void setData(industrial::byte_array::ByteArray & data);
00347 };
00348 
00349 }//namespace simple_message
00350 }//namespace industrial
00351 
00352 #endif //SIMPLE_MSG_


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Mon Oct 6 2014 02:25:34