00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2013, 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" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #ifdef ROS 00033 #include "fs100/simple_message/motoman_motion_reply_message.h" 00034 #include "simple_message/byte_array.h" 00035 #include "simple_message/log_wrapper.h" 00036 #endif 00037 00038 #ifdef MOTOPLUS 00039 #include "motoman_motion_reply_message.h" 00040 #include "byte_array.h" 00041 #include "log_wrapper.h" 00042 #endif 00043 00044 using namespace industrial::shared_types; 00045 using industrial::byte_array::ByteArray; 00046 using industrial::simple_message::SimpleMessage; 00047 using motoman::simple_message::motion_reply::MotionReply; 00048 00049 namespace motoman 00050 { 00051 namespace simple_message 00052 { 00053 namespace motion_reply_message 00054 { 00055 00056 MotionReplyMessage::MotionReplyMessage(void) 00057 { 00058 this->init(); 00059 } 00060 00061 MotionReplyMessage::~MotionReplyMessage(void) 00062 { 00063 00064 } 00065 00066 bool MotionReplyMessage::init(SimpleMessage & msg) 00067 { 00068 ByteArray data = msg.getData(); 00069 this->init(); 00070 00071 if (!data.unload(this->reply_)) 00072 { 00073 LOG_ERROR("Failed to unload MotionReplyMessage data"); 00074 return false; 00075 } 00076 00077 return true; 00078 } 00079 00080 void MotionReplyMessage::init(MotionReply & reply) 00081 { 00082 this->init(); 00083 this->reply_.copyFrom(reply); 00084 } 00085 00086 void MotionReplyMessage::init() 00087 { 00088 this->setMessageType(MotomanMsgTypes::MOTOMAN_MOTION_REPLY); 00089 this->reply_.init(); 00090 } 00091 00092 bool MotionReplyMessage::load(ByteArray *buffer) 00093 { 00094 LOG_COMM("Executing MotionReply message load"); 00095 if (!buffer->load(this->reply_)) 00096 { 00097 LOG_ERROR("Failed to load MotionReply message"); 00098 return false; 00099 } 00100 00101 return true; 00102 } 00103 00104 bool MotionReplyMessage::unload(ByteArray *buffer) 00105 { 00106 LOG_COMM("Executing MotionReply message unload"); 00107 00108 if (!buffer->unload(this->reply_)) 00109 { 00110 LOG_ERROR("Failed to unload MotionReply message"); 00111 return false; 00112 } 00113 00114 return true; 00115 } 00116 00117 } 00118 } 00119 } 00120