message_handler.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *       * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *       * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *       * Neither the name of the Southwest Research Institute, nor the names
 *       of its contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef MESSAGE_HANDLER_H
#define MESSAGE_HANDLER_H

#ifdef ROS

#include "simple_message/simple_message.h"
#include "simple_message/smpl_msg_connection.h"

#endif

#ifdef MOTOPLUS

#include "simple_message.h"
#include "smpl_msg_connection.h"

#endif


namespace industrial
{
namespace message_handler
{

//* MessageHandler
class MessageHandler

{
public:

  MessageHandler();

  ~MessageHandler();

  bool callback(industrial::simple_message::SimpleMessage & in);

  int getMsgType()
  {
    return this->msg_type_;
  }
  ;

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

  bool init(int msg_type, industrial::smpl_msg_connection::SmplMsgConnection* connection);

private:

  industrial::smpl_msg_connection::SmplMsgConnection* connection_;

  int msg_type_;

  virtual bool internalCB(industrial::simple_message::SimpleMessage & in)=0;

  bool validateMsg(industrial::simple_message::SimpleMessage & in);

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

  void setMsgType(int msg_type)
  {
    this->msg_type_ = msg_type;
  }
  ;

};

} //namespace message_handler
} //namespace industrial

#endif //MESSAGE_HANDLER_H