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00032 #ifdef ROS
00033
00034 #include "simple_message/log_wrapper.h"
00035 #include "simple_message/smpl_msg_connection.h"
00036 #include "simple_message/byte_array.h"
00037 #endif
00038
00039 #ifdef MOTOPLUS
00040 #include "motoPlus.h"
00041 #include "log_wrapper.h"
00042 #include "smpl_msg_connection.h"
00043 #include "byte_array.h"
00044 #endif
00045
00046 using namespace industrial::simple_message;
00047 using namespace industrial::byte_array;
00048
00049 namespace industrial
00050 {
00051
00052 namespace smpl_msg_connection
00053 {
00054
00055
00056 bool SmplMsgConnection::sendMsg(SimpleMessage & message)
00057 {
00058 bool rtn;
00059 ByteArray sendBuffer;
00060 ByteArray msgData;
00061
00062 if (message.validateMessage())
00063 {
00064 message.toByteArray(msgData);
00065 sendBuffer.load((int)msgData.getBufferSize());
00066 sendBuffer.load(msgData);
00067 rtn = this->sendBytes(sendBuffer);
00068 }
00069 else
00070 {
00071 rtn = false;
00072 LOG_ERROR("Message validation failed, message not sent");
00073 }
00074
00075 return rtn;
00076 }
00077
00078
00079 bool SmplMsgConnection::receiveMsg(SimpleMessage & message)
00080 {
00081 ByteArray lengthBuffer;
00082 ByteArray msgBuffer;
00083 int length;
00084
00085 bool rtn = false;
00086
00087
00088 rtn = this->receiveBytes(lengthBuffer, message.getLengthSize());
00089
00090 if (rtn)
00091 {
00092 rtn = lengthBuffer.unload(length);
00093 LOG_COMM("Message length: %d", length);
00094
00095 if (rtn)
00096 {
00097 rtn = this->receiveBytes(msgBuffer, length);
00098
00099 if (rtn)
00100 {
00101 rtn = message.init(msgBuffer);
00102 }
00103 else
00104 {
00105 LOG_ERROR("Failed to initialize message");
00106 rtn = false;
00107 }
00108
00109 }
00110 else
00111 {
00112 LOG_ERROR("Failed to receive message");
00113 rtn = false;
00114 }
00115 }
00116 else
00117 {
00118 LOG_ERROR("Failed to receive message length");
00119 rtn = false;
00120 }
00121
00122 return rtn;
00123 }
00124
00125
00126
00127 bool SmplMsgConnection::sendAndReceiveMsg(SimpleMessage & send, SimpleMessage & recv, bool verbose)
00128 {
00129 bool rtn = false;
00130 rtn = this->sendMsg(send);
00131 if (rtn)
00132 {
00133 if(verbose) {
00134 LOG_ERROR("Sent message");
00135 }
00136 rtn = this->receiveMsg(recv);
00137 if(verbose) {
00138 LOG_ERROR("Got message");
00139 }
00140 }
00141 else
00142 {
00143 rtn = false;
00144 }
00145
00146 return rtn;
00147 }
00148
00149
00150 }
00151 }