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 #ifndef MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_MOTION_CTRL_MESSAGE_H 00033 #define MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_MOTION_CTRL_MESSAGE_H 00034 00035 #ifdef ROS 00036 #include "simple_message/typed_message.h" 00037 #include "simple_message/shared_types.h" 00038 #include "motoman_driver/simple_message/motoman_simple_message.h" 00039 #include "motoman_driver/simple_message/motoman_motion_ctrl.h" 00040 00041 #endif 00042 00043 #ifdef MOTOPLUS 00044 #include "typed_message.h" 00045 #include "shared_types.h" 00046 #include "motoman_simple_message.h" 00047 #include "motoman_motion_ctrl.h" 00048 00049 #endif 00050 00051 namespace motoman 00052 { 00053 namespace simple_message 00054 { 00055 namespace motion_ctrl_message 00056 { 00069 class MotionCtrlMessage : public industrial::typed_message::TypedMessage 00070 { 00071 public: 00078 MotionCtrlMessage(void); 00083 ~MotionCtrlMessage(void); 00091 bool init(industrial::simple_message::SimpleMessage & msg); 00092 00099 void init(motoman::simple_message::motion_ctrl::MotionCtrl & cmd); 00100 00105 void init(); 00106 00107 // Overrides - SimpleSerialize 00108 bool load(industrial::byte_array::ByteArray *buffer); 00109 bool unload(industrial::byte_array::ByteArray *buffer); 00110 00111 unsigned int byteLength() 00112 { 00113 return this->cmd_.byteLength(); 00114 } 00115 00116 motoman::simple_message::motion_ctrl::MotionCtrl cmd_; 00117 00118 private: 00119 }; 00120 } // namespace motion_ctrl_message 00121 } // namespace simple_message 00122 } // namespace motoman 00123 00124 #endif // MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_MOTION_CTRL_MESSAGE_H