Message_data.cpp File Reference

#include "roch_base/core/Message_data.h"
#include "roch_base/core/Number.h"
#include "roch_base/core/Transport.h"
#include <iostream>
#include <string>
#include <string.h>
#include <sstream>

Include dependency graph for Message_data.cpp:

Go to the source code of this file.

Namespaces
namespace	sawyer
Defines
#define	MESSAGE_CONSTRUCTORS(MessageClass, ExpectedLength)
#define	MESSAGE_CONVENIENCE_FNS(MessageClass, DataMsgID)
Functions
	sawyer::MESSAGE_CONSTRUCTORS (DataDifferentialSpeed, PAYLOAD_LEN)
	sawyer::MESSAGE_CONSTRUCTORS (DataWheelInfo, PAYLOAD_LEN)
	sawyer::MESSAGE_CONSTRUCTORS (DataEncodersRaw,(1+getCount()*4)) uint8_t DataEncodersRaw
	sawyer::MESSAGE_CONSTRUCTORS (DataPlatformInfo,(int) strlenModel()+6) uint8_t DataPlatformInfo
	sawyer::MESSAGE_CONSTRUCTORS (DataPlatformName,(int)(*getPayloadPointer())+1) string DataPlatformName
	sawyer::MESSAGE_CONSTRUCTORS (DataProcessorStatus,(1+getProcessCount()*2)) uint8_t DataProcessorStatus
	sawyer::MESSAGE_CONSTRUCTORS (DataRangefinders,(1+getRangefinderCount()*2)) uint8_t DataRangefinders
	sawyer::MESSAGE_CONSTRUCTORS (DataRangefinderTimings,(1+getRangefinderCount()*6)) uint8_t DataRangefinderTimings
	sawyer::MESSAGE_CONSTRUCTORS (DataRawCurrent,(1+getCurrentCount()*2)) uint8_t DataRawCurrent
	sawyer::MESSAGE_CONSTRUCTORS (DataRawTemperature,(1+2 *getTemperatureCount())) uint8_t DataRawTemperature
	sawyer::MESSAGE_CONSTRUCTORS (DataRawVoltage,(1+2 *getVoltageCount())) uint8_t DataRawVoltage
	sawyer::MESSAGE_CONVENIENCE_FNS (DataDifferentialSpeed, DATA_DIFF_WHEEL_SPEEDS)
	sawyer::MESSAGE_CONVENIENCE_FNS (DataWheelInfo, DATA_WHEEL_INFO)
	sawyer::MESSAGE_CONVENIENCE_FNS (DataEncoders, DATA_ENCODER)

---

Define Documentation

#define MESSAGE_CONSTRUCTORS	(		MessageClass,
			ExpectedLength
	)

Value:

MessageClass::MessageClass(void* input, size_t msg_len) : Message(input, msg_len) \
{ \
    if( ((ExpectedLength) >= 0) && ((ssize_t)getPayloadLength() != (ExpectedLength)) ) { \
        stringstream ss; \
        ss << "Bad payload length: actual="<<getPayloadLength(); \
        ss <<" vs. expected="<<(ExpectedLength); \
        throw new MessageException(ss.str().c_str(), MessageException::INVALID_LENGTH); \
    } \
} \
MessageClass::MessageClass(const MessageClass& other) : Message(other) {}

Macro which generates definitions of the Message constructors ExpectedLength is an expression valid within the constructor which gives the expected payload length of the message. If the length reported in the message header does not match, and exception will be thrown. If ExpectedLength is -1, the length check will be skipped. NB: Some Messages need to do some extra work in the constructor and don't use this macro!

Definition at line 24 of file Message_data.cpp.

#define MESSAGE_CONVENIENCE_FNS	(		MessageClass,
			DataMsgID
	)

Value:

MessageClass* MessageClass::popNext() { \
    return dynamic_cast<MessageClass*>(  Transport::instance().popNext(DataMsgID)); \
} \
\
MessageClass* MessageClass::waitNext(double timeout) { \
return dynamic_cast<MessageClass*>(Transport::instance().waitNext(DataMsgID, timeout)); \
} \
\
MessageClass* MessageClass::getUpdate(double timeout) { \
    subscribe(0); \
    return dynamic_cast<MessageClass*>( \
            Transport::instance().waitNext(DataMsgID, timeout) ); \
}\
\
void MessageClass::subscribe(uint16_t freq) { \
    Request(DataMsgID-0x4000, freq).sendRequest(); \
} \
\
enum MessageTypes MessageClass::getTypeID() { \
    return DataMsgID; \
}

Macro which generates definitios of the Message convenience functions All message classes should use this macro to define these functions.

Definition at line 41 of file Message_data.cpp.