Public Member Functions | Private Attributes
industrial::joint_message::JointMessage Class Reference

Class encapsulated joint message generation methods (either to or from a SimpleMessage type. This message represents the joint position data. NOTE: In earlier versions this was simply referred to as JOINT message. This caused confusion as there are many types of joint messages (position, velocity, feedback). To remove confusion, this message was changed to JOINT_POSITION. Other types of messages will have to be created for velocity and other feedback. More...

#include <joint_message.h>

Inheritance diagram for industrial::joint_message::JointMessage:
Inheritance graph
[legend]

List of all members.

Public Member Functions

unsigned int byteLength ()
 Virtual method returns the object size when packed into a ByteArray.
industrial::joint_data::JointDatagetJoints ()
 returns reference to underlying joint class
industrial::shared_types::shared_int getSequence ()
 returns the maximum message sequence number
bool init (industrial::simple_message::SimpleMessage &msg)
 Initializes message from a simple message.
void init (industrial::shared_types::shared_int seq, industrial::joint_data::JointData &joints)
 Initializes message from a joint structure.
void init ()
 Initializes a new joint message.
 JointMessage (void)
 Default constructor.
bool load (industrial::byte_array::ByteArray *buffer)
 Virtual method for loading an object into a ByteArray.
void setSequence (industrial::shared_types::shared_int sequence)
 Sets message sequence number.
bool unload (industrial::byte_array::ByteArray *buffer)
 Virtual method for unloading an object from a ByteArray.
 ~JointMessage (void)
 Destructor.

Private Attributes

industrial::joint_data::JointData joints_
 maximum number of joints positions that can be held in the message.
industrial::shared_types::shared_int sequence_
 sequence number (for those joints messages that require it)

Detailed Description

Class encapsulated joint message generation methods (either to or from a SimpleMessage type. This message represents the joint position data. NOTE: In earlier versions this was simply referred to as JOINT message. This caused confusion as there are many types of joint messages (position, velocity, feedback). To remove confusion, this message was changed to JOINT_POSITION. Other types of messages will have to be created for velocity and other feedback.

The byte representation of a joint message is as follow (in order lowest index to highest). The standard sizes are given, but can change based on type sizes:

member: type size sequence (industrial::shared_types::shared_int) 4 bytes joints (industrial::joint_data) 40 bytes

THIS CLASS IS NOT THREAD-SAFE

Definition at line 85 of file joint_message.h.


Constructor & Destructor Documentation

Default constructor.

This method creates an empty message.

Definition at line 54 of file joint_message.cpp.

Destructor.

Definition at line 60 of file joint_message.cpp.


Member Function Documentation

unsigned int industrial::joint_message::JointMessage::byteLength ( ) [inline, virtual]

Virtual method returns the object size when packed into a ByteArray.

Returns:
object size (in bytes)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 155 of file joint_message.h.

returns reference to underlying joint class

Returns:
reference to joint class

Definition at line 146 of file joint_message.h.

returns the maximum message sequence number

Returns:
message sequence number

Definition at line 136 of file joint_message.h.

Initializes message from a simple message.

Parameters:
simplemessage to construct from
Returns:
true if message successfully initialized, otherwise false

Implements industrial::typed_message::TypedMessage.

Definition at line 65 of file joint_message.cpp.

Initializes message from a joint structure.

Parameters:
sequencenumber
joints

Definition at line 96 of file joint_message.cpp.

Initializes a new joint message.

Implements industrial::typed_message::TypedMessage.

Definition at line 102 of file joint_message.cpp.

Virtual method for loading an object into a ByteArray.

This method should load all the required data to reconstruct the class object into the buffer

Parameters:
bufferpointer to ByteArray
Returns:
true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 108 of file joint_message.cpp.

Sets message sequence number.

Parameters:
messagesequence number

Definition at line 91 of file joint_message.cpp.

Virtual method for unloading an object from a ByteArray.

This method should unload all the required data to reconstruct the class object (in place)

Parameters:
bufferpointer to ByteArray
Returns:
true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 133 of file joint_message.cpp.


Member Data Documentation

maximum number of joints positions that can be held in the message.

Definition at line 168 of file joint_message.h.

sequence number (for those joints messages that require it)

Definition at line 164 of file joint_message.h.


The documentation for this class was generated from the following files:


simple_message
Author(s): Shaun Edwards
autogenerated on Sat Jun 8 2019 20:43:24