io_state.h

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#ifndef FSROBO_R_DRIVER_SIMPLE_MESSAGE_IO_STATE_H
#define FSROBO_R_DRIVER_SIMPLE_MESSAGE_IO_STATE_H

#ifndef FLATHEADERS
#include "simple_message/simple_message.h"
#include "simple_message/simple_serialize.h"
#include "simple_message/shared_types.h"
#else
#include "simple_message.h"
#include "simple_serialize.h"
#include "shared_types.h"
#endif

namespace fsrobo_r_driver
{
namespace simple_message
{
namespace io_state
{

class IOState : public industrial::simple_serialize::SimpleSerialize
{
public:
IOState(void);

~IOState(void);

void init();

//void init(TriState drivesPowered, TriState eStopped, industrial::shared_types::shared_int errorCode, TriState inError,
//          TriState inMotion, RobotMode mode, TriState motionPossible);

industrial::shared_types::shared_int getDigital(int idx)
{
  return digital_[idx];
}

industrial::shared_types::shared_int getAnalog(int idx)
{
  return analog_[idx];
}

void setDigital(int idx, industrial::shared_types::shared_int val)
{
  this->digital_[idx] = val;
}

void setAnalog(int idx, industrial::shared_types::shared_int val)
{
  this->analog_[idx] = val;
}

void copyFrom(IOState &src);

bool operator==(IOState &rhs);

// Overrides - SimpleSerialize
bool load(industrial::byte_array::ByteArray *buffer);
bool unload(industrial::byte_array::ByteArray *buffer);
unsigned int byteLength()
{
  return 3 * sizeof(industrial::shared_types::shared_int);
}

private:
industrial::shared_types::shared_int digital_[2];

industrial::shared_types::shared_int analog_[1];

};

}
}
}

#endif // FSROBO_R_DRIVER_SIMPLE_MESSAGE_IO_STATE_H