wrench_message.cpp

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* FSRobo-R Package BSDL
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#include "fsrobo_r_driver/simple_message/messages/wrench_message.h"
#include "fsrobo_r_driver/simple_message/wrench.h"
#include "simple_message/byte_array.h"
#include "simple_message/log_wrapper.h"

using namespace industrial::shared_types;
using namespace industrial::byte_array;
using namespace industrial::simple_message;

namespace fsrobo_r_driver
{
namespace simple_message
{
namespace wrench_message
{

WrenchMessage::WrenchMessage(void)
{
  this->init();
}

WrenchMessage::~WrenchMessage(void)
{

}

bool WrenchMessage::init(industrial::simple_message::SimpleMessage & msg)
{
  bool rtn = false;
  ByteArray data = msg.getData();
  this->init();
  this->setCommType(msg.getCommType());

  if (data.unload(this->wrench_))
  {
    rtn = true;
  }
  else
  {
    LOG_ERROR("Failed to unload wrench data");
  }
  return rtn;
}

void WrenchMessage::init(fsrobo_r_driver::simple_message::wrench::Wrench &wrench)
{
  this->init();
  this->wrench_.copyFrom(wrench);
}

void WrenchMessage::init()
{
  this->setMessageType(FSRoboRMsgTypes::WRENCH);
  this->wrench_.init();
}

bool WrenchMessage::load(ByteArray *buffer)
{
  bool rtn = false;
  LOG_COMM("Executing wrench message load");
  if (buffer->load(this->wrench_))
  {
    rtn = true;
  }
  else
  {
    rtn = false;
    LOG_ERROR("Failed to load wrench data");
  }
  return rtn;
}

bool WrenchMessage::unload(ByteArray *buffer)
{
  bool rtn = false;
  LOG_COMM("Executing wrench message unload");

  if (buffer->unload(this->wrench_))
  {
    rtn = true;
  }
  else
  {
    rtn = false;
    LOG_ERROR("Failed to unload wrench data");
  }
  return rtn;
}

}
}
}