#include "husky_base/horizon_legacy/Message_data.h"
#include "husky_base/horizon_legacy/Number.h"
#include "husky_base/horizon_legacy/Transport.h"
#include <iostream>
#include <string>
#include <string.h>
#include <sstream>

Include dependency graph for Message_data.cpp:

Namespaces
	clearpath

Macros
#define	MESSAGE_CONSTRUCTORS(MessageClass, ExpectedLength)

#define	MESSAGE_CONVENIENCE_FNS(MessageClass, DataMsgID)

Functions
	clearpath::MESSAGE_CONSTRUCTORS (DataDifferentialSpeed, PAYLOAD_LEN)

	clearpath::MESSAGE_CONSTRUCTORS (DataEncodersRaw,(1+getCount()*4)) uint8_t DataEncodersRaw

	clearpath::MESSAGE_CONSTRUCTORS (DataPlatformInfo,(int) strlenModel()+6) uint8_t DataPlatformInfo

	clearpath::MESSAGE_CONSTRUCTORS (DataPlatformName,(int)(*getPayloadPointer())+1) string DataPlatformName

	clearpath::MESSAGE_CONSTRUCTORS (DataProcessorStatus,(1+getProcessCount()*2)) uint8_t DataProcessorStatus

	clearpath::MESSAGE_CONSTRUCTORS (DataRangefinders,(1+getRangefinderCount()*2)) uint8_t DataRangefinders

	clearpath::MESSAGE_CONSTRUCTORS (DataRangefinderTimings,(1+getRangefinderCount()*6)) uint8_t DataRangefinderTimings

	clearpath::MESSAGE_CONSTRUCTORS (DataRawCurrent,(1+getCurrentCount()*2)) uint8_t DataRawCurrent

	clearpath::MESSAGE_CONSTRUCTORS (DataRawTemperature,(1+2 *getTemperatureCount())) uint8_t DataRawTemperature

	clearpath::MESSAGE_CONSTRUCTORS (DataRawVoltage,(1+2 *getVoltageCount())) uint8_t DataRawVoltage

	clearpath::MESSAGE_CONVENIENCE_FNS (DataDifferentialSpeed, DATA_DIFF_WHEEL_SPEEDS)

	clearpath::MESSAGE_CONVENIENCE_FNS (DataEncoders, DATA_ENCODER)

Macro Definition 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) { \
    Transport::instance().flush(DataMsgID); \
    subscribe(0); \
    return dynamic_cast<MessageClass*>( \
            Transport::instance().waitNext(DataMsgID, timeout) ); \
}\
\
void MessageClass::subscribe(uint16_t freq) { \
    Request(DataMsgID-0x4000, freq).send(); \
} \
\
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.

Namespaces

Macros

Functions

Macro Definition Documentation