typed_message.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *      * Redistributions of source code must retain the above copyright
 *      notice, this list of conditions and the following disclaimer.
 *      * Redistributions in binary form must reproduce the above copyright
 *      notice, this list of conditions and the following disclaimer in the
 *      documentation and/or other materials provided with the distribution.
 *      * Neither the name of the Southwest Research Institute, nor the names
 *      of its contributors may be used to endorse or promote products derived
 *      from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef TYPED_MESSAGE_H
#define TYPED_MESSAGE_H

#ifndef FLATHEADERS
#include "simple_message/simple_message.h"
#include "simple_message/byte_array.h"
#else
#include "simple_message.h"
#include "byte_array.h"
#endif


namespace industrial
{
namespace typed_message
{

class TypedMessage : public industrial::simple_serialize::SimpleSerialize
{

public:
  virtual bool init(industrial::simple_message::SimpleMessage & msg)=0;

  virtual void init()=0;

  virtual bool toRequest(industrial::simple_message::SimpleMessage & msg)
  {
          industrial::byte_array::ByteArray data;
          data.load(*this);
          return msg.init(this->getMessageType(),
                          industrial::simple_message::CommTypes::SERVICE_REQUEST,
                          industrial::simple_message::ReplyTypes::INVALID, data);
  }

  virtual bool toReply(industrial::simple_message::SimpleMessage & msg,
                  industrial::simple_message::ReplyType reply)
  {
          industrial::byte_array::ByteArray data;
        data.load(*this);
        return msg.init(this->getMessageType(),
                        industrial::simple_message::CommTypes::SERVICE_REPLY,
                        reply, data);
  }
  virtual bool toTopic(industrial::simple_message::SimpleMessage & msg)
  {
          industrial::byte_array::ByteArray data;
    data.load(*this);
    return msg.init(this->getMessageType(),
                industrial::simple_message::CommTypes::TOPIC,
                industrial::simple_message::ReplyTypes::INVALID, data);
  }
  int getMessageType() const
  {
    return message_type_;
  }
  
  int getCommType() const
  {
    return comm_type_;
  }

protected:

  void setMessageType(int message_type = industrial::simple_message::StandardMsgTypes::INVALID)
  {
    this->message_type_ = message_type;
  }
  
  void setCommType(int comm_type = industrial::simple_message::CommTypes::INVALID)
  {
    this->comm_type_ = comm_type;
  }

private:

  int message_type_;
    
  int comm_type_;

};

}
}

#endif /* TYPED_MESSAGE_H */