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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Southwest Research Institute 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #ifndef TYPED_MESSAGE_H 00033 #define TYPED_MESSAGE_H 00034 00035 #ifdef ROS 00036 00037 #include "simple_message/simple_message.h" 00038 #include "simple_message/byte_array.h" 00039 00040 #endif 00041 00042 #ifdef MOTOPLUS 00043 00044 #include "simple_message.h" 00045 #include "byte_array.h" 00046 00047 #endif 00048 00049 00050 namespace industrial 00051 { 00052 namespace typed_message 00053 { 00054 00058 //* TypedMessage 00065 class TypedMessage : public industrial::simple_serialize::SimpleSerialize 00066 { 00067 00068 /* 00069 * This class is just put here for planning purposes. After many typed messages 00070 * have been created the common code will be ported to this class. 00071 */ 00072 00073 public: 00079 virtual bool init(industrial::simple_message::SimpleMessage & msg)=0; 00080 00085 virtual void init()=0; 00086 00092 virtual bool toRequest(industrial::simple_message::SimpleMessage & msg) 00093 { 00094 industrial::byte_array::ByteArray data; 00095 data.load(*this); 00096 return msg.init(this->getMessageType(), 00097 industrial::simple_message::CommTypes::SERVICE_REQUEST, 00098 industrial::simple_message::ReplyTypes::INVALID, data); 00099 } 00100 00106 virtual bool toReply(industrial::simple_message::SimpleMessage & msg, 00107 industrial::simple_message::ReplyType reply) 00108 { 00109 industrial::byte_array::ByteArray data; 00110 data.load(*this); 00111 return msg.init(this->getMessageType(), 00112 industrial::simple_message::CommTypes::SERVICE_REPLY, 00113 reply, data); 00114 } 00120 virtual bool toTopic(industrial::simple_message::SimpleMessage & msg) 00121 { 00122 industrial::byte_array::ByteArray data; 00123 data.load(*this); 00124 return msg.init(this->getMessageType(), 00125 industrial::simple_message::CommTypes::TOPIC, 00126 industrial::simple_message::ReplyTypes::INVALID, data); 00127 } 00133 int getMessageType() const 00134 { 00135 return message_type_; 00136 } 00137 00138 protected: 00139 00140 00141 void setMessageType(int MESSAGE_TYPE = industrial::simple_message::StandardMsgTypes::INVALID) 00142 { 00143 this->message_type_ = MESSAGE_TYPE; 00144 } 00145 00146 private: 00147 00152 int message_type_; 00153 00154 }; 00155 00156 } 00157 } 00158 00159 #endif /* TYPED_MESSAGE_H */