smpl_msg_connection.cpp
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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
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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 #ifdef ROS
00033 
00034 #include "simple_message/log_wrapper.h"
00035 #include "simple_message/smpl_msg_connection.h"
00036 #include "simple_message/byte_array.h"
00037 #endif
00038 
00039 #ifdef MOTOPLUS
00040 #include "motoPlus.h"
00041 #include "log_wrapper.h"
00042 #include "smpl_msg_connection.h"
00043 #include "byte_array.h"
00044 #endif
00045 
00046 using namespace industrial::simple_message;
00047 using namespace industrial::byte_array;
00048 
00049 namespace industrial
00050 {
00051 
00052 namespace smpl_msg_connection
00053 {
00054 
00055 
00056 bool SmplMsgConnection::sendMsg(SimpleMessage & message)
00057 {
00058   bool rtn;
00059   ByteArray sendBuffer;
00060   ByteArray msgData;
00061 
00062   if (message.validateMessage())
00063   {
00064     message.toByteArray(msgData);
00065     sendBuffer.load((int)msgData.getBufferSize());
00066     sendBuffer.load(msgData);
00067     rtn = this->sendBytes(sendBuffer);
00068   }
00069   else
00070   {
00071     rtn = false;
00072     LOG_ERROR("Message validation failed, message not sent");
00073   }
00074 
00075 return rtn;
00076 }
00077 
00078 
00079 bool SmplMsgConnection::receiveMsg(SimpleMessage & message)
00080 {
00081   ByteArray lengthBuffer;
00082   ByteArray msgBuffer;
00083   int length;
00084 
00085   bool rtn = false;
00086 
00087 
00088   rtn = this->receiveBytes(lengthBuffer, message.getLengthSize());
00089 
00090   if (rtn)
00091   {
00092     rtn = lengthBuffer.unload(length);
00093     LOG_COMM("Message length: %d", length);
00094 
00095     if (rtn)
00096     {
00097       rtn = this->receiveBytes(msgBuffer, length);
00098 
00099       if (rtn)
00100       {
00101         rtn = message.init(msgBuffer);
00102       }
00103       else
00104       {
00105         LOG_ERROR("Failed to initialize message");
00106         rtn = false;
00107       }
00108 
00109     }
00110     else
00111     {
00112       LOG_ERROR("Failed to receive message");
00113       rtn = false;
00114     }
00115   }
00116   else
00117   {
00118     LOG_ERROR("Failed to receive message length");
00119     rtn = false;
00120   }
00121 
00122   return rtn;
00123 }
00124 
00125 
00126 
00127 bool SmplMsgConnection::sendAndReceiveMsg(SimpleMessage & send, SimpleMessage & recv, bool verbose)
00128 {       
00129   bool rtn = false;
00130   rtn = this->sendMsg(send);
00131   if (rtn)
00132   {
00133     if(verbose) {
00134       LOG_ERROR("Sent message");
00135     }
00136     rtn = this->receiveMsg(recv);
00137     if(verbose) {
00138       LOG_ERROR("Got message");
00139     }
00140   }
00141   else
00142   {
00143     rtn = false;
00144   }
00145 
00146   return rtn;
00147 }
00148 
00149 
00150 }//smpl_msg_connection
00151 }//industrial


simple_message
Author(s): Shaun Edwards
autogenerated on Fri Jan 3 2014 11:26:56