motoman_motion_reply.h

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/*
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 *
 * Copyright (c) 2013, Southwest Research Institute
 * All rights reserved.
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 *      of its contributors may be used to endorse or promote products derived
 *      from this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef MOTOMAN_MOTION_REPLY_H
#define MOTOMAN_MOTION_REPLY_H

#ifdef ROS
#include "simple_message/simple_serialize.h"
#include "simple_message/shared_types.h"
#include "simple_message/log_wrapper.h"
#endif

#ifdef MOTOPLUS
#include "simple_serialize.h"
#include "shared_types.h"
#include "log_wrapper.h"
#endif

namespace motoman
{
namespace simple_message
{
namespace motion_reply
{

namespace MotionReplyResults
{
  enum MotionReplyResult
  {
    SUCCESS    = 0,
    TRUE       = 0,
    BUSY       = 1,
    FAILURE    = 2,
    FALSE      = 2,
    INVALID    = 3,
    ALARM      = 4,
    NOT_READY  = 5,
    MP_FAILURE = 6
  };
}
typedef MotionReplyResults::MotionReplyResult MotionReplyResult;

/*
 * \brief Enumeration of Motion reply subcodes
 */
namespace MotionReplySubcodes
{
namespace Invalid
{
enum InvalidCode
{
  UNSPECIFIED = 3000,
  MSGSIZE,
  MSGHEADER,
  MSGTYPE,
  GROUPNO,
  SEQUENCE,
  COMMAND,
  DATA = 3010,
  DATA_START_POS,
  DATA_POSITION,
  DATA_SPEED,
  DATA_ACCEL,
  DATA_INSUFFICIENT
};
}

namespace NotReady
{
enum NotReadyCode
{
  UNSPECIFIED = 5000,
  ALARM,
  ERROR,
  ESTOP,
  NOT_PLAY,
  NOT_REMOTE,
  SERVO_OFF,
  HOLD,
  NOT_STARTED,
  WAITING_ROS
};
}
} // MotionReplySubcodes

class MotionReply : public industrial::simple_serialize::SimpleSerialize
{
public:
  MotionReply(void);
  ~MotionReply(void);

  void init();

  void init(industrial::shared_types::shared_int robot_id,
            industrial::shared_types::shared_int sequence,
            industrial::shared_types::shared_int command,
            MotionReplyResult result,
            industrial::shared_types::shared_int subcode,
            industrial::shared_types::shared_real data);

  void setRobotID(industrial::shared_types::shared_int robot_id)
  {
    this->robot_id_ = robot_id;
  }

  industrial::shared_types::shared_int getRobotID() const
  {
    return this->robot_id_;
  }

  void setSequence(industrial::shared_types::shared_int sequence)
  {
    this->sequence_ = sequence;
  }

  industrial::shared_types::shared_int getSequence() const
  {
    return this->sequence_;
  }

  void setCommand(industrial::shared_types::shared_int command)
  {
    this->command_ = command;
  }

  industrial::shared_types::shared_int getCommand() const
  {
    return this->command_;
  }

  void setResult(industrial::shared_types::shared_int result)
  {
    this->result_ = result;
  }

  industrial::shared_types::shared_int getResult() const
  {
    return this->result_;
  }

  void setSubcode(industrial::shared_types::shared_int subcode)
  {
    this->subcode_ = subcode;
  }

  industrial::shared_types::shared_int getSubcode() const
  {
    return this->subcode_;
  }

  void clearData()
  {
    for (size_t i=0; i<MAX_DATA_CNT; ++i)
      this->data_[i] = 0.0;
  }

  void setData(size_t idx, industrial::shared_types::shared_real val)
  {
    if (idx<MAX_DATA_CNT)
      this->data_[idx] = val;
    else
      LOG_ERROR("MotionReply data index out-of-range (%d >= %d)",
                (int)idx, (int)MAX_DATA_CNT);
  }

  industrial::shared_types::shared_real getData(size_t idx) const
  {
    if (idx<MAX_DATA_CNT)
    {
      return this->data_[idx];
    }
    else
    {
      LOG_ERROR("MotionReply data index out-of-range (%d >= %d)",
                (int)idx, (int)MAX_DATA_CNT);

      return 0;
    }
  }

  /*
   * \brief Returns a string interpretation of a result code
   * \param code result code
   * \return string message associated with result code
   */
  static std::string getResultString(industrial::shared_types::shared_int code);
  std::string getResultString() const { return getResultString(this->result_); }

  /*
   * \brief Returns a string interpretation of a result subcode
   * \param code result subcode
   * \return string message associated with result subcode
   */
  static std::string getSubcodeString(industrial::shared_types::shared_int code);
  std::string getSubcodeString() const { return getSubcodeString(this->subcode_); }


  void copyFrom(MotionReply &src);

  bool operator==(MotionReply &rhs);

  // Overrides - SimpleSerialize
  bool load(industrial::byte_array::ByteArray *buffer);
  bool unload(industrial::byte_array::ByteArray *buffer);
  unsigned int byteLength()
  {
    return 5*sizeof(industrial::shared_types::shared_int) +
           MAX_DATA_CNT*sizeof(industrial::shared_types::shared_real);
  }

private:

  industrial::shared_types::shared_int robot_id_;

  industrial::shared_types::shared_int sequence_;

  industrial::shared_types::shared_int command_;

  industrial::shared_types::shared_int result_;

  industrial::shared_types::shared_int subcode_;

  static const size_t MAX_DATA_CNT = 10;

  industrial::shared_types::shared_real data_[MAX_DATA_CNT];

};

}
}
}

#endif /* MOTOMAN_MOTION_REPLY_H */