joint_traj_pt_message.cpp

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/*
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 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
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 *      notice, this list of conditions and the following disclaimer.
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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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#ifdef ROS
#include "simple_message/messages/joint_traj_pt_message.h"
#include "simple_message/joint_data.h"
#include "simple_message/byte_array.h"
#include "simple_message/log_wrapper.h"
#endif

#ifdef MOTOPLUS
#include "joint_traj_pt_message.h"
#include "joint_data.h"
#include "byte_array.h"
#include "log_wrapper.h"
#endif

using namespace industrial::shared_types;
using namespace industrial::byte_array;
using namespace industrial::simple_message;
using namespace industrial::joint_traj_pt;

namespace industrial
{
namespace joint_traj_pt_message
{

JointTrajPtMessage::JointTrajPtMessage(void)
{
  this->init();
}

JointTrajPtMessage::~JointTrajPtMessage(void)
{

}

bool JointTrajPtMessage::init(industrial::simple_message::SimpleMessage & msg)
{
  bool rtn = false;
  ByteArray data = msg.getData();
  this->init();

  if (data.unload(this->point_))
  {
    rtn = true;
  }
  else
  {
    LOG_ERROR("Failed to unload joint traj pt data");
  }
  return rtn;
}

void JointTrajPtMessage::init(industrial::joint_traj_pt::JointTrajPt & point)
{
        this->init();
        this->point_.copyFrom(point);
}

void JointTrajPtMessage::init()
{
        this->setMessageType(StandardMsgTypes::JOINT_TRAJ_PT);
  this->point_.init();
}


bool JointTrajPtMessage::load(ByteArray *buffer)
{
        bool rtn = false;
        LOG_COMM("Executing joint traj. pt. message load");
        if (buffer->load(this->point_))
        {
                rtn = true;
        }
        else
        {
                rtn = false;
                LOG_ERROR("Failed to load joint traj. pt data");
        }
        return rtn;
}

bool JointTrajPtMessage::unload(ByteArray *buffer)
{
  bool rtn = false;
  LOG_COMM("Executing joint traj pt message unload");

  if (buffer->unload(this->point_))
  {
          rtn = true;
  }
  else
  {
    rtn = false;
    LOG_ERROR("Failed to unload joint traj pt data");
  }
  return rtn;
}

}
}