joint_feedback_ex.cpp

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/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2014, Fraunhofer IPA
 * Author: Thiago de Freitas
 *
 * All rights reserved.
 *
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 * 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.
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 *  notice, this list of conditions and the following disclaimer in the
 *  documentation and/or other materials provided with the distribution.
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 *  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"
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#include <vector>

#ifndef FLATHEADERS
#include "motoman_driver/simple_message/joint_feedback_ex.h"
#include "simple_message/shared_types.h"
#include "simple_message/log_wrapper.h"
#else
#include "joint_feedback_ex.h"  // NOLINT(build/include)
#include "shared_types.h"       // NOLINT(build/include)
#include "log_wrapper.h"        // NOLINT(build/include)
#endif

using industrial::joint_feedback_message::JointFeedbackMessage;
using industrial::joint_feedback::JointFeedback;

namespace industrial
{
namespace joint_feedback_ex
{

JointFeedbackEx::JointFeedbackEx(void)
{
  this->init();
}
JointFeedbackEx::~JointFeedbackEx(void)
{
}

void JointFeedbackEx::init()
{
  this->groups_number_ = 0;
}

void JointFeedbackEx::init(industrial::shared_types::shared_int groups_number,
                           std::vector<joint_feedback_message::JointFeedbackMessage> joints_feedback_points)
{
  this->setGroupsNumber(groups_number);
  this->joint_feedback_messages_ = joints_feedback_points;
}

void JointFeedbackEx::copyFrom(JointFeedbackEx &src)
{
  this->setGroupsNumber(src.getGroupsNumber());
  this->joint_feedback_messages_ = src.joint_feedback_messages_;
}

bool JointFeedbackEx::operator==(JointFeedbackEx &rhs)
{
  return this->groups_number_ == rhs.groups_number_;
}

bool JointFeedbackEx::load(industrial::byte_array::ByteArray *buffer)
{
  LOG_COMM("Executing joint feedback load");


  for (int i = 0; i < this->groups_number_; i++)
  {
    if (!buffer->load(this->joint_feedback_messages_[i]))
    {
      LOG_ERROR("Failed to load the Joint Feedback messages");
      return false;
    }
  }

  if (!buffer->load(this->groups_number_))
  {
    LOG_ERROR("Failed to load joint feedback groups_number");
    return false;
  }


  LOG_COMM("Joint feedback successfully loaded");
  return true;
}

bool JointFeedbackEx::unload(industrial::byte_array::ByteArray *buffer)
{
  LOG_COMM("Executing joint feedback unload");

  if (!buffer->unloadFront(this->groups_number_))
  {
    LOG_ERROR("Failed to unload joint feedback groups_number");
    return false;
  }

  // deserialise all JointFeedback submsgs contained in the buffer, going from
  // back to front (ie: start with the last and end with the first). But only
  // retain deserialised msgs that actually contain valid data.
  //
  // Note: we cannot assume that there is a 1-to-1 mapping between the order of
  // JointFeedback msgs in the buffer and motion groups on the controller.
  // Because of that we have to deserialise all submsgs and check validity
  // of each individually (ie: we cannot skip submsgs 3 & 4 if there are only
  // two motion groups, as the data for grp1 could be in submsg 3 fi).
  for (std::size_t i = 0; i < MAX_NUM_GROUPS; ++i)
  {
    JointFeedbackMessage tmp_msg;
    JointFeedback j_feedback;

    if (!buffer->unload(j_feedback))
    {
      LOG_ERROR("Failed to unload joint feedback groups_number");
      return false;
    }

    // every msg gets deserialised, but we only keep those with valid data.
    //
    // TODO( ): is a message with just 'TIME' also valid? For now it is not (not
    // sure how that would work anyway, as Jointfeedback msgs are assumed to
    // contain joint feedback. Time alone would not seem to fit in that
    // category).
    if (j_feedback.is_valid(joint_feedback::ValidFieldTypes::POSITION)
     || j_feedback.is_valid(joint_feedback::ValidFieldTypes::VELOCITY)
     || j_feedback.is_valid(joint_feedback::ValidFieldTypes::ACCELERATION))
    {
      tmp_msg.init(j_feedback);
      this->joint_feedback_messages_.push_back(tmp_msg);
    }
  }

  LOG_COMM("Joint feedback successfully unloaded");
  return true;
}

}  // namespace joint_feedback_ex
}  // namespace industrial