motoman_read_single_io_reply.h

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/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2016, Delft Robotics Institute
 * All rights reserved.
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 *
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 *  * Redistributions in binary form must reproduce the above copyright
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 *    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.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 * \author G.A. vd. Hoorn (TU Delft Robotics Institute)
 */

#ifndef MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_READ_SINGLE_IO_REPLY_H
#define MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_READ_SINGLE_IO_REPLY_H

#include <string>
#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"  // NOLINT(build/include)
#include "shared_types.h"      // NOLINT(build/include)
#include "log_wrapper.h"       // NOLINT(build/include)
#endif

namespace motoman
{
namespace simple_message
{
namespace io_ctrl_reply
{

namespace ReadSingleIOReplyResultCodes
{
enum ReadSingleIOReplyResultCode
{
  SUCCESS               =    0,
  READ_ADDRESS_INVALID  = 1001,  // The ioAddress cannot be read on this controller
  WRITE_ADDRESS_INVALID = 1002,  // The ioAddress cannot be written to on this controller
  WRITE_VALUE_INVALID   = 1003,  // The value supplied is not a valid value for the addressed IO element
  READ_API_ERROR        = 1004,  // mpReadIO returned -1
  WRITE_API_ERROR       = 1005,  // mpWriteIO returned -1
};
}  // namespace ReadSingleIOReplyResultCodes
typedef ReadSingleIOReplyResultCodes::ReadSingleIOReplyResultCode ReadSingleIOReplyResultCode;

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

  void init();

  void init(industrial::shared_types::shared_int value,
            ReadSingleIOReplyResultCode result_code);

  void setValue(industrial::shared_types::shared_int value)
  {
    this->value_ = value;
  }

  industrial::shared_types::shared_int getValue() const
  {
    return this->value_;
  }

  void setResultCode(industrial::shared_types::shared_int result_code)
  {
    this->result_code_ = result_code;
  }

  industrial::shared_types::shared_int getResultCode() const
  {
    return this->result_code_;
  }

  /*
   * \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_code_);
  }


  void copyFrom(ReadSingleIOReply &src);

  bool operator==(ReadSingleIOReply &rhs);

  // Overrides - SimpleSerialize
  bool load(industrial::byte_array::ByteArray *buffer);
  bool unload(industrial::byte_array::ByteArray *buffer);
  unsigned int byteLength()
  {
    return 2 * sizeof(industrial::shared_types::shared_int);
  }

private:
  industrial::shared_types::shared_int value_;

  industrial::shared_types::shared_int result_code_;
};
}  // namespace io_ctrl_reply
}  // namespace simple_message
}  // namespace motoman

#endif  // MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_READ_SINGLE_IO_REPLY_H