motoman_write_single_io_message.h

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/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2016, Delft Robotics Institute
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
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 *
 *  * Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *  * 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.
 *
 * 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_MESSAGES_MOTOMAN_WRITE_SINGLE_IO_MESSAGE_H
#define MOTOMAN_DRIVER_SIMPLE_MESSAGE_MESSAGES_MOTOMAN_WRITE_SINGLE_IO_MESSAGE_H

#ifdef ROS
#include "simple_message/typed_message.h"
#include "simple_message/shared_types.h"
#include "motoman_driver/simple_message/motoman_simple_message.h"
#include "motoman_driver/simple_message/motoman_write_single_io.h"

#endif

#ifdef MOTOPLUS
#include "typed_message.h"            // NOLINT(build/include)
#include "shared_types.h"             // NOLINT(build/include)
#include "motoman_simple_message.h"   // NOLINT(build/include)
#include "motoman_write_single_io.h"  // NOLINT(build/include)

#endif

namespace motoman
{
namespace simple_message
{
namespace io_ctrl_message
{
class WriteSingleIOMessage : public industrial::typed_message::TypedMessage
{
public:
  WriteSingleIOMessage(void);
  ~WriteSingleIOMessage(void);
  bool init(industrial::simple_message::SimpleMessage & msg);

  void init(motoman::simple_message::io_ctrl::WriteSingleIO & cmd);

  void init();

  // Overrides - SimpleSerialize
  bool load(industrial::byte_array::ByteArray *buffer);
  bool unload(industrial::byte_array::ByteArray *buffer);

  unsigned int byteLength()
  {
    return this->cmd_.byteLength();
  }

  motoman::simple_message::io_ctrl::WriteSingleIO cmd_;

private:
};
}  // namespace io_ctrl_message
}  // namespace simple_message
}  // namespace motoman

#endif  // MOTOMAN_DRIVER_SIMPLE_MESSAGE_MESSAGES_MOTOMAN_WRITE_SINGLE_IO_MESSAGE_H