joint_message.cpp
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31 
32 #ifndef FLATHEADERS
37 #else
38 #include "joint_message.h"
39 #include "joint_data.h"
40 #include "byte_array.h"
41 #include "log_wrapper.h"
42 #endif
43 
44 using namespace industrial::shared_types;
45 using namespace industrial::byte_array;
46 using namespace industrial::simple_message;
47 using namespace industrial::joint_data;
48 
49 namespace industrial
50 {
51 namespace joint_message
52 {
53 
54 JointMessage::JointMessage(void)
55 {
56  this->setMessageType(StandardMsgTypes::JOINT_POSITION);
57  this->init();
58 }
59 
60 JointMessage::~JointMessage(void)
61 {
62 
63 }
64 
65 bool JointMessage::init(industrial::simple_message::SimpleMessage & msg)
66 {
67  bool rtn = false;
68  ByteArray data = msg.getData();
69 
70  this->setMessageType(StandardMsgTypes::JOINT_POSITION);
71 
72  if (data.unload(this->joints_))
73  {
74  if (data.unload(this->sequence_))
75  {
76  rtn = true;
77  }
78  else
79  {
80  rtn = false;
81  LOG_ERROR("Failed to unload sequence data");
82  }
83  }
84  else
85  {
86  LOG_ERROR("Failed to unload joint data");
87  }
88  return rtn;
89 }
90 
91 void JointMessage::setSequence(shared_int sequence)
92 {
93  this->sequence_ = sequence;
94 }
95 
96 void JointMessage::init(shared_int seq, JointData& joints)
97 {
98  this->setSequence(seq);
99  this->joints_.copyFrom(joints);
100 }
101 
102 void JointMessage::init()
103 {
104  this->setSequence(0);
105  this->joints_.init();
106 }
107 
108 bool JointMessage::load(ByteArray *buffer)
109 {
110  bool rtn = false;
111  LOG_COMM("Executing joint message load");
112  if (buffer->load(this->getSequence()))
113  {
114 
115  if (buffer->load(this->joints_))
116  {
117  rtn = true;
118  }
119  else
120  {
121  rtn = false;
122  LOG_ERROR("Failed to load sequence data");
123  }
124  }
125  else
126  {
127  rtn = false;
128  LOG_ERROR("Failed to load sequence data");
129  }
130  return rtn;
131 }
132 
133 bool JointMessage::unload(ByteArray *buffer)
134 {
135  bool rtn = false;
136  LOG_COMM("Executing joint message unload");
137 
138  if (buffer->unload(this->joints_))
139  {
140 
141  if (buffer->unload(this->sequence_))
142  {
143  rtn = true;
144  }
145  else
146  {
147  rtn = false;
148  LOG_ERROR("Failed to unload sequence data");
149  }
150  }
151  else
152  {
153  rtn = false;
154  LOG_ERROR("Failed to unload joint data");
155  }
156  return rtn;
157 }
158 
159 }
160 }
161 
joint_message.h
industrial::joint_data::JointData
Class encapsulated joint data (positions, accelerations, velocity, torque, and/or effort).
Definition: joint_data.h:68
industrial::shared_types
Contains platform specific type definitions that guarantee the size of primitive data types.
Definition: shared_types.h:52
industrial
Definition: byte_array.h:45
industrial::byte_array::ByteArray::unload
bool unload(industrial::shared_types::shared_bool &value)
unloads a boolean value from the byte array
Definition: byte_array.cpp:233
industrial::simple_message::SimpleMessage::getData
industrial::byte_array::ByteArray & getData()
Returns a reference to the internal data member.
Definition: simple_message.h:274
industrial::joint_data
Definition: joint_data.h:47
byte_array.h
industrial::simple_message::StandardMsgTypes::JOINT_POSITION
@ JOINT_POSITION
Definition: simple_message.h:65
LOG_ERROR
#define LOG_ERROR(format,...)
Definition: log_wrapper.h:134
industrial::simple_message::SimpleMessage
This class defines a simple messaging protocol for communicating with an industrial robot controller.
Definition: simple_message.h:164
industrial::byte_array::ByteArray
The byte array wraps a dynamic array of bytes (i.e. char).
Definition: byte_array.h:80
LOG_COMM
#define LOG_COMM(format,...)
Definition: log_wrapper.h:130
industrial::simple_message
Definition: simple_message.h:49
log_wrapper.h
industrial::shared_types::shared_int
int shared_int
Definition: shared_types.h:62
industrial::byte_array
Definition: byte_array.h:56
industrial::byte_array::ByteArray::load
bool load(industrial::shared_types::shared_bool value)
loads a boolean into the byte array
Definition: byte_array.cpp:142
joint_data.h
init
void init(const M_string &remappings)


simple_message
Author(s): Shaun Edwards
autogenerated on Wed Mar 2 2022 00:24:53