ControlBoardHelpers.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_DEV_CONTROLBOARDHELPERS_H
#define YARP_DEV_CONTROLBOARDHELPERS_H
 
#include <yarp/os/PortablePair.h>
#include <yarp/os/Bottle.h>
#include <yarp/sig/Vector.h>
#include <yarp/dev/GenericVocabs.h>
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
 
/* the control command message type
 * head is a Bottle which contains the specification of the message type
 * body is a Vector which move the robot accordingly
 */
typedef yarp::os::PortablePair <yarp::os::Bottle, yarp::sig::Vector> CommandMessage;
 
/* check whether the last command failed */
inline bool CHECK_FAIL(bool ok, yarp::os::Bottle& response)
{
    if (ok) {
        if (response.get(0).isVocab() && response.get(0).asVocab() == VOCAB_FAILED) {
            return false;
        }
    } else {
        return false;
    }
 
    return true;
}
 
#endif // DOXYGEN_SHOULD_SKIP_THIS
 
#endif // YARP_DEV_CONTROLBOARDHELPERS_H_H