firmware.hpp

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/*****************************************************************************
** Preprocessor
*****************************************************************************/
 
#ifndef KOBUKI_FW_DATA_HPP__
#define KOBUKI_FW_DATA_HPP__
 
/*****************************************************************************
** Include
*****************************************************************************/
 
#include <vector>
 
#include "../packet_handler/payload_base.hpp"
#include "../packet_handler/payload_headers.hpp"
 
/*****************************************************************************
** Namespace
*****************************************************************************/
 
namespace kobuki
{
 
/*****************************************************************************
** Interface
*****************************************************************************/
 
class Firmware : public packet_handler::payloadBase
{
public:
  static const uint32_t COMPATIBLE_MAJOR_VERSION;  // protocol communication will fail
  static const std::vector<uint32_t> RECOMMENDED_VERSIONS;  // advisory minor.patch recommendations
 
  Firmware() : packet_handler::payloadBase(true, 2) {};
 
  // methods
  bool serialise(ecl::PushAndPop<unsigned char> & byteStream)
  {
    unsigned char length = 4;
    buildBytes(Header::Firmware, byteStream);
    buildBytes(length, byteStream);
    buildBytes(data.version, byteStream);
    return true;
  }
 
  bool deserialise(ecl::PushAndPop<unsigned char> & byteStream);
 
  bool constrain()
  {
    return true;
  }
 
  void showMe()
  {
  }
 
  const uint32_t& version() const { return data.version; }
  int majorVersion() const { return VersionInfo::majorVersion(data.version); }
  int minorVersion() const { return VersionInfo::minorVersion(data.version); }
  int patchVersion() const { return VersionInfo::patchVersion(data.version); }
 
  int checkMajorVersion() const;
  int checkRecommendedVersion() const;
 
private:
  struct Data {
    uint32_t version;
  };
  Data data;
};
 
} // namespace kobuki
 
#endif /* KOBUKI_FW_DATA_HPP__ */