payload_base.hpp

Go to the documentation of this file.

 
/*****************************************************************************
 ** Ifdefs
 *****************************************************************************/
 
#ifndef ROBOT_DATA_HPP_
#define ROBOT_DATA_HPP_
 
/*****************************************************************************
 ** Includes
 *****************************************************************************/
 
#include <ecl/containers.hpp>
#include <stdint.h>
 
/*****************************************************************************
 ** Namespaces
 *****************************************************************************/
 
namespace packet_handler
{
 
/*****************************************************************************
 ** Interface
 *****************************************************************************/
class payloadBase
{
public:
 
  bool yes;
 
  const bool is_dynamic;
 
  const unsigned char length;
 
  /*
   * construct and destruct
   */
  payloadBase(const bool is_dynamic_ = false, const unsigned char length_ = 0 )
    : yes(false)
    , is_dynamic(is_dynamic_)
    , length(length_)
  {};
  virtual ~payloadBase() {};
 
  /*
   * serialisation
   */
  virtual bool serialise(ecl::PushAndPop<unsigned char> & byteStream)=0;
  virtual bool deserialise(ecl::PushAndPop<unsigned char> & byteStream)=0;
 
  // utilities
  // todo; let's put more useful converters here. Or we may use generic converters
protected:
  // below funciton should be replaced wiht converter
  template<typename T>
    void buildVariable(T & V, ecl::PushAndPop<unsigned char> & buffer)
    {
      if (buffer.size() < sizeof(T))
        return;
      V = static_cast<unsigned char>(buffer.pop_front());
 
      unsigned int size_value(sizeof(T));
      for (unsigned int i = 1; i < size_value; i++)
      {
        V |= ((static_cast<unsigned char>(buffer.pop_front())) << (8 * i));
      }
    }
 
  template<typename T>
    void buildBytes(const T & V, ecl::PushAndPop<unsigned char> & buffer)
    {
      unsigned int size_value(sizeof(T));
      for (unsigned int i = 0; i < size_value; i++)
      {
        buffer.push_back(static_cast<unsigned char>((V >> (i * 8)) & 0xff));
      }
    }
};
 
template<>
inline   void payloadBase::buildVariable<float>(float & V, ecl::PushAndPop<unsigned char> & buffer)
  {
    if (buffer.size() < 4)
      return;
    unsigned int ui;
    ui = static_cast<unsigned char>(buffer.pop_front());
 
    unsigned int size_value(4);
    for (unsigned int i = 1; i < size_value; i++)
    {
      ui |= ((static_cast<unsigned char>(buffer.pop_front())) << (8 * i));
    }
 
    V = reinterpret_cast<float&>(ui);
  }
 
template<>
inline void payloadBase::buildBytes<float>(const float & V, ecl::PushAndPop<unsigned char> & buffer)
  {
    if (buffer.size() < 4)
      return;
    unsigned int size_value(4);
    unsigned int ui(reinterpret_cast<const unsigned int&>(V));
    for (unsigned int i = 0; i < size_value; i++)
    {
      buffer.push_back(static_cast<unsigned char>((ui >> (i * 8)) & 0xff));
    }
  }
 
//#define FRAC_MAX 9223372036854775807LL /* 2**63 - 1 */
//
//struct dbl_packed
//{
//    int exp;
//    long long frac;
//};
//
//void pack(double x, struct dbl_packed *r)
//{
//    double xf = fabs(frexp(x, &r->exp)) - 0.5;
//
//    if (xf < 0.0)
//    {
//        r->frac = 0;
//        return;
//    }
//
//    r->frac = 1 + (long long)(xf * 2.0 * (FRAC_MAX - 1));
//
//    if (x < 0.0)
//        r->frac = -r->frac;
//}
//
//double unpack(const struct dbl_packed *p)
//{
//    double xf, x;
//
//    if (p->frac == 0)
//        return 0.0;
//
//    xf = ((double)(llabs(p->frac) - 1) / (FRAC_MAX - 1)) / 2.0;
//
//    x = ldexp(xf + 0.5, p->exp);
//
//    if (p->frac < 0)
//        x = -x;
//
//    return x;
//}
 
}
;
// namespace packet_handler
 
#endif /* ROBOT_DATA_HPP_ */