natnet_messages.h

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/* 
 * Copyright (c) 2018, Houston Mechatronics Inc., JD Yamokoski
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without 
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice, 
 *    this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright 
 *    notice, this list of conditions and the following disclaimer in the 
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of the copyright holder nor the names 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"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
 * POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef __MOCAP_OPTITRACK_NATNET_MESSAGES_H__
#define __MOCAP_OPTITRACK_NATNET_MESSAGES_H__

#include <vector>
#include <mocap_optitrack/data_model.h>

namespace natnet
{
    typedef std::vector<char> MessageBuffer;

    struct MessageInterface
    {
        virtual void serialize(MessageBuffer&, mocap_optitrack::DataModel const*) {};
        virtual void deserialize(MessageBuffer const&, mocap_optitrack::DataModel*) {};
    };

    struct ConnectionRequestMessage : public MessageInterface
    {
        virtual void serialize(MessageBuffer& msgBuffer, mocap_optitrack::DataModel const*);
    };

    struct ServerInfoMessage : public MessageInterface
    {
        virtual void deserialize(MessageBuffer const&, mocap_optitrack::DataModel*);
    };

    class DataFrameMessage : public MessageInterface
    {
        struct RigidBodyMessagePart
        {
            void deserialize(MessageBuffer::const_iterator&, 
                mocap_optitrack::RigidBody&,
                mocap_optitrack::Version const&);
        };

    public:
        virtual void deserialize(MessageBuffer const&, mocap_optitrack::DataModel*);
    };

    struct MessageDispatcher
    {
        static void dispatch(MessageBuffer const&, mocap_optitrack::DataModel*);
    };
}

#endif