range_and_reflectance_measurement.h

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#ifndef OMRON_OS32C_DRIVER_RANGE_AND_REFLECTANCE_MEASUREMENT_H
#define OMRON_OS32C_DRIVER_RANGE_AND_REFLECTANCE_MEASUREMENT_H

#include <string>
#include <vector>

#include "odva_ethernetip/eip_types.h"
#include "odva_ethernetip/serialization/reader.h"
#include "odva_ethernetip/serialization/writer.h"
#include "odva_ethernetip/serialization/serializable.h"
#include "omron_os32c_driver/measurement_report_header.h"

using std::vector;
using eip::serialization::Serializable;
using eip::serialization::Reader;
using eip::serialization::Writer;

namespace omron_os32c_driver {

class RangeAndReflectanceMeasurement : public Serializable
{
public:
  MeasurementReportHeader header;
  vector<EIP_UINT> range_data;
  vector<EIP_UINT> reflectance_data;

  virtual size_t getLength() const
  {
    return header.getLength() + range_data.size() * sizeof(EIP_UINT) + reflectance_data.size() * sizeof(EIP_UINT);
  }

  virtual Writer& serialize(Writer& writer) const
  {
    header.serialize(writer);
    writer.writeBytes(&range_data[0], range_data.size() * sizeof(EIP_UINT));
    writer.writeBytes(&reflectance_data[0], reflectance_data.size() * sizeof(EIP_UINT));
    return writer;
  }

  virtual Reader& deserialize(Reader& reader, size_t length)
  {
    deserialize(reader);
    return reader;
  }

  virtual Reader& deserialize(Reader& reader)
  {
    header.deserialize(reader);
    range_data.resize(header.num_beams);
    reflectance_data.resize(header.num_beams);
    reader.readBytes(&range_data[0], range_data.size() * sizeof(EIP_UINT));
    reader.readBytes(&reflectance_data[0], reflectance_data.size() * sizeof(EIP_UINT));
    return reader;
  }
};

}  // namespace omron_os32c_driver

#endif  // OS32C_RANGE_AND_REFLECTANCE_MEASUREMENT_H