SVHSerialPacket.cpp

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of the SCHUNK SVH Driver suite.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2014 SCHUNK Mobile Greifsysteme GmbH, Lauffen/Neckar Germany
// © Copyright 2014 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------
#include <driver_svh/SVHSerialPacket.h>

namespace driver_svh {

icl_comm::ArrayBuilder& operator << (icl_comm::ArrayBuilder& ab, const SVHSerialPacket& data)
{
  ab << data.index << data.address << static_cast<uint16_t>(data.data.size()) << data.data;
  return ab;
}

icl_comm::ArrayBuilder& operator >> (icl_comm::ArrayBuilder& ab, SVHSerialPacket& data)
{
  // Disregard the size when deserializing as we get that anyway
  uint16_t size ;
   ab >> data.index >> data.address >> size >> data.data;
  return ab;
}

std::ostream& operator << (std::ostream& o, const SVHSerialPacket& sp)
{
  o << "index: " << static_cast<int>(sp.index) << " address: " << "0x" << std::setw(2) << std::setfill('0') << std::hex << static_cast<int>(sp.address) << " Data: ";
  for (size_t i = 0; i < sp.data.size(); i++)
  {
    o << "0x" << std::setw(2) << std::setfill('0') << std::hex << static_cast<int>(sp.data[i]) << " ";
  }
  // Reset Output stream to decimal output .. otherwise it may confuse people and the stream operators have the tendency to hang on to these hints
  std::cout << std::dec ;
  return o;
}

}