vesc_packet_factory.h

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// -*- mode:c++; fill-column: 100; -*-

#ifndef VESC_DRIVER_VESC_PACKET_FACTORY_H_
#define VESC_DRIVER_VESC_PACKET_FACTORY_H_

#include <cstdint>
#include <functional>
#include <map>
#include <memory>
#include <string>
#include <vector>

#include "vesc_driver/vesc_packet.h"

namespace vesc_driver
{

class VescPacketFactory
{
public:
  static VescPacketFactory* getFactory();

  static VescPacketPtr createPacket(const Buffer::const_iterator& begin,
                                    const Buffer::const_iterator& end,
                                    int* num_bytes_needed, std::string* what);

  typedef std::function<VescPacketPtr(std::shared_ptr<VescFrame>)> CreateFn;

  static void registerPacketType(int payload_id, CreateFn fn);

  VescPacketFactory(const VescPacketFactory &) = delete;
  VescPacketFactory & operator=(const VescPacketFactory &) = delete;

private:
  VescPacketFactory();
  typedef std::map<int, CreateFn > FactoryMap;
  static FactoryMap* getMap();
};

template<typename PACKETTYPE>
class PacketFactoryTemplate
{
public:
  explicit PacketFactoryTemplate(int payload_id)
  {
    VescPacketFactory::registerPacketType(payload_id, &PacketFactoryTemplate::create);
  }

  static VescPacketPtr create(std::shared_ptr<VescFrame> frame)
  {
    return VescPacketPtr(new PACKETTYPE(frame));
  }
};

#define REGISTER_PACKET_TYPE(id, klass) \
static PacketFactoryTemplate<klass> global_##klass##Factory((id));

}  // namespace vesc_driver

#endif  // VESC_DRIVER_VESC_PACKET_FACTORY_H_