gp_input.hpp

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/*****************************************************************************
** Preprocessor
*****************************************************************************/
 
#ifndef KOBUKI_GP_INPUT_HPP__
#define KOBUKI_GP_INPUT_HPP__
 
/*****************************************************************************
** Include
*****************************************************************************/
 
#include <vector>
#include "../packet_handler/payload_base.hpp"
#include "../packet_handler/payload_headers.hpp"
 
/*****************************************************************************
** Namespace
*****************************************************************************/
 
namespace kobuki
{
 
/*****************************************************************************
** Interface
*****************************************************************************/
 
class GpInput : public packet_handler::payloadBase
{
public:
  GpInput() : packet_handler::payloadBase(false, 16) {};
  struct Data {
    Data() : analog_input(4) {}
    uint16_t digital_input;
    std::vector<uint16_t> analog_input;
  } data;
 
  bool serialise(ecl::PushAndPop<unsigned char> & byteStream)
  {
    buildBytes(Header::GpInput, byteStream);
    buildBytes(length, byteStream);
    buildBytes(data.digital_input, byteStream);
    for (unsigned int i = 0; i < data.analog_input.size(); ++i)
    {
      buildBytes(data.analog_input[i], byteStream);
    }
    for (unsigned int i = 0; i < 3; ++i)
    {
      buildBytes(0x0000, byteStream); //dummy
    }
    return true;
  }
 
  bool deserialise(ecl::PushAndPop<unsigned char> & byteStream)
  {
    if (byteStream.size() < length+2)
    {
      //std::cout << "kobuki_node: kobuki_inertia: deserialise failed. not enough byte stream." << std::endl;
      return false;
    }
 
    unsigned char header_id, length_packed;
    buildVariable(header_id, byteStream);
    buildVariable(length_packed, byteStream);
    if( header_id != Header::GpInput ) return false;
    if( length_packed != length ) return false;
 
    buildVariable(data.digital_input, byteStream);
 
    //for (unsigned int i = 0; i < data.analog_input.size(); ++i)
    // It's actually sending seven 16-bit variables.
    // 0-3 : the analog pin inputs
    // 4 : ???
    // 5-6 : 0
    for (unsigned int i = 0; i < 4; ++i)
    {
      buildVariable(data.analog_input[i], byteStream);
    }
    for (unsigned int i = 0; i < 3; ++i) {
      uint16_t dummy;
      buildVariable(dummy, byteStream);
    }
 
    //showMe();
    return constrain();
  }
 
  bool constrain()
  {
    return true;
  }
 
  void showMe()
  {
  }
};
 
} // namespace kobuki
 
#endif /* KOBUKI_GP_INPUT_HPP__ */