parameters.h

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/*
 * Copyright 2018 The urg_stamped Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
#ifndef SCIP2_RESPONSE_PARAMETERS_H
#define SCIP2_RESPONSE_PARAMETERS_H
 
#include <boost/asio.hpp>
 
#include <string>
#include <map>
 
#include <scip2/response/abstract.h>
#include <scip2/logger.h>
#include <scip2/param.h>
 
namespace scip2
{
class ResponseParams : public Response
{
public:
  using Callback = boost::function<void(
      const boost::posix_time::ptime&,
      const std::string&,
      const std::string&,
      const std::map<std::string, std::string>&)>;
 
protected:
  Callback cb_;
 
public:
  virtual std::string getCommandCode() const = 0;
  void operator()(
      const boost::posix_time::ptime& time_read,
      const std::string& echo_back,
      const std::string& status,
      std::istream& stream)
  {
    std::map<std::string, std::string> params;
    if (status != "00")
    {
      if (cb_)
        cb_(time_read, echo_back, status, params);
      return;
    }
    std::string line;
    while (std::getline(stream, line))
    {
      if (line.size() == 0)
        break;
 
      const ParsedParam p = parseParamLine(line);
      if (!p.parsed)
      {
        logger::error() << "Parameter decode error: " << p.error << std::endl;
        return;
      }
      if (!p.checksum_matched)
      {
        logger::error() << "Checksum mismatch; parameters dropped: " << p.error << std::endl;
        return;
      }
      params[p.key] = p.value;
    }
    if (cb_)
      cb_(time_read, echo_back, status, params);
  }
  void registerCallback(Callback cb)
  {
    cb_ = cb;
  }
};
 
class ResponsePP : public ResponseParams
{
public:
  std::string getCommandCode() const
  {
    return std::string("PP");
  }
};
 
class ResponseVV : public ResponseParams
{
public:
  std::string getCommandCode() const
  {
    return std::string("VV");
  }
};
 
class ResponseII : public ResponseParams
{
public:
  std::string getCommandCode() const
  {
    return std::string("II");
  }
};
 
}  // namespace scip2
 
#endif  // SCIP2_RESPONSE_PARAMETERS_H