.. _program_listing_file__tmp_ws_src_kobuki_core_include_kobuki_core_packets_hardware.hpp:

Program Listing for File hardware.hpp
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_kobuki_core_include_kobuki_core_packets_hardware.hpp>` (``/tmp/ws/src/kobuki_core/include/kobuki_core/packets/hardware.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   /*****************************************************************************
   ** Preprocessor
   *****************************************************************************/
   
   #ifndef KOBUKI_CORE_HW_DATA_HPP__
   #define KOBUKI_CORE_HW_DATA_HPP__
   
   /*****************************************************************************
   ** Include
   *****************************************************************************/
   
   #include "../packet_handler/payload_base.hpp"
   #include "../packet_handler/payload_headers.hpp"
   
   /*****************************************************************************
   ** Namespace
   *****************************************************************************/
   
   namespace kobuki
   {
   
   /*****************************************************************************
   ** Interface
   *****************************************************************************/
   
   class Hardware : public packet_handler::payloadBase
   {
   public:
     Hardware() : packet_handler::payloadBase(true, 2) {};
     struct Data {
       uint32_t version;
     } data;
   
     // methods
     bool serialise(ecl::PushAndPop<unsigned char> & byteStream)
     {
       unsigned char length = 4;
       buildBytes(Header::Hardware, byteStream);
       buildBytes(length, byteStream);
       buildBytes(data.version, byteStream);
       return true;
     }
   
     bool deserialise(ecl::PushAndPop<unsigned char> & byteStream)
     {
       if (byteStream.size() < static_cast<unsigned int>(length)+2)
       {
         //std::cout << "kobuki_node: kobuki_hw: deserialise failed. not enough byte stream." << std::endl;
         return false;
       }
   
       unsigned char header_id(0x00), length_packed(0x00);
       buildVariable(header_id, byteStream);
       buildVariable(length_packed, byteStream);
       if( header_id != Header::Hardware ) return false;
       if( length_packed != 2 and length_packed != 4) return false;
   
       // TODO First 3 firmware versions coded version number on 2 bytes, so we need convert manually to our new
       // 4 bytes system; remove this horrible, dirty hack as soon as we upgrade the firmware to 1.1.2 or 1.2.0
       if (length_packed == 2)
       {
         uint16_t old_style_version = 0;
         buildVariable(old_style_version, byteStream);
   
         if (old_style_version == 104)
           data.version = 0x00010004;//65540; // 1.0.4
       }
       else
       {
         buildVariable(data.version, byteStream);
       }
   
       //showMe();
       return constrain();
     }
   
     bool constrain()
     {
       return true;
     }
   
     void showMe()
     {
     }
   };
   
   } // namespace kobuki
   
   #endif /* KOBUKI_CORE_HW_DATA_HPP__ */