.. _program_listing_file__tmp_ws_src_kobuki_core_include_kobuki_core_packets_three_axis_gyro.hpp:

Program Listing for File three_axis_gyro.hpp
============================================

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

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

.. code-block:: cpp

   
   /*****************************************************************************
   ** Preprocessor
   *****************************************************************************/
   
   #ifndef KOBUKI_CORE_THREE_AXIS_GYRO_DATA_HPP__
   #define KOBUKI_CORE_THREE_AXIS_GYRO_DATA_HPP__
   
   /*****************************************************************************
   ** Includes
   *****************************************************************************/
   
   #include "../packet_handler/payload_base.hpp"
   #include "../packet_handler/payload_headers.hpp"
   
   /*****************************************************************************
   ** Defines
   *****************************************************************************/
   
   #define MAX_DATA_SIZE (3*8) //derived from ST_GYRO_MAX_DATA_SIZE in firmware
   
   /*****************************************************************************
   ** Namespaces
   *****************************************************************************/
   
   namespace kobuki
   {
   
   /*****************************************************************************
   ** Interface
   *****************************************************************************/
   
   class ThreeAxisGyro : public packet_handler::payloadBase
   {
   public:
     ThreeAxisGyro() : packet_handler::payloadBase(true, 4) {};
     struct Data {
       unsigned char frame_id;
       unsigned char followed_data_length;
       unsigned short data[MAX_DATA_SIZE];
     } data;
   
     virtual ~ThreeAxisGyro() {};
   
     bool serialise(ecl::PushAndPop<unsigned char> & byteStream)
     {
       unsigned char length = 2 + 2 * data.followed_data_length;
       buildBytes(Header::ThreeAxisGyro, byteStream);
       buildBytes(length, byteStream);
       buildBytes(data.frame_id, byteStream);
       buildBytes(data.followed_data_length, byteStream);
       for (unsigned int i=0; i<data.followed_data_length; i++)
         buildBytes(data.data[i], byteStream);
       return true;
     }
   
     bool deserialise(ecl::PushAndPop<unsigned char> & byteStream)
     {
       if (byteStream.size() < static_cast<unsigned int>(length)+2)
       {
         //std::cout << "kobuki_node: three_axis_gyro: 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::ThreeAxisGyro ) return false;
       if( length > length_packed ) return false;
   
       buildVariable(data.frame_id, byteStream);
       buildVariable(data.followed_data_length, byteStream);
       if( length_packed != 2 + 2 * data.followed_data_length ) return false;
   
       for (unsigned int i=0; i<data.followed_data_length; i++)
         buildVariable(data.data[i], byteStream);
   
       //showMe();
       return constrain();
     }
   
     bool constrain()
     {
       return true;
     }
   
     void showMe()
     {
     }
   };
   
   } // namespace kobuki
   
   #endif /* KOBUKI_CORE_THREE_AXIS_GYRO_DATA_HPP__ */