Program Listing for File firmware.hpp

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/*****************************************************************************
** Preprocessor
*****************************************************************************/

#ifndef KOBUKI_CORE_FW_DATA_HPP__
#define KOBUKI_CORE_FW_DATA_HPP__

/*****************************************************************************
** Include
*****************************************************************************/

#include <sstream>
#include <vector>

#include "../packet_handler/payload_base.hpp"
#include "../packet_handler/payload_headers.hpp"
#include "../version_info.hpp"

/*****************************************************************************
** Namespace
*****************************************************************************/

namespace kobuki
{

/*****************************************************************************
** Interface
*****************************************************************************/

class Firmware : public packet_handler::payloadBase
{
public:
  static const uint32_t COMPATIBLE_MAJOR_VERSION;  // protocol communication will fail
  static const std::vector<uint32_t> RECOMMENDED_VERSIONS;  // advisory minor.patch recommendations

  Firmware() : packet_handler::payloadBase(true, 2) {};

  // methods
  bool serialise(ecl::PushAndPop<unsigned char> & byteStream);
  bool deserialise(ecl::PushAndPop<unsigned char> & byteStream);

  bool constrain() { return true; }
  void showMe() {}

  const uint32_t& version() const { return data.version; }
  int majorVersion() const { return VersionInfo::majorVersion(data.version); }
  int minorVersion() const { return VersionInfo::minorVersion(data.version); }
  int patchVersion() const { return VersionInfo::patchVersion(data.version); }

  int checkMajorVersion() const;
  int checkRecommendedVersion() const;

private:
  struct Data {
    uint32_t version;
  };

  Data data;
};


} // namespace kobuki

#endif /* KOBUKI_CORE_FW_DATA_HPP__ */