RobonetDataElement.h

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#ifndef ROBONETDATAELEMENT_H_
#define ROBONETDATAELEMENT_H_

#include <cstdlib>
#include "robot_instance/BitWizard.h"
#include "robot_instance/DataElement.h"
#include <boost/interprocess/smart_ptr/shared_ptr.hpp>

class PushToWriteElementException: public std::exception
{
    virtual const char* what() const throw()
    {
        return "You cannot push() raw values into 'Writable' RobonetDataElements.";
    }
};

class DataMangler
{
public:
    // Public function prototypes ------------------------------------------
    static uint32_t                      combineRawValues(std::pair<uint16_t, uint16_t> rawPair);
    static std::pair<uint16_t, uint16_t> separateRawValues(uint32_t value);

    // Templated methods ---------------------------------------------------

    template <typename T>
    static T fromUnsignedIntTo(uint32_t data)
    {
        void* voidPtr;
        T output;

        voidPtr  = (void*)&data;
        output = *((T*)voidPtr);
        return output;
    }

    template <typename T>
    static uint32_t toUnsignedIntFrom(T value)
    {
        void* voidPtr;
        uint32_t output;

        voidPtr  = (void*)&value;
        output = *((uint32_t*)voidPtr);
        return output;
    }
};

template <>
bool DataMangler::fromUnsignedIntTo<bool>(uint32_t data);

class RobonetDataElement : public DataElement
{
public:
    // Public typedefs -----------------------------------------------------

    typedef std::pair<std::string, std::string> OffsetPair;

    typedef std::pair<uint16_t, uint16_t> RawPair;

    enum ElementStyle
    {
        Normal      = 0,

        // Super/Turbo-Driver Element Styles
        MotCom      = 1,
        Temperature = 2,
        BrakePwm    = 3,

        // BMS Element Styles
        FixedPointMilli         = 4,
        UnsignedFixedPointMilli = 5,
        FixedPointCenti         = 6,
        UnsignedFixedPointCenti = 7,

        // PowCon Element Styles
        PowConTemperature = 8,
        PowConCurrentMany = 9,
        PowConVoltageMany = 10,
    };

    enum TrimValues
    {
        MotComMax      = 255,
        MotComMin      = -255,
        TemperatureMin = 0,
        BrakePwmMax    = 4096,
    };

    template<typename T>
    int16_t TrimMotCom(const T t)
    {
        int16_t retval = t;

        if (retval > MotComMax)
        {
            retval = MotComMax;
        }
        else if (retval < MotComMin)
        {
            retval = MotComMin;
        }

        return retval;
    }

    template<typename T>
    float TrimTemperature(const T t)
    {
        float retval = t;

        if (retval < TemperatureMin)
        {
            retval = TemperatureMin;
        }

        return retval;
    }

    template<typename T>
    uint16_t TrimBrakePwm(const T t)
    {
        float retval = t;

        if (retval > BrakePwmMax)
        {
            retval = BrakePwmMax;
        }

        return retval;
    }

    // Public function prototypes ------------------------------------------
    RobonetDataElement(const std::string& type, DataElement::ReadWrite readWrite, const std::string& channel, const std::string& node, OffsetPair offsetPair, const std::string& group, ElementStyle mangleOption = Normal, std::shared_ptr<SMT::Resource> resource = NULL);
    virtual     ~RobonetDataElement();
    template <typename T> void setValue(const T v);
    ElementSize getRawSize();
    void        setChannel(const std::string& channel);
    void        setNode(const std::string& node);
    void        setOffsetPair(OffsetPair offsetPair);
    void        setGroup(const std::string& group);
    std::string getChannel();
    std::string getNode();
    OffsetPair  getOffsetPair();
    std::string getGroup();
    RawPair     getRawPair();
    void        push(RawPair rawPair);
    const       RawPair pull();
    std::string toString();

private:
    // Private members -----------------------------------------------------
    std::string channel;    
    std::string node;       
    std::string group;      
    OffsetPair  offsetPair; 
    RawPair     rawPair;    
    ElementStyle style;
    BitWizard<uint16_t> bitWizard16;

    static const BitMinion::BitIndexEnumType MOTCOM_SIGN_BIT_INDEX;
    static const BitMinion::BitIndexEnumType MOTCOM_CERTIFICATE_INDEX;
    static const BitMinion::BitCountMaskEnumType MOTCOM_CERTIFICATE_SIZE;
    static const uint16_t MOTCOM_CERTIFICATE_VALUE;
    static const BitMinion::BitIndexEnumType BRAKEPWM_CERTIFICATE_INDEX;
    static const BitMinion::BitCountMaskEnumType BRAKEPWM_CERTIFICATE_SIZE;
    static const uint16_t BRAKEPWM_CERTIFICATE_VALUE;
};

// Global typedefs -----------------------------------------------------
typedef boost::shared_ptr<RobonetDataElement> RobonetDataElementPtr;

template <typename T>
void RobonetDataElement::setValue(const T v)
{
    T newValue = v;

    switch (style)
    {
        case MotCom:
            newValue = TrimMotCom(newValue);
            break;

        case Temperature:
            newValue = TrimTemperature(newValue);
            break;

        case BrakePwm:
            newValue = TrimBrakePwm(newValue);
            break;

        //case Normal:
        //    break;
        default:
            break;
    }

    // Use DataElement's setValue to do the actual setting
    DataElement::setValue<T>( newValue );
}

#endif /* ROBONETDATAELEMENT_H_ */