access.h

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#ifndef __CACCESS_H__
#define __CACCESS_H__

#include "porting.h"
#include "v_repLib.h"

static const char pluginName[] = "RosBridge";


class CustomDataHeaders {
public:

    typedef enum {
        DIRECT = 0, 
        INTERNAL = 1 
    } QuadrotorCtrlMode;

    typedef enum {
        TF_POSITION = 0, 
        TF_VELOCITY = 1, 
        TF_EFFORT = 2,
        MOT_VELOCITY = 3,
        PASSIVE_MODE = 4,
        PASSIVE_MODE_VELOCITY = 5,
        IGNORE_MODE = 20

    } ManipulatorCtrlMode;

    const static unsigned int DEVELOPER_DATA_HEADER = 769710397;

    const static unsigned int QUADROTOR_DATA_MAIN=10;
    const static unsigned int QUADROTOR_TK_DATA_MAIN=20;
    const static unsigned int QUADROTOR_DATA_MOTOR_0=0;
    const static unsigned int QUADROTOR_DATA_MOTOR_1=1;
    const static unsigned int QUADROTOR_DATA_MOTOR_2=2;
    const static unsigned int QUADROTOR_DATA_MOTOR_3=3;
    const static unsigned int QUADROTOR_DATA_COM=11;
    const static unsigned int QUADROTOR_DATA_TF_RATIO=12;
    const static unsigned int QUADROTOR_DATA_CTRL_MODE = 13;

    const static unsigned int IMU_DATA_MAIN=200;
    const static unsigned int IMU_DATA_MASS=201;
    const static unsigned int IMU_DATA_FORCE=202;
    const static unsigned int IMU_DATA_FREQ= 203;
    const static unsigned int IMU_DATA_CUTOFF=204;

    const static unsigned int FORCE_SENSOR_DATA_MAIN= 250;

    const static unsigned int CAMERA_DATA_MAIN = 300;
    const static unsigned int CAMERA_DATA_FREQ = 301;
    const static unsigned int CAMERA_DATA_RGB = 302;
    const static unsigned int CAMERA_DATA_HAS_DEPTH = 303;
    const static unsigned int CAMERA_DATA_USE_FLOAT = 304;

    const static unsigned int OBJ_POSE_DATA_MAIN=400;

    const static unsigned int OBJ_TWIST_DATA_MAIN=500;

    const static unsigned int MANIPULATOR_DATA_MAIN = 600;
    const static unsigned int MANIPULATOR_DATA_FREQ = 601;
    const static unsigned int MANIPULATOR_DATA_JOINT = 602;
    const static unsigned int MANIPULATOR_DATA_CTRL_MODE = 603;

    const static unsigned int CONTACT_DATA_MAIN= 650;



    static void registerCustomDataHeaders();
};


#include <vector>

class CAccess  
{
public:
        CAccess();
        virtual ~CAccess();

        static void insertSerializationData(std::vector<unsigned char>& buffer,int dataName,const std::vector<unsigned char>& data);

        static bool extractSerializationData(std::vector<unsigned char>& buffer,int dataName,std::vector<unsigned char>& data);

        static int getDataLocationAndSize(const std::vector<unsigned char>& buffer,int dataName,int& theSize);

        static void push_int(std::vector<unsigned char>& buffer, const int data);

        static void push_float(std::vector<unsigned char>& buffer, const float data);

        static void push_float(std::vector<unsigned char>& buffer, const std::vector<float> data);

        static int pop_int(std::vector<unsigned char>& buffer);

        static float pop_float(std::vector<unsigned char>& buffer);

        static std::vector<float> pop_float(std::vector<unsigned char>& buffer, const unsigned int n);

};

#endif //ndef __CACCESS_H__