SVHEncoderSettings.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of the SCHUNK SVH Driver suite.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2014 SCHUNK Mobile Greifsysteme GmbH, Lauffen/Neckar Germany
// © Copyright 2014 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef SVHENCODERSETTINGS_H
#define SVHENCODERSETTINGS_H


namespace driver_svh {

struct SVHEncoderSettings {

  std::vector<uint32_t> scalings;

  // TODO Provide a constructor that allows for seperate encoder settings in the hardware
  SVHEncoderSettings(uint32_t _scaling = 1):
  scalings(9,_scaling)
  {}

  bool operator == (const SVHEncoderSettings& other) const
  {
    return (scalings == other.scalings);
  }
};


inline icl_comm::ArrayBuilder& operator << (icl_comm::ArrayBuilder& ab, const SVHEncoderSettings& data)
{
  // Trivial as the vector slicing is already done by the arraybuilder
  ab << data.scalings;
  return ab;
}

inline icl_comm::ArrayBuilder& operator >> (icl_comm::ArrayBuilder& ab, SVHEncoderSettings& data)
{
  ab >> data.scalings;
  return ab;
}


inline std::ostream& operator << (std::ostream& o, const SVHEncoderSettings& es)
{
  o << "Scalings: ";
  for (size_t i = 0; i < es.scalings.size(); i++)
  {
    o << (int)i << ":" <<es.scalings[i] << " ";
  }

  o << std::endl;
  return o;
}

}
#endif // SVHENCODERSETTINGS_H