SVHFirmwareInfo.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 SVHFIRMWAREINFO_H
#define SVHFIRMWAREINFO_H

namespace driver_svh {

struct SVHFirmwareInfo
{
  std::string svh;
  uint16_t version_major;
  uint16_t version_minor;
  std::string text;

  bool operator == (const SVHFirmwareInfo& other) const
  {
    return (version_major == other.version_major && version_minor == other.version_minor);
  }
};

inline icl_comm::ArrayBuilder& operator << (icl_comm::ArrayBuilder& ab, SVHFirmwareInfo& data)
{
  // Stream operator can not handle arrays (due to missing size information) to make things easy we just copy the data around. Feel free to do something else
  // Todo: The conversion in this direction is not properly working, as the readout is working fine so far this is a fix for later.
  // It is probably something that has to do with the data types and how that is interpreted by the arrayBuilder
  std::vector<int8_t> text(48);
  std::vector<int8_t> svh(4);
  svh.insert(svh.begin(),data.svh.begin(),data.svh.end());
  text.insert(text.begin(),data.text.begin(),data.text.end());

  ab << svh
     << data.version_major
     << data.version_minor
     << text;
  return ab;
}



inline icl_comm::ArrayBuilder& operator >> (icl_comm::ArrayBuilder& ab, SVHFirmwareInfo& data)
{
  // Stream operator can not handle arrays (due to missing size information) to make things easy we just copy the data around. Feel free to do something else
  std::vector<uint8_t> text(48);
  std::vector<uint8_t> svh(4);

  ab >> svh
     >> data.version_major
     >> data.version_minor
     >> text;


  data.text = std::string(text.begin(),text.end());
  data.svh = std::string(svh.begin(),svh.end());
//  std::copy (text.begin(),text.end(),data.text);
//  std::copy (svh.begin(),svh.end(),data.svh);

  return ab;
}

inline std::ostream& operator << (std::ostream& o, const SVHFirmwareInfo& fw)
{
  o << fw.svh.c_str()  << " " << fw.version_major << "." << fw.version_minor << " : " << fw.text.c_str() << endl;
  return o;
}



}



#endif // SVHFIRMWAREINFO_H