SVHSerialPacket.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 SVHSERIALPACKET_H
#define SVHSERIALPACKET_H

#include <icl_comm/ByteOrderConversion.h>

namespace driver_svh {

//===============
// Some constants
//===============

// packet sizes
const size_t cPACKET_APPENDIX_SIZE = 8; 
const size_t cDEFAULT_PACKET_SIZE = 48; 

// packet headers
const uint8_t PACKET_HEADER1 = 0x4C;    
const uint8_t PACKET_HEADER2 = 0xAA;    

// adress constants for commands
const uint8_t SVH_GET_CONTROL_FEEDBACK      = 0x00; 
const uint8_t SVH_SET_CONTROL_COMMAND       = 0x01; 
const uint8_t SVH_GET_CONTROL_FEEDBACK_ALL  = 0x02; 
const uint8_t SVH_SET_CONTROL_COMMAND_ALL   = 0x03; 
const uint8_t SVH_GET_POSITION_SETTINGS     = 0x04; 
const uint8_t SVH_SET_POSITION_SETTINGS     = 0x05; 
const uint8_t SVH_GET_CURRENT_SETTINGS      = 0x06; 
const uint8_t SVH_SET_CURRENT_SETTINGS      = 0x07; 
const uint8_t SVH_GET_CONTROLLER_STATE      = 0x08; 
const uint8_t SVH_SET_CONTROLLER_STATE      = 0x09; 
const uint8_t SVH_GET_ENCODER_VALUES        = 0x0A; 
const uint8_t SVH_SET_ENCODER_VALUES        = 0x0B; 
const uint8_t SVH_GET_FIRMWARE_INFO         = 0x0C; 

struct SVHSerialPacket
{
  uint8_t index;
  uint8_t address;
  std::vector <uint8_t> data;

  SVHSerialPacket(size_t _data_length=0,uint8_t _address = SVH_GET_CONTROL_FEEDBACK):
    address(_address),
    data(_data_length,0)
  {
  }

  bool operator == (const SVHSerialPacket& other) const
  {
    return
      (index == other.index
       && address == other.address
       && data == other.data);
  }
};

icl_comm::ArrayBuilder& operator << (icl_comm::ArrayBuilder& ab, const SVHSerialPacket& data);

icl_comm::ArrayBuilder& operator >> (icl_comm::ArrayBuilder& ab, SVHSerialPacket& data);

std::ostream& operator << (std::ostream& o, const SVHSerialPacket& sp);

}
#endif // SVHSERIALPACKET_H