ParseIntrusionData.h

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

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// -- END LICENSE BLOCK ------------------------------------------------

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#ifndef SICK_SAFETYSCANNERS_DATA_PROCESSING_PARSEINTRUSIONDATA_H
#define SICK_SAFETYSCANNERS_DATA_PROCESSING_PARSEINTRUSIONDATA_H

#include <sick_safetyscanners/datastructure/Data.h>
#include <sick_safetyscanners/datastructure/DerivedValues.h>
#include <sick_safetyscanners/datastructure/PacketBuffer.h>

#include <sick_safetyscanners/data_processing/ReadWriteHelper.h>

#include <vector>

namespace sick {
namespace data_processing {

class ParseIntrusionData
{
public:
  ParseIntrusionData();

  datastructure::IntrusionData parseUDPSequence(const datastructure::PacketBuffer& buffer,
                                                datastructure::Data& data);
  uint16_t getNumScanPoints() const;
  void setNumScanPoints(const uint16_t num_scan_points);

private:
  uint16_t m_num_scan_points;

  std::shared_ptr<sick::data_processing::ReadWriteHelper> m_reader_ptr;
  void setDataInIntrusionData(const uint8_t*& data_ptr,
                              datastructure::IntrusionData& intrusion_data) const;
  void setDataInIntrusionDatums(
    const uint8_t*& data_ptr,
    std::vector<sick::datastructure::IntrusionDatum>& intrusion_datums) const;
  uint16_t setSizeInIntrusionDatum(const uint16_t offset,
                                   const uint8_t*& data_ptr,
                                   sick::datastructure::IntrusionDatum& datum) const;
  uint16_t setFlagsInIntrusionDatum(const uint16_t offset,
                                    const uint8_t*& data_ptr,
                                    sick::datastructure::IntrusionDatum& datum) const;
  bool checkIfPreconditionsAreMet(const datastructure::Data& data) const;
  bool checkIfIntrusionDataIsPublished(const datastructure::Data& data) const;
  bool checkIfDataContainsNeededParsedBlocks(const datastructure::Data& data) const;
};

} // namespace data_processing
} // namespace sick

#endif // SICK_SAFETYSCANNERS_DATA_PROCESSING_PARSEINTRUSIONDATA_H