.. _program_listing_file__tmp_ws_src_kobuki_core_include_kobuki_core_packets_cliff.hpp:

Program Listing for File cliff.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_kobuki_core_include_kobuki_core_packets_cliff.hpp>` (``/tmp/ws/src/kobuki_core/include/kobuki_core/packets/cliff.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   /*****************************************************************************
   ** Preprocessor
   *****************************************************************************/
   
   #ifndef KOBUKI_CORE_CLIFF_DATA_HPP__
   #define KOBUKI_CORE_CLIFF_DATA_HPP__
   
   /*****************************************************************************
   ** Include
   *****************************************************************************/
   
   #include <vector>
   #include "../packet_handler/payload_base.hpp"
   #include "../packet_handler/payload_headers.hpp"
   
   /*****************************************************************************
   ** Namespace
   *****************************************************************************/
   
   namespace kobuki
   {
   
   /*****************************************************************************
   ** Interface
   *****************************************************************************/
   
   class Cliff : public packet_handler::payloadBase
   {
   public:
     Cliff() : packet_handler::payloadBase(false, 6) {};
   
     struct Data {
       Data() : bottom(3) {}
       std::vector<uint16_t> bottom;
     } data;
   
     bool serialise(ecl::PushAndPop<unsigned char> & byteStream)
     {
       buildBytes((unsigned char)Header::Cliff, byteStream);
       buildBytes(length, byteStream);
       buildBytes(data.bottom[0], byteStream);
       buildBytes(data.bottom[1], byteStream);
       buildBytes(data.bottom[2], byteStream);
       return true;
     }
   
     bool deserialise(ecl::PushAndPop<unsigned char> & byteStream)
     {
       if (byteStream.size() < static_cast<unsigned int>(length)+2)
       {
         //std::cout << "kobuki_node: kobuki_cliff: deserialise failed. not enough byte stream." << std::endl;
         return false;
       }
   
       unsigned char header_id(0x00), length_packed(0x00);
       buildVariable(header_id, byteStream);
       buildVariable(length_packed, byteStream);
       if( header_id != Header::Cliff ) return false;
       if( length_packed != length ) return false;
   
       buildVariable(data.bottom[0], byteStream);
       buildVariable(data.bottom[1], byteStream);
       buildVariable(data.bottom[2], byteStream);
   
       //showMe();
       return constrain();
     }
   
     bool constrain()
     {
       return true;
     }
   
     void showMe()
     {
       //printf("--[%02x || %03d | %03d | %03d]\n", data.bump, bottom[2], bottom[1], bottom[0] );
     }
   };
   
   } // namespace kobuki
   
   #endif /* KOBUKI_CORE_IR_DATA_HPP__ */