payload_base.hpp

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/*****************************************************************************
 ** Ifdefs
 *****************************************************************************/
 
#ifndef ROBOT_DATA_HPP_
#define ROBOT_DATA_HPP_
 
/*****************************************************************************
 ** Includes
 *****************************************************************************/
 
#include <ecl/containers.hpp>
#include <stdint.h>
 
/*****************************************************************************
 ** Namespaces
 *****************************************************************************/
 
namespace packet_handler
{
 
/*****************************************************************************
 ** Interface
 *****************************************************************************/
class payloadBase
{
public:
 
  bool yes;
 
  const bool is_dynamic;
 
  const unsigned char length;
 
  /*
   * construct and destruct
   */
  payloadBase(const bool is_dynamic_ = false, const unsigned char length_ = 0 )
    : yes(false)
    , is_dynamic(is_dynamic_)
    , length(length_)
  {};
  virtual ~payloadBase() {};
 
  /*
   * serialisation
   */
  virtual bool serialise(ecl::PushAndPop<unsigned char> & byteStream)=0;
  virtual bool deserialise(ecl::PushAndPop<unsigned char> & byteStream)=0;
 
  // utilities
  // todo; let's put more useful converters here. Or we may use generic converters
protected:
  // below funciton should be replaced wiht converter
  template<typename T>
    void buildVariable(T & V, ecl::PushAndPop<unsigned char> & buffer)
    {
      if (buffer.size() < sizeof(T))
        return;
      V = static_cast<unsigned char>(buffer.pop_front());
 
      unsigned int size_value(sizeof(T));
      for (unsigned int i = 1; i < size_value; i++)
      {
        V |= ((static_cast<unsigned char>(buffer.pop_front())) << (8 * i));
      }
    }
 
  template<typename T>
    void buildBytes(const T & V, ecl::PushAndPop<unsigned char> & buffer)
    {
      unsigned int size_value(sizeof(T));
      for (unsigned int i = 0; i < size_value; i++)
      {
        buffer.push_back(static_cast<unsigned char>((V >> (i * 8)) & 0xff));
      }
    }
};
 
}
 
// namespace packet_handler
 
#endif /* ROBOT_DATA_HPP_ */