three_axis_gyro.hpp

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/*****************************************************************************
** Preprocessor
*****************************************************************************/
 
#ifndef KOBUKI_CORE_THREE_AXIS_GYRO_DATA_HPP__
#define KOBUKI_CORE_THREE_AXIS_GYRO_DATA_HPP__
 
/*****************************************************************************
** Includes
*****************************************************************************/
 
#include "../packet_handler/payload_base.hpp"
#include "../packet_handler/payload_headers.hpp"
 
/*****************************************************************************
** Defines
*****************************************************************************/
 
#define MAX_DATA_SIZE (3*8) //derived from ST_GYRO_MAX_DATA_SIZE in firmware
 
/*****************************************************************************
** Namespaces
*****************************************************************************/
 
namespace kobuki
{
 
/*****************************************************************************
** Interface
*****************************************************************************/
 
class ThreeAxisGyro : public packet_handler::payloadBase
{
public:
  ThreeAxisGyro() : packet_handler::payloadBase(true, 4) {};
  struct Data {
    unsigned char frame_id;
    unsigned char followed_data_length;
    unsigned short data[MAX_DATA_SIZE];
  } data;
 
  virtual ~ThreeAxisGyro() {};
 
  bool serialise(ecl::PushAndPop<unsigned char> & byteStream)
  {
    unsigned char length = 2 + 2 * data.followed_data_length;
    buildBytes(Header::ThreeAxisGyro, byteStream);
    buildBytes(length, byteStream);
    buildBytes(data.frame_id, byteStream);
    buildBytes(data.followed_data_length, byteStream);
    for (unsigned int i=0; i<data.followed_data_length; i++)
      buildBytes(data.data[i], byteStream);
    return true;
  }
 
  bool deserialise(ecl::PushAndPop<unsigned char> & byteStream)
  {
    if (byteStream.size() < static_cast<unsigned int>(length)+2)
    {
      //std::cout << "kobuki_node: three_axis_gyro: 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::ThreeAxisGyro ) return false;
    if( length > length_packed ) return false;
 
    buildVariable(data.frame_id, byteStream);
    buildVariable(data.followed_data_length, byteStream);
    if( length_packed != 2 + 2 * data.followed_data_length ) return false;
 
    for (unsigned int i=0; i<data.followed_data_length; i++)
      buildVariable(data.data[i], byteStream);
 
    //showMe();
    return constrain();
  }
 
  bool constrain()
  {
    return true;
  }
 
  void showMe()
  {
  }
};
 
} // namespace kobuki
 
#endif /* KOBUKI_CORE_THREE_AXIS_GYRO_DATA_HPP__ */