Commit Iniziale

libURcom/clientMessage.h

@@ -0,0 +1,182 @@
+/*
+ * clientMessage.h
+ *
+ *  Created on: Jan 16, 2019
+ *      Author: emanuele
+ */
+
+#ifndef CLIENTMESSAGE_H_
+#define CLIENTMESSAGE_H_
+
+#include "packagetypes.h"
+#include <string>
+#include <arpa/inet.h>
+#include <boost/endian/conversion.hpp>
+
+namespace subpackage {
+
+	class clientSubpackage {
+		public:
+			clientSubpackage();
+			virtual ~clientSubpackage();
+
+			unsigned char* dataIn;
+			clientData_t* dataOut;
+
+			virtual uint32_t parse();
+
+			void copyString(std::string** out, unsigned char** in, char len);
+			uint32_t getUInt32(unsigned char** dataPointer);
+			uint64_t getUInt64(unsigned char** dataPointer);
+			int32_t	 getInt32(unsigned char** dataPointer);
+			double	 getDouble(unsigned char** dataPointer);
+			float    getFloat(unsigned char** dataPointer);
+			char	 getChar(unsigned char** dataPointer);
+			unsigned char getUChar(unsigned char** dataPointer);
+	};
+
+	class robotModeSub: public clientSubpackage  {
+		public:
+			robotModeSub(unsigned char* din, clientData_t* dout) {
+				dataIn=din;
+				dataOut=dout;
+			};
+			virtual ~robotModeSub();
+
+			uint32_t parse();
+		};
+
+	class jointDataSub: public clientSubpackage  {
+		public:
+			jointDataSub(unsigned char* din, clientData_t* dout) {
+				dataIn=din;
+				dataOut=dout;
+			};
+			virtual ~jointDataSub();
+
+			uint32_t parse();
+		};
+
+	class cartesianInfoSub: public clientSubpackage  {
+		public:
+			cartesianInfoSub(unsigned char* din, clientData_t* dout) {
+				dataIn=din;
+				dataOut=dout;
+			};
+			virtual ~cartesianInfoSub();
+
+			uint32_t parse();
+	};
+
+	class masterBoardSub: public clientSubpackage  {
+		public:
+			masterBoardSub(unsigned char* din, clientData_t* dout) {
+				dataIn=din;
+				dataOut=dout;
+			};
+			virtual ~masterBoardSub();
+
+			uint32_t parse();
+	};
+
+	class toolDataSub: public clientSubpackage  {
+		public:
+			toolDataSub(unsigned char* din, clientData_t* dout) {
+				dataIn=din;
+				dataOut=dout;
+			};
+			virtual ~toolDataSub();
+
+			uint32_t parse();
+	};
+
+	class kineInfoSub: public clientSubpackage  {
+		public:
+			kineInfoSub(unsigned char* din, clientData_t* dout) {
+				dataIn=din;
+				dataOut=dout;
+			};
+			virtual ~kineInfoSub();
+
+			uint32_t parse();
+	};
+
+	class configurationSub: public clientSubpackage {
+		public:
+			configurationSub(unsigned char* din, clientData_t* dout) {
+				dataIn=din;
+				dataOut=dout;
+			};
+			virtual ~configurationSub();
+
+			uint32_t parse();
+	};
+
+	class forceModeSub: public clientSubpackage  {
+		public:
+			forceModeSub(unsigned char* din, clientData_t* dout) {
+				dataIn=din;
+				dataOut=dout;
+			};
+			virtual ~forceModeSub();
+
+			uint32_t parse();
+	};
+
+	class additionalInfoSub: public clientSubpackage  {
+		public:
+			additionalInfoSub(unsigned char* din, clientData_t* dout) {
+				dataIn=din;
+				dataOut=dout;
+			};
+			virtual ~additionalInfoSub();
+
+			uint32_t parse();
+	};
+
+	class calibrationSub: public clientSubpackage  {
+		public:
+			calibrationSub(unsigned char* din, clientData_t* dout) {
+				dataIn=din;
+				dataOut=dout;
+			};
+			virtual ~calibrationSub();
+
+			uint32_t parse();
+	};
+
+	class toolComSub: public clientSubpackage  {
+		public:
+			toolComSub(unsigned char* din, clientData_t* dout) {
+				dataIn=din;
+				dataOut=dout;
+			};
+			virtual ~toolComSub();
+
+			uint32_t parse();
+	};
+
+	class toolModeSub: public clientSubpackage  {
+		public:
+			toolModeSub(unsigned char* din, clientData_t* dout) {
+				dataIn=din;
+				dataOut=dout;
+			};
+			virtual ~toolModeSub();
+
+			uint32_t parse();
+	};
+
+	class versionSub: public clientSubpackage {
+		public:
+			versionSub(unsigned char* din, clientData_t* dout) {
+				dataIn=din;
+				dataOut=dout; };
+			virtual ~versionSub();
+
+			uint32_t parse();
+	};
+
+} /* namespace clientmessage */
+
+#endif /* CLIENTMESSAGE_H_ */