RoboGlue_QT/libURcom/clientMessage.h

/*
 * 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_ */