TelemetryCommand.h

Go to the documentation of this file.

#ifndef CARMA_BIMA_TELEMETRYCOMMAND_H
#define CARMA_BIMA_TELEMETRYCOMMAND_H

#include <vector>

#include "carma/canbus/Types.h"

#define TELEMETRYIPQ  "telemetry.ipq"

#define IFIPQ  "if.ipq"
#define TELEMETRYCAN    c
#define TELEMETRYLONG   l
#define TELEMETRYSHORT  s


namespace carma
{
  namespace antenna
    {
      namespace bima
        {
          class TelemetryCommand
            {

            public:
              typedef union { char c; short s; long l; float f; double d; unsigned char bytes[8]; } PayloadType;

            private:
              unsigned short addr_;
              PayloadType payload_;
              unsigned char dataType_;
              carma::canbus::msgType msgType_;

            public:

              void setAddr( unsigned short addr ) { addr_ = addr; }

              void setPayload( char   payload ) { payload_.c = payload; }
              void setPayload( short  payload ) { payload_.s = payload; }
              void setPayload( long   payload ) { payload_.l = payload; }
              void setPayload( float  payload ) { payload_.f = payload; }
              void setPayload( double payload ) { payload_.d = payload; }
              void setPayload( std::vector<carma::canbus::byteType> &payload )
                {
                  payload_.bytes[0] = payload[0];
                  payload_.bytes[1] = payload[1];
                  payload_.bytes[2] = payload[2];
                  payload_.bytes[3] = payload[3];
                  payload_.bytes[4] = payload[4];
                  payload_.bytes[5] = payload[5];
                  payload_.bytes[6] = payload[6];
                  payload_.bytes[7] = payload[7];
                }

              void setDataType( unsigned char dataType ) { dataType_ = dataType; }
              void setMsgType( carma::canbus::msgType msgType ) { msgType_ = msgType; }

              void set( unsigned short addr, char payload, time_t timer = 0 )
                {
                  setAddr( addr );
                  setDataType( 'c' );
                  setPayload( payload );
                }

              void set( unsigned short addr, short payload )
                {
                  setAddr( addr );
                  setDataType( 's' );
                  setPayload( payload );
                }

              void set( unsigned short addr, long payload )
                {
                  setAddr( addr );
                  setDataType( 'l' );
                  setPayload( payload );
                }

              void set( unsigned short addr, float payload )
                {
                  setAddr( addr );
                  setDataType( 'f' );
                  setPayload( payload );
                }

              void set( unsigned short addr, double payload )
                {
                  setAddr( addr );
                  setDataType( 'd' );
                  setPayload( payload );
                }

              void set( std::vector<carma::canbus::byteType> payload )
                {
                  setDataType( 'v' );
                  setPayload( payload );
                }

              unsigned short getAddr( void ) { return addr_; }

              void getPayload( char   &payload ) { payload = payload_.c; }
              void getPayload( short  &payload ) { payload = payload_.s; }
              void getPayload( long   &payload ) { payload = payload_.l; }
              void getPayload( float  &payload ) { payload = payload_.f; }
              void getPayload( double &payload ) { payload = payload_.d; }

              void getPayload( std::vector<carma::canbus::byteType> &data )
                {
                  data.resize(0);
                  data.push_back( payload_.bytes[0] );
                  data.push_back( payload_.bytes[1] );
                  data.push_back( payload_.bytes[2] );
                  data.push_back( payload_.bytes[3] );
                  data.push_back( payload_.bytes[4] );
                  data.push_back( payload_.bytes[5] );
                  data.push_back( payload_.bytes[6] );
                  data.push_back( payload_.bytes[7] );
                }

              unsigned char getDataType( void ) { return dataType_; }
              unsigned char getMsgType( void ) { return msgType_; }

            };
        }
    }
}



#endif // CARMA_BIMA_TELEMETRYCOMMAND_H