packet.hpp

#pragma once
 
#include "message.hpp"
 
namespace LibXR
{
#ifndef __DOXYGEN__
#pragma pack(push, 1)
template <typename Data>
class Topic::PackedData
{
  static_assert(TopicPayload<Data>);
 
 public:
#pragma pack(push, 1)
  struct
  {
    PackedDataHeader header_;     
    uint8_t data_[sizeof(Data)];  
  } raw;
 
  uint8_t crc8_;  
 
#pragma pack(pop)
 
  operator Data() { return *reinterpret_cast<Data*>(raw.data_); }
 
  Data* operator->() { return reinterpret_cast<Data*>(raw.data_); }
 
  const Data* operator->() const { return reinterpret_cast<const Data*>(raw.data_); }
 
  MicrosecondTimestamp GetTimestamp() const { return raw.header_.GetTimestamp(); }
 
  Message<Data> GetMessage() const
  {
    return Message<Data>{GetTimestamp(), *reinterpret_cast<const Data*>(raw.data_)};
  }
};
#pragma pack(pop)
#endif
 
template <typename Data>
ErrorCode Topic::DumpData(PackedData<Data>& data)
{
  CheckTopicPayload<Data>();
  if (block_->data_.data.addr_ == nullptr)
  {
    return ErrorCode::EMPTY;
  }
 
  ASSERT(sizeof(Data) == block_->data_.data.size_);
 
  return DumpPacket<SizeLimitMode::NONE>(RawData(data));
}
}  // namespace LibXR