packet.hpp

#pragma once
 
#include "../topic.hpp"
 
namespace LibXR
{
#ifndef __DOXYGEN__
LIBXR_PACKED_BEGIN
struct Topic::PackedDataHeader
{
  uint8_t prefix;  
  uint8_t
      data_len_raw[3];  
  uint32_t topic_name_crc32;  
  uint8_t timestamp_us_raw[6];  
  uint8_t version;              
  uint8_t pack_header_crc8;     
 
  void SetDataLen(uint32_t len);
 
  uint32_t GetDataLen() const;
 
  void SetTimestamp(MicrosecondTimestamp timestamp);
 
  MicrosecondTimestamp GetTimestamp() const;
};
 
static_assert(sizeof(Topic::PackedDataHeader) == 16);
static_assert(offsetof(Topic::PackedDataHeader, prefix) == 0);
static_assert(offsetof(Topic::PackedDataHeader, data_len_raw) == 1);
static_assert(offsetof(Topic::PackedDataHeader, topic_name_crc32) == 4);
static_assert(offsetof(Topic::PackedDataHeader, timestamp_us_raw) == 8);
static_assert(offsetof(Topic::PackedDataHeader, version) == 14);
static_assert(offsetof(Topic::PackedDataHeader, pack_header_crc8) == 15);
 
template <typename Data>
class Topic::PackedData
{
  static_assert(TopicPayload<Data>);
 
 public:
  struct
  {
    PackedDataHeader header_;     
    uint8_t data_[sizeof(Data)];  
  } raw;  
 
  uint8_t crc8_;  
 
  MicrosecondTimestamp GetTimestamp() const { return raw.header_.GetTimestamp(); }
};
LIBXR_PACKED_END
#endif
 
template <typename Data>
ErrorCode Topic::PackData(const Data& data, PackedData<Data>& packet,
                          MicrosecondTimestamp timestamp)
{
  CheckTopicPayload<Data>();
  ASSERT(block_ != nullptr);
  ASSERT(block_->data_.payload_type_id == TypeID::GetID<Data>());
  ASSERT(block_->data_.payload_size == sizeof(Data));
 
  PackBytes(block_->data_.crc32, RawData(packet), timestamp, ConstRawData(data));
  return ErrorCode::OK;
}
}  // namespace LibXR