mip_field.hpp

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#pragma once
 
#include "mip_descriptors.hpp"
#include "mip_serialization.hpp"
 
#include <microstrain/array_view.hpp>
 
#include <mip/mip_field.h>
 
#include <cstring>
 
 
namespace mip
{
 
class FieldView : public C::mip_field_view
{
public:
    enum class Index : uint8_t
    {
        LENGTH   = C::MIP_FIELD_INDEX_LENGTH,
        DESC     = C::MIP_FIELD_INDEX_DESC,
        PAYLOAD  = C::MIP_FIELD_INDEX_PAYLOAD
    };
 
    static constexpr size_t HEADER_LENGTH      = C::MIP_FIELD_HEADER_LENGTH;
    static constexpr size_t LENGTH_MIN         = C::MIP_FIELD_LENGTH_MIN;
    static constexpr size_t LENGTH_MAX         = C::MIP_FIELD_LENGTH_MAX;
    static constexpr size_t PAYLOAD_LENGTH_MIN = C::MIP_FIELD_PAYLOAD_LENGTH_MIN;
    static constexpr size_t PAYLOAD_LENGTH_MAX = C::MIP_FIELD_PAYLOAD_LENGTH_MAX;
 
    FieldView() { C::mip_field_view::_payload=nullptr; C::mip_field_view::_payload_length=0; C::mip_field_view::_field_descriptor=0x00; C::mip_field_view::_descriptor_set=0x00; C::mip_field_view::_remaining_length=0; }
    FieldView(uint8_t descriptor_set, uint8_t field_descriptor, const uint8_t* payload, uint8_t payload_length) { C::mip_field_init(this, descriptor_set, field_descriptor, payload, payload_length); }
    FieldView(const uint8_t* header, uint8_t total_length, uint8_t descriptor_set) { *this = C::mip_field_from_header_ptr(header, total_length, descriptor_set); }
    FieldView(const C::mip_field_view& other) { std::memcpy(static_cast<C::mip_field_view*>(this), &other, sizeof(C::mip_field_view)); }
 
    FieldView(CompositeDescriptor descriptor, microstrain::ConstU8ArrayView payload) : FieldView(descriptor.descriptorSet, descriptor.fieldDescriptor, payload.data(), uint8_t(payload.size())) {}
 
    //
    // C function wrappers
    //
 
    uint8_t descriptorSet() const { return C::mip_field_descriptor_set(this); }
    uint8_t fieldDescriptor() const { return C::mip_field_field_descriptor(this); }
    CompositeDescriptor descriptor() const { return {descriptorSet(), fieldDescriptor()}; }
 
    uint8_t totalLength() const { return C::mip_field_total_length(this); }
 
    uint8_t payloadLength() const { return C::mip_field_payload_length(this); }
 
    microstrain::ConstU8ArrayView payload() const { return {C::mip_field_payload(this), C::mip_field_payload_length(this)}; }
 
    uint8_t payload(size_t index) const { assert(index < payloadLength()); return payload()[index]; }
 
    uint8_t operator[](size_t index) const { return payload(index); }
 
    microstrain::ConstU8ArrayView bytes() const { return {payload() - HEADER_LENGTH, static_cast<size_t>(payloadLength() + HEADER_LENGTH)}; }
 
    bool isValid() const { return C::mip_field_is_valid(this); }
 
    FieldView nextAfter() const { return C::mip_field_next_after(this); }
    bool next() { return C::mip_field_next(this); }
 
    //
    // Additional functions which have no C equivalent
    //
 
    template<class FieldType>
    bool extract(FieldType& field, bool exact_size=true) const { return microstrain::extract<microstrain::serialization::Endian::big>(field, payload(), 0, exact_size); }
 
 
    bool isData() const { return isDataDescriptorSet(descriptorSet()); }
 
    bool isCommandSet() const { return isCommandDescriptorSet(descriptorSet()); }
 
    bool isCommand() const { return isCommandSet() && isCommandFieldDescriptor(fieldDescriptor()); }
 
    bool isReply() const { return isCommandSet() && isReplyFieldDescriptor(fieldDescriptor()) && payloadLength()==2; }
 
    bool isResponse() const { return isCommandSet() && isResponseFieldDescriptor(fieldDescriptor()); }
};
 
 
} // namespace mip