mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-21 01:01:41 +00:00
131 lines
3.7 KiB
C++
131 lines
3.7 KiB
C++
/*
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* MIT License
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*
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* Copyright (c) PhotonVision
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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#pragma once
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#include <algorithm>
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#include <string>
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#include <vector>
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#include <wpi/Endian.h>
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namespace photonlib {
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/**
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* A packet that holds byte-packed data to be sent over NetworkTables.
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*/
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class Packet {
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public:
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/**
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* Constructs an empty packet.
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*/
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Packet() = default;
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/**
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* Constructs a packet with the given data.
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* @param data The packet data.
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*/
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explicit Packet(std::vector<uint8_t> data) : packetData(data) {}
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/**
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* Clears the packet and resets the read and write positions.
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*/
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void Clear() {
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packetData.clear();
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readPos = 0;
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writePos = 0;
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}
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/**
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* Returns the packet data.
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* @return The packet data.
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*/
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const std::vector<uint8_t>& GetData() { return packetData; }
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/**
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* Returns the number of bytes in the data.
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* @return The number of bytes in the data.
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*/
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size_t GetDataSize() const { return packetData.size(); }
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/**
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* Adds a value to the data buffer. This should only be used with PODs.
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* @tparam T The data type.
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* @param src The data source.
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* @return A reference to the current object.
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*/
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template <typename T>
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Packet& operator<<(T src) {
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packetData.resize(packetData.size() + sizeof(T));
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std::memcpy(packetData.data() + writePos, &src, sizeof(T));
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if constexpr (wpi::support::endian::system_endianness() ==
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wpi::support::endianness::little) {
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// Reverse to big endian for network conventions.
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std::reverse(packetData.data() + writePos,
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packetData.data() + writePos + sizeof(T));
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}
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writePos += sizeof(T);
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return *this;
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}
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/**
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* Extracts a value to the provided destination.
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* @tparam T The type of value to extract.
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* @param value The value to extract.
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* @return A reference to the current object.
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*/
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template <typename T>
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Packet& operator>>(T& value) {
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if (!packetData.empty()) {
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std::memcpy(&value, packetData.data() + readPos, sizeof(T));
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if constexpr (wpi::support::endian::system_endianness() ==
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wpi::support::endianness::little) {
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// Reverse to little endian for host.
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uint8_t& raw = reinterpret_cast<uint8_t&>(value);
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std::reverse(&raw, &raw + sizeof(T));
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}
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}
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readPos += sizeof(T);
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return *this;
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}
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bool operator==(const Packet& right) const {
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return packetData == right.packetData;
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}
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bool operator!=(const Packet& right) const { return !operator==(right); }
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private:
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// Data stored in the packet
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std::vector<uint8_t> packetData;
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size_t readPos = 0;
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size_t writePos = 0;
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};
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} // namespace photonlib
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