clproto.hpp

#pragma once
 
#include <cstdint>
#include <chrono>
#include <stdexcept>
#include <string>
#include <vector>
 
#define CLPROTO_PACKING_MAX_FIELD_LENGTH (4096)
#define CLPROTO_PACKING_MAX_FIELDS (64)
 
namespace clproto {
 
typedef uint32_t field_length_t;
 
class DecodingException : public std::runtime_error {
public:
  explicit DecodingException(const std::string& msg);
};
 
class JsonParsingException : public std::runtime_error {
public:
  explicit JsonParsingException(const std::string& msg);
};
 
enum MessageType {
  UNKNOWN_MESSAGE = 0,
  STATE_MESSAGE = 1,
  SPATIAL_STATE_MESSAGE = 2,
  CARTESIAN_STATE_MESSAGE = 3,
  CARTESIAN_POSE_MESSAGE = 4,
  CARTESIAN_TWIST_MESSAGE = 5,
  CARTESIAN_ACCELERATION_MESSAGE = 6,
  CARTESIAN_WRENCH_MESSAGE = 7,
  JACOBIAN_MESSAGE = 8,
  JOINT_STATE_MESSAGE = 9,
  JOINT_POSITIONS_MESSAGE = 10,
  JOINT_VELOCITIES_MESSAGE = 11,
  JOINT_ACCELERATIONS_MESSAGE = 12,
  JOINT_TORQUES_MESSAGE = 13,
  SHAPE_MESSAGE = 14,
  ELLIPSOID_MESSAGE = 15,
  PARAMETER_MESSAGE = 16,
  DIGITAL_IO_STATE_MESSAGE = 17,
  ANALOG_IO_STATE_MESSAGE = 18
};
 
enum ParameterMessageType {
  UNKNOWN_PARAMETER = 0,
  INT = 9,
  INT_ARRAY = 10,
  DOUBLE = 1,
  DOUBLE_ARRAY = 2,
  BOOL = 3,
  BOOL_ARRAY = 4,
  STRING = 5,
  STRING_ARRAY = 6,
  MATRIX = 7,
  VECTOR = 8
};
 
bool is_valid(const std::string& msg);
 
MessageType check_message_type(const std::string& msg);
 
ParameterMessageType check_parameter_message_type(const std::string& msg);
 
template<typename T>
std::string encode(const T& obj);
 
template<typename T>
T decode(const std::string& msg);
 
template<typename T>
bool decode(const std::string& msg, T& obj);
 
void pack_fields(const std::vector<std::string>& fields, char* data);
 
std::vector<std::string> unpack_fields(const char* data);
 
std::string to_json(const std::string& msg);
 
template<typename T>
std::string to_json(const T& obj) {
  return to_json(encode<T>(obj));
}
 
std::string from_json(const std::string& json);
 
template<typename T>
T from_json(const std::string& json) {
  return decode<T>(from_json(json));
}
}