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Encoder allowed to fail, preparation for upcoming CAN transmit

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This commit is contained in:
Paul Hollinsky
2018-10-18 13:42:20 -04:00
parent 92839c22a5
commit 912b11ce30
4 changed files with 24 additions and 21 deletions
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communication/encoder.cpp
+12 -8
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@@ -2,8 +2,10 @@
using namespace icsneo;
std::vector<uint8_t> Encoder::encode(const std::shared_ptr<Message>& message) {
bool Encoder::encode(std::vector<uint8_t>& result, const std::shared_ptr<Message>& message) {
bool shortFormat = false;
result.clear();
switch(message->network.getType()) {
// case Network::Type::CAN: {
// if(message->data.size() < 24)
@@ -39,7 +41,8 @@ std::vector<uint8_t> Encoder::encode(const std::shared_ptr<Message>& message) {
(uint8_t)size, // Size, little endian 16-bit
(uint8_t)(size >> 8)
});
return packetizer->packetWrap(message->data, shortFormat);
result = packetizer->packetWrap(message->data, shortFormat);
return true;
} else {
shortFormat = true;
}
@@ -49,11 +52,11 @@ std::vector<uint8_t> Encoder::encode(const std::shared_ptr<Message>& message) {
// We expect the network byte to be populated already in data, but not the length
uint16_t length = uint16_t(message->data.size()) - 1;
message->data.insert(message->data.begin(), {(uint8_t)length, (uint8_t)(length >> 8)});
break;
}
default:
break;
return false;
}
break;
}
if(shortFormat) {
@@ -71,14 +74,15 @@ std::vector<uint8_t> Encoder::encode(const std::shared_ptr<Message>& message) {
});
}
return packetizer->packetWrap(message->data, shortFormat);
result = packetizer->packetWrap(message->data, shortFormat);
return true;
}
std::vector<uint8_t> Encoder::encode(Command cmd, std::vector<uint8_t> arguments) {
bool Encoder::encode(std::vector<uint8_t>& result, Command cmd, std::vector<uint8_t> arguments) {
auto msg = std::make_shared<Message>();
msg->network = Network::NetID::Main51;
msg->data.resize(arguments.size() + 1);
msg->data.reserve(arguments.size() + 1);
msg->data.push_back((uint8_t)cmd);
msg->data.insert(msg->data.end(), std::make_move_iterator(arguments.begin()), std::make_move_iterator(arguments.end()));
return encode(msg);
return encode(result, msg);
}