protocol.hpp

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// Copyright 2025 ICUBE Laboratory, University of Strasbourg
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Thibault Poignonec (thibault.poignonec@gmail.fr)
 
#ifndef STAUBLI_ROBOT_DRIVER__COMMUNICATION__PROTOCOL_HPP_
#define STAUBLI_ROBOT_DRIVER__COMMUNICATION__PROTOCOL_HPP_
 
#include <array>
#include <cstdint>
#include <limits>
#include <string>
#include <vector>
 
#include "rclcpp/time.hpp"
 
#include "staubli_robot_driver/types.hpp"
 
namespace staubli_robot_driver {
 
constexpr uint16_t MAGIC_NUMBER = 0xABCD;
 
constexpr uint8_t PROTOCOL_VERSION = 1;
 
constexpr uint16_t DEFAULT_CONTROL_PORT = 8080;
 
constexpr uint16_t DEFAULT_DIAGNOSTICS_PORT = 8081;
 
constexpr size_t MAX_FRAME_SEQUENCE_NUMBER = std::numeric_limits<uint16_t>::max();
 
struct FrameHeader {
    uint16_t magic_number = MAGIC_NUMBER;
    uint8_t protocol_version = PROTOCOL_VERSION;
    uint8_t message_type = static_cast<uint8_t>(MessageType::INVALID);
    uint16_t sequence_number = 0;
    uint16_t payload_size = 0;
 
    bool serialize(uint8_t* buffer, size_t buffer_size) const;
 
    bool deserialize(uint8_t* buffer, size_t buffer_size);
 
    static size_t get_serialized_size() { return 8; }
};
 
class Message {
public:
    Message() = default;
    virtual ~Message() = default;
 
    virtual size_t get_serialized_size() const = 0;
 
    virtual bool serialize(uint8_t* buffer, size_t buffer_size) const = 0;
 
    virtual bool deserialize(uint8_t* buffer, size_t buffer_size) = 0;
 
    // Convenience methods for std::vector
 
    bool serialize(std::vector<uint8_t>& data) const;
 
    bool deserialize(std::vector<uint8_t>& data);
 
public:
    FrameHeader header;
 
    rclcpp::Time reception_timestamp = rclcpp::Time(0);
};
 
}  // namespace staubli_robot_driver
 
#endif  // STAUBLI_ROBOT_DRIVER__COMMUNICATION__PROTOCOL_HPP_