You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
43 lines
1.4 KiB
43 lines
1.4 KiB
5 years ago
|
#pragma once
|
||
|
|
#include <capnp/serialize.h>
|
||
|
|
|
||
|
|
#include "cereal/gen/cpp/log.capnp.h"
|
||
|
|
#include "messaging.hpp"
|
||
|
|
class MessageReader {
|
||
|
|
public:
|
||
|
|
MessageReader(Message *msg) : msg(msg), buf(nullptr), msg_reader(nullptr) {}
|
||
|
|
~MessageReader() {
|
||
|
|
if (msg_reader) delete msg_reader;
|
||
|
|
if (buf) free(buf);
|
||
|
|
if (msg) delete msg;
|
||
|
|
}
|
||
|
|
inline operator bool() { return msg != NULL; }
|
||
|
|
inline const char* getData() { return msg->getData(); }
|
||
|
|
inline size_t getSize() { return msg->getSize(); }
|
||
|
|
cereal::Event::Reader &getEvent() {
|
||
|
|
if (!msg_reader) {
|
||
|
|
msg_reader = newReader();
|
||
|
|
event = msg_reader->getRoot<cereal::Event>();
|
||
|
|
}
|
||
|
|
return event;
|
||
|
|
}
|
||
|
|
|
||
|
|
private:
|
||
|
|
capnp::FlatArrayMessageReader *newReader() {
|
||
|
|
const char *data = msg->getData();
|
||
|
|
const size_t size = msg->getSize();
|
||
|
|
if (((reinterpret_cast<uintptr_t>(data)) % sizeof(capnp::word) == 0) && size % sizeof(capnp::word) == 0) {
|
||
|
|
return new capnp::FlatArrayMessageReader(kj::ArrayPtr<capnp::word>((capnp::word *)data, size / sizeof(capnp::word)));
|
||
|
|
} else {
|
||
|
|
const size_t words = size / sizeof(capnp::word) + 1;
|
||
|
|
buf = (capnp::word *)malloc(words * sizeof(capnp::word));
|
||
|
|
memcpy(buf, data, size);
|
||
|
|
return new capnp::FlatArrayMessageReader(kj::ArrayPtr<capnp::word>(buf, words));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
capnp::word *buf;
|
||
|
|
Message *msg;
|
||
|
|
capnp::FlatArrayMessageReader *msg_reader;
|
||
|
|
cereal::Event::Reader event;
|
||
|
|
};
|