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42 lines
1.4 KiB
42 lines
1.4 KiB
#pragma once
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#include <capnp/serialize.h>
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#include "cereal/gen/cpp/log.capnp.h"
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#include "messaging.hpp"
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class MessageReader {
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public:
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MessageReader(Message *msg) : msg(msg), buf(nullptr), msg_reader(nullptr) {}
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~MessageReader() {
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if (msg_reader) delete msg_reader;
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if (buf) free(buf);
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if (msg) delete msg;
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}
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inline operator bool() { return msg != NULL; }
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inline const char* getData() { return msg->getData(); }
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inline size_t getSize() { return msg->getSize(); }
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cereal::Event::Reader &getEvent() {
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if (!msg_reader) {
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msg_reader = newReader();
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event = msg_reader->getRoot<cereal::Event>();
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}
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return event;
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}
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private:
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capnp::FlatArrayMessageReader *newReader() {
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const char *data = msg->getData();
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const size_t size = msg->getSize();
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if (((reinterpret_cast<uintptr_t>(data)) % sizeof(capnp::word) == 0) && size % sizeof(capnp::word) == 0) {
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return new capnp::FlatArrayMessageReader(kj::ArrayPtr<capnp::word>((capnp::word *)data, size / sizeof(capnp::word)));
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} else {
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const size_t words = size / sizeof(capnp::word) + 1;
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buf = (capnp::word *)malloc(words * sizeof(capnp::word));
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memcpy(buf, data, size);
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return new capnp::FlatArrayMessageReader(kj::ArrayPtr<capnp::word>(buf, words));
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}
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}
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capnp::word *buf;
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Message *msg;
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capnp::FlatArrayMessageReader *msg_reader;
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cereal::Event::Reader event;
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};
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