EmcyConsumer.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __EMCY_CONSUMER_HPP__
#define __EMCY_CONSUMER_HPP__
 
#include <cstdint>
 
#include <functional>
#include <string>
 
namespace roboticslab
{
 
class EmcyCodeRegistry
{
public:
    virtual ~EmcyCodeRegistry() = default;
 
    virtual std::string codeToMessage(std::uint16_t code);
};
 
class EmcyConsumer final
{
public:
    using code_t = std::pair<std::uint16_t, std::string>; 
 
    EmcyConsumer() : codeRegistry(new EmcyCodeRegistry)
    { }
 
    ~EmcyConsumer()
    { delete codeRegistry; }
 
    bool accept(const std::uint8_t * data);
 
    template<typename T>
    void setErrorCodeRegistry()
    { delete codeRegistry;
      codeRegistry = new T; }
 
    template<typename Fn>
    void registerHandler(Fn && fn)
    { callback = fn; }
 
    void unregisterHandler()
    { callback = HandlerFn(); }
 
private:
    using HandlerFn = std::function<void(code_t, std::uint8_t, const std::uint8_t *)>;
 
    HandlerFn callback;
    EmcyCodeRegistry * codeRegistry;
};
 
} // namespace roboticslab
 
#endif // __EMCY_CONSUMER_HPP__