Measure/include/message/packet.hpp

#pragma once

#include <iostream>
#include "defines.hpp"

class CloudPointPacket {
public:
    /**
     * @brief 获取当前信息的数据内容
    **/
    virtual unsigned char *data() const {
        return m_data_;
    }

    /**
     * @brief 获取当前信息的数据长度
    **/
    virtual int size() const {
        return m_length_;
    }

    virtual bool packet(void *data, int size) = 0;

protected:
    CloudPointPacket() {};

    ~CloudPointPacket() = default;

    bool packInfo(ZX::LidarMessageType type, int point_number, unsigned char distance_accuracy) {
        if (m_length_ < ZX::PACKET_HEAD_SIZE + ZX::PACKET_END_SIZE) {
            return false;
        }

        static int times = 0;
        m_data_[0] = '$';
        m_data_[1] = '&';
        m_data_[2] = type >> 8;
        m_data_[3] = type;
        m_data_[4] = point_number >> 24;
        m_data_[5] = point_number >> 16;
        m_data_[6] = point_number >> 8;
        m_data_[7] = point_number;
        m_data_[8] = distance_accuracy;
        m_data_[9] = times >> 16;
        m_data_[10] = times >> 8;
        m_data_[11] = times;
        m_data_[m_length_ - 2] = '&';
        m_data_[m_length_ - 1] = '$';

        times++;
        if (times > 0X00FFFFFF) {
            times = 0;
        }

        return true;
    }

protected:
    unsigned char *m_data_ = nullptr;
    int m_length_ = 0;
};