ftInfo.cpp

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/*
 * Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 * Author: Luca Tricerri
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#include "ftInfo.h"
 
#include <yarp/os/Log.h>
#include <yarp/os/LogStream.h>
 
bool FtInfo::toEomn(eOas_ft_sensordescriptor_t& out) const
{
    out.boardinfo.type = board;
    out.canloc.addr = address;
    out.canloc.insideindex = eobrd_caninsideindex_none;
    out.boardinfo.firmware = {(uint8_t)majorFirmware, (uint8_t)minorFirmware, (uint8_t)buildFirmware};
    out.boardinfo.protocol = {(uint8_t)majorProtocol, (uint8_t)minorProtocol};
 
    try
    {
        if (port == 1)
            out.canloc.port = eOcanport1;
        else if (port == 2)
            out.canloc.port = eOcanport2;
        else
        {
            yError() << "FtInfo::toEomn() invalid can port";
            out = eOas_ft_sensordescriptor_t();
            return false;
        }
    }
    catch (const std::exception& e)
    {
        yError() << "FtInfo::toEomn() invalid can port";
        out = eOas_ft_sensordescriptor_t();
        return false;
    }
 
    return true;
}
 
bool operator==(const FtInfo& right, const FtInfo& left)
{
    if (right.ftAcquisitionRate != left.ftAcquisitionRate)
        return false;
    if (right.temperatureAcquisitionRate != left.temperatureAcquisitionRate)
        return false;
    if (right.useCalibration != left.useCalibration)
        return false;
    if (right.board != left.board)
        return false;
    if (right.port != left.port)
        return false;
    if (right.address != left.address)
        return false;
    if (right.majorProtocol != left.majorProtocol)
        return false;
    if (right.minorProtocol != left.minorProtocol)
        return false;
    if (right.majorFirmware != left.majorFirmware)
        return false;
    if (right.minorFirmware != left.minorFirmware)
        return false;
    if (right.buildFirmware != left.buildFirmware)
        return false;
    if (right.frameName != left.frameName)
        return false;        
    return true;
};
 
bool operator!=(const FtInfo& right, const FtInfo& left)
{
    return !(right == left);
}