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103 lines
1.8 KiB
103 lines
1.8 KiB
/*
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* message.h
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* Envolop of messages
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*
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* Was drv_slamsdp/rp/slamware/message/message.h
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*
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* Created by Tony Huang at 2016-11-15
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* Copyright 2016 (c) Shanghai Slamtec Co., Ltd.
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*/
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#pragma once
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#include <rpos/core/rpos_core_config.h>
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#include <cstdint>
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#define RPOS_MESSAGE_INVALID_SEQ_NUM ((::std::int64_t)-1)
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namespace rpos { namespace message {
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typedef std::uint64_t message_timestamp_t;
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typedef std::int64_t message_seq_num_t;
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struct message_seq_num_range_t
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{
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message_seq_num_t first;
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message_seq_num_t last;
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message_seq_num_range_t(): first(RPOS_MESSAGE_INVALID_SEQ_NUM), last(RPOS_MESSAGE_INVALID_SEQ_NUM) {}
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};
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inline bool isValidMessageSeqNum(message_seq_num_t seqNum) { return 0 < seqNum; }
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template < typename TPayload >
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struct Message
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{
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Message()
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: timestamp(0)
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{
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}
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explicit Message(const TPayload& that)
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: timestamp(0)
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, payload(that)
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{
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}
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message_timestamp_t timestamp;
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TPayload payload;
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inline TPayload& operator*()
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{
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return payload;
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}
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inline TPayload* operator->()
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{
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return &payload;
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}
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inline const TPayload& operator*() const
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{
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return payload;
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}
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inline const TPayload* operator->() const
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{
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return &payload;
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}
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Message<TPayload>& operator=(const TPayload& that)
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{
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payload = that;
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return *this;
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}
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};
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template < typename TPayload >
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static inline bool updateIfNewer(Message<TPayload>& target, const Message<TPayload>& ref)
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{
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if (ref.timestamp > target.timestamp)
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{
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target = ref;
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return true;
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}
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return false;
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}
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template < typename TPayload>
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static inline bool updateIfDifferent(Message<TPayload>& target, const Message<TPayload>& ref)
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{
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if (ref.timestamp != target.timestamp)
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{
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target = ref;
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return true;
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}
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return false;
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}
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} }
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