message_var_float.h

// Copyright 2009-2018 Toby Schneider (http://gobysoft.org/index.wt/people/toby)
//                     GobySoft, LLC (2013-)
//                     Massachusetts Institute of Technology (2007-2014)
//                     Community contributors (see AUTHORS file)
//
//
// This file is part of the Goby Underwater Autonomy Project Libraries
// ("The Goby Libraries").
//
// The Goby Libraries are free software: you can redistribute them and/or modify
// them under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 2.1 of the License, or
// (at your option) any later version.
//
// The Goby Libraries are distributed in the hope that they will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with Goby.  If not, see <http://www.gnu.org/licenses/>.

#ifndef MESSAGE_VAR_FLOAT20100317H
#define MESSAGE_VAR_FLOAT20100317H

#include "goby/util/as.h"

#include "message_var.h"

#include <boost/math/special_functions/fpclassify.hpp>

namespace goby
{
namespace transitional
{
class DCCLMessageVarFloat : public DCCLMessageVar
{
  public:
    DCCLMessageVarFloat(double max = std::numeric_limits<double>::max(), double min = 0,
                        double precision = 0);

    void set_max(double max) { max_ = max; }
    void set_max(const std::string& s) { set_max(util::as<double>(s)); }

    void set_min(double min) { min_ = min; }
    void set_min(const std::string& s) { set_min(util::as<double>(s)); }

    void set_precision(int precision) { precision_ = precision; }
    void set_precision(const std::string& s) { set_precision(util::as<int>(s)); }

    int precision() const { return precision_; }

    double min() const { return min_; }
    double max() const { return max_; }

    void set_max_delta(double max_delta) { max_delta_ = max_delta; }
    void set_max_delta(const std::string& s) { set_max_delta(util::as<double>(s)); }

    virtual DCCLType type() const { return dccl_float; }

  protected:
    virtual DCCLMessageVal cast(double d, int precision) { return DCCLMessageVal(d, precision); }
    virtual void initialize_specific();

    virtual void pre_encode(DCCLMessageVal& v);

  private:
    bool is_delta() const { return using_delta_differencing() && !is_key_frame_; }

    bool using_delta_differencing() const { return !(boost::math::isnan)(max_delta_); }

  private:
    double max_;
    double min_;
    int precision_;

    double max_delta_;
};

} // namespace transitional
} // namespace goby
#endif