SickLMS2xxMessage.hh

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#ifndef SICK_LMS_2XX_MESSAGE_HH
#define SICK_LMS_2XX_MESSAGE_HH

/* Definition dependencies */
#include <string.h>
#include <netinet/in.h>   
#include "SickMessage.hh"
#include "SickException.hh"

#define CRC16_GEN_POL 0x8005                        


#define MKSHORT(a,b) ((unsigned short) (a) | ((unsigned short)(b) << 8))

#define SICK_LMS_2XX_MSG_HEADER_LEN            (4)  
#define SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN     (812)  
#define SICK_LMS_2XX_MSG_TRAILER_LEN           (2)  

/* Associate the namespace */
namespace SickToolbox {

  class SickLMS2xxMessage : public SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN >
  {

  public:
  
    SickLMS2xxMessage( );

    SickLMS2xxMessage( const uint8_t dest_address, const uint8_t * const payload_buffer, const unsigned int payload_length );

    SickLMS2xxMessage( uint8_t * const message_buffer );

    void BuildMessage( uint8_t dest_address, const uint8_t * const payload_buffer,
                       const unsigned int payload_length );
    
    void ParseMessage( const uint8_t * const message_buffer );

    uint8_t GetDestAddress( ) const { return _message_buffer[1]; }

    uint8_t GetCommandCode( ) const { return _message_buffer[MESSAGE_HEADER_LENGTH]; }

    uint8_t GetStatusByte( ) const { return _message_buffer[MESSAGE_HEADER_LENGTH+_payload_length-1]; }
    
    uint16_t GetChecksum( ) const { return _checksum; }
    
    void Clear( );
    
    void Print( ) const;

    ~SickLMS2xxMessage();

  protected:

    uint16_t _checksum;
    
  private:

    uint16_t _computeCRC( uint8_t * data, unsigned int data_length ) const;

  };

} /* namespace SickToolbox */
  
#endif //SICK_LMS_2XX_MESSAGE_HH