simple_message.h

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#ifndef SIMPLE_MSG_H
#define SIMPLE_MSG_H

#ifdef ROS

#include "simple_message/simple_serialize.h"
#include "simple_message/byte_array.h"
#include "simple_message/shared_types.h"

#endif

#ifdef MOTOPLUS

#include "simple_serialize.h"
#include "byte_array.h"
#include "shared_types.h"

#endif


namespace industrial
{

namespace simple_message
{

namespace StandardMsgTypes
{
  enum StandardMsgType
  {
 INVALID = 0,
 PING = 1,

 //TODO: Keeping these message type for the time being.  Refactoring
 // the messages should remove the need for this message.
 JOINT_POSITION = 10,
 JOINT = 10, 
 READ_INPUT = 20,
 WRITE_OUTPUT = 21,

 JOINT_TRAJ_PT = 11,  //Joint trajectory point message (typically for streaming)
 JOINT_TRAJ = 12,         //Joint trajectory message (typically for trajectory downloading)

 // Begin vendor specific message types (only define the beginning enum value,
 // specific enum values should be defined locally, within in the range reserved
 // here.  Each vendor can reserve up 1000 types

 SWRI_MSG_BEGIN = 1000,
 MOTOMAN_MSG_BEGIN = 2000
  };
}
typedef StandardMsgTypes::StandardMsgType StandardMsgType;

namespace CommTypes
{
  enum CommType
  {
 INVALID = 0,
 TOPIC = 1,
 SERVICE_REQUEST = 2,
 SERVICE_REPLY = 3
  };
}
typedef CommTypes::CommType CommType;

namespace ReplyTypes
{
  enum ReplyType
  {
 INVALID = 0,
 SUCCESS = 1,
 FAILURE = 2
  };
}
typedef ReplyTypes::ReplyType ReplyType;



class SimpleMessage
{

  //* SimpleMessage
public:
        SimpleMessage();
        ~SimpleMessage(void);

        bool init(int msgType, int commType, int replyCode,
                  industrial::byte_array::ByteArray &data );
        bool init(int msgType, int commType, int replyCode);
        bool init(industrial::byte_array::ByteArray & msg);

        void toByteArray(industrial::byte_array::ByteArray & msg);

        static unsigned int getHeaderSize() { return SimpleMessage::HEADER_SIZE; };
        static unsigned int getLengthSize() { return SimpleMessage::LENGTH_SIZE; };

        int getMessageType() {return this->message_type_;};
        int getCommType() {return this->comm_type_;};
        int getReplyCode() {return this->reply_code_;};
        int getMsgLength() {return this->getHeaderSize() + this->data_.getBufferSize();};
        int getDataLength() {return this->data_.getBufferSize();};
        industrial::byte_array::ByteArray & getData() {return this->data_;};
        
        bool validateMessage();
        


private:

        industrial::shared_types::shared_int message_type_;
        industrial::shared_types::shared_int comm_type_;
        industrial::shared_types::shared_int reply_code_;
        industrial::byte_array::ByteArray data_;

        static const unsigned int HEADER_SIZE = sizeof(industrial::shared_types::shared_int) +
            sizeof(industrial::shared_types::shared_int) +
            sizeof(industrial::shared_types::shared_int);
        static const unsigned int LENGTH_SIZE = sizeof(industrial::shared_types::shared_int);

        void setMessageType(int msgType) {this->message_type_ = msgType;};
        void setCommType(int commType) {this->comm_type_ = commType;};
        void setReplyCode(int replyCode) {this->reply_code_ = replyCode;};
        void setData(industrial::byte_array::ByteArray & data);
};

}//namespace simple_message
}//namespace industrial

#endif //SIMPLE_MSG_