SickLDMessage.hh

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#ifndef SICK_LD_MESSAGE_HH
#define SICK_LD_MESSAGE_HH

/* Definition dependencies */
#include <string.h>
#include <arpa/inet.h>
#include "SickMessage.hh"

#define SICK_LD_MSG_HEADER_LEN             (8)  ///< Sick LD message header length in bytes
#define SICK_LD_MSG_PAYLOAD_MAX_LEN     (5816)  ///< Sick LD maximum payload length
#define SICK_LD_MSG_TRAILER_LEN            (1)  ///< Sick LD length of the message trailer

/* Associate the namespace */
namespace SickToolbox {

  class SickLDMessage : public SickMessage< SICK_LD_MSG_HEADER_LEN, SICK_LD_MSG_PAYLOAD_MAX_LEN, SICK_LD_MSG_TRAILER_LEN > {
  
  public:
    
    SickLDMessage( );
    
    SickLDMessage( const uint8_t * const payload_buffer, const unsigned int payload_length );
    
    SickLDMessage( const uint8_t * const message_buffer );
    
    void BuildMessage( const uint8_t * const payload_buffer, const unsigned int payload_length );
    
    void ParseMessage( const uint8_t * const message_buffer );
    
    uint8_t GetServiceCode( ) const { return _message_buffer[8]; }
    
    uint8_t GetServiceSubcode( ) const { return _message_buffer[9]; }
    
    uint8_t GetChecksum( ) const { return _message_buffer[_message_length-1]; }
    
    void Print( ) const;
    
    ~SickLDMessage( );

  private:
    
    uint8_t _computeXOR( const uint8_t * const data, const uint32_t length );
    
  };
  
} /* namespace SickToolbox */

#endif /* SICK_LD_MESSAGE_HH */