ArBasePacket.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARBASEPACKET_H
#define ARBASEPACKET_H


#include <string>
#include "ariaTypedefs.h"


class ArBasePacket
{
public:
    
  AREXPORT ArBasePacket(ArTypes::UByte2 bufferSize = 0,
    ArTypes::UByte2 headerLength = 0, 
    char * buf = NULL,
    ArTypes::UByte2 footerLength = 0);

  AREXPORT virtual ~ArBasePacket();

  AREXPORT virtual void empty(void);

  AREXPORT virtual void finalizePacket(void) {}

  AREXPORT virtual void log(void);
  AREXPORT virtual void printHex(void);

  AREXPORT virtual bool isValid(void);

  AREXPORT virtual void resetValid();

  // Utility functions to write different data types to a buffer. They will
  // increment the length.

  AREXPORT virtual void byteToBuf(ArTypes::Byte val);
  AREXPORT virtual void byte2ToBuf(ArTypes::Byte2 val);
  AREXPORT virtual void byte4ToBuf(ArTypes::Byte4 val);

  AREXPORT virtual void uByteToBuf(ArTypes::UByte val);
  AREXPORT virtual void uByte2ToBuf(ArTypes::UByte2 val);
  AREXPORT virtual void uByte4ToBuf(ArTypes::UByte4 val);

  AREXPORT virtual void strToBuf(const char *str);

  AREXPORT virtual void strNToBuf(const char *str, int length);
  AREXPORT virtual void strToBufPadded(const char *str, int length);
  AREXPORT virtual void dataToBuf(const char *data, int length);
  AREXPORT virtual void dataToBuf(const unsigned char *data, int length);

  // Utility functions to read differet data types from a bufer. Each read
  // will increment the myReadLength.
  AREXPORT virtual ArTypes::Byte bufToByte(void);
  AREXPORT virtual ArTypes::Byte2 bufToByte2(void);
  AREXPORT virtual ArTypes::Byte4 bufToByte4(void);

  AREXPORT virtual ArTypes::UByte bufToUByte(void);
  AREXPORT virtual ArTypes::UByte2 bufToUByte2(void);
  AREXPORT virtual ArTypes::UByte4 bufToUByte4(void);

  AREXPORT virtual void bufToStr(char *buf, int len);
  AREXPORT virtual void bufToData(char * data, int length);
  AREXPORT virtual void bufToData(unsigned char * data, int length);

  AREXPORT virtual void resetRead(void);

  // Accessors

  AREXPORT virtual ArTypes::UByte2 getLength(void) { return myLength; }
  AREXPORT virtual ArTypes::UByte2 getDataLength(void) { return myLength - myHeaderLength - myFooterLength; }

  AREXPORT virtual ArTypes::UByte2 getReadLength(void) { return myReadLength; }
  AREXPORT virtual ArTypes::UByte2 getDataReadLength(void) { return myReadLength - myHeaderLength; }
  AREXPORT virtual ArTypes::UByte2 getHeaderLength(void)
  { return myHeaderLength; }
  AREXPORT virtual ArTypes::UByte2 getFooterLength(void)
  { return myFooterLength; }

  AREXPORT virtual ArTypes::UByte2 getMaxLength(void) { return myMaxLength; }

  AREXPORT virtual const char * getBuf(void);

  AREXPORT virtual void setBuf(char *buf, ArTypes::UByte2 bufferSize);
  AREXPORT virtual void setMaxLength(ArTypes::UByte2 bufferSize);
  AREXPORT virtual bool setLength(ArTypes::UByte2 length);
  AREXPORT virtual void setReadLength(ArTypes::UByte2 readLength);
  AREXPORT virtual bool setHeaderLength(ArTypes::UByte2 length);
  AREXPORT virtual void duplicatePacket(ArBasePacket *packet);
protected:
  // internal function to make sure we have enough length left to read in the packet
  AREXPORT bool isNextGood(int bytes);

  AREXPORT bool hasWriteCapacity(int bytes);

  // internal data
  ArTypes::UByte2 myHeaderLength;
  ArTypes::UByte2 myFooterLength;
  ArTypes::UByte2 myMaxLength;

  ArTypes::UByte2 myReadLength;
  bool myOwnMyBuf;

  // Actual packet data
  char *myBuf;
  ArTypes::UByte2 myLength;

  // Whether no error has occurred in reading/writing the packet.
  bool myIsValid;

};


#endif // ARPACKET_H

---