ArSickPacket.h

/*
ActivMedia Robotics Interface for Applications (ARIA)
Copyright (C) 2004,2005 ActivMedia Robotics, LLC


     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 
ActivMedia Robotics for information about a commercial version of ARIA at 
robots@activmedia.com or 
ActivMedia Robotics, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481

*/

#ifndef ARSICKPACKET_H
#define ARSICKPACKET_H

#include "ariaTypedefs.h"
#include "ArBasePacket.h"
#include "ariaUtil.h"


class ArSickPacket: public ArBasePacket
{
public:
  ArSickPacket(unsigned char sendingAddress = 0);
  virtual ~ArSickPacket();

  void setSendingAddress(unsigned char address);

  unsigned char getSendingAddress(void);

  unsigned char getReceivedAddress(void);
  
  bool verifyCRC(void);
  
  ArTypes::UByte getID(void);

  ArTypes::Byte2 calcCRC(void);
  
  // only call finalizePacket before a send
  virtual void finalizePacket(void);
  virtual void resetRead(void);
  
  ArTime getTimeReceived(void);
  void setTimeReceived(ArTime timeReceived);

  virtual void duplicatePacket(ArSickPacket *packet);
protected:
  ArTime myTimeReceived;
  unsigned char mySendingAddress;
};

#endif // ARSICKPACKET_H

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