ArNetPacket.h

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/*
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 NLNETPACKET_H
#define NLNETPACKET_H

#include "Aria.h"

class ArNetPacket : public ArBasePacket
{
public:
  AREXPORT ArNetPacket(
          ArTypes::UByte2 bufferSize = ArNetPacket::MAX_LENGTH + 5);
  AREXPORT virtual ~ArNetPacket();
  AREXPORT void setCommand(ArTypes::UByte2 command);
  AREXPORT ArTypes::UByte2 getCommand(void);
  enum { 
    SIZE_OF_LENGTH = 2,  
    MAX_LENGTH = 32000,  
    HEADER_LENGTH = 6,   
    FOOTER_LENGTH = 2,   

    MAX_DATA_LENGTH = MAX_LENGTH - HEADER_LENGTH - FOOTER_LENGTH - SIZE_OF_LENGTH
  };
  
  AREXPORT virtual void doubleToBuf(double val);
  AREXPORT virtual double bufToDouble(void);
  AREXPORT virtual void empty(void);
  AREXPORT virtual void finalizePacket(void);
  AREXPORT virtual void resetRead(void);
  AREXPORT virtual void duplicatePacket(ArNetPacket *packet);
  
  AREXPORT bool verifyCheckSum(void);
  AREXPORT ArTypes::Byte2 calcCheckSum(void);

  bool getAddedFooter(void) { return myAddedFooter; }
  void setAddedFooter(bool addedFooter) { myAddedFooter = addedFooter; }

  enum PacketSource
  {
    TCP, 
    UDP 
  };
  PacketSource getPacketSource(void) { return myPacketSource; }
  void setPacketSource(PacketSource source) { myPacketSource = source; }
protected:
  PacketSource myPacketSource;
  bool myAddedFooter;
  ArTypes::UByte2 myCommand;
};


#endif

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