cmtmessage.h

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#ifndef XSENS_MONOLITHIC

#endif
#ifndef CMTMESSAGE_H
#define CMTMESSAGE_H

#ifndef XSENS_MONOLITHIC
#       include "cmtdef.h"
#       include "cmt1.h"
#endif

namespace xsens {


uint8_t computeChecksum(const uint8_t* buffer, uint32_t length);

/* different alignment commands for gcc / MSVS, the structure needs to be 1-byte aligned.
*/
#ifdef _MSC_VER
        #pragma pack(push, 1)
#endif

struct MessageHeader {
        uint8_t m_preamble;
        uint8_t m_busId;
        uint8_t m_messageId;
        uint8_t m_length;
        union _mdl {
                struct _mextd {
                        struct _mlen {
                                uint8_t m_high;
                                uint8_t m_low;
                        } m_length;
                        uint8_t m_data[CMT_MAXDATALEN];
                } m_extended;
                uint8_t m_data[254];
        } m_datlen;
}
// different alignment commands for gcc / MSVS
#ifdef _MSC_VER
        ;
        #pragma pack(pop)
#else
        __attribute__((__packed__))     ;
#endif


#define swapEndian16(src) (((src) >> 8) | ((src) << 8))
#define swapEndian32(src) (((src) >> 24) | ((src) >> 8 & 0xFF00) | ((src) << 8 & 0xFF0000) | ((src) << 24))

class Message {
protected:

        MessageHeader* m_buffer;
        uint8_t* m_checksum;
        uint32_t m_maxLength;
        
        uint8_t calcChecksum(void) const
        { return computeChecksum(((uint8_t*)m_buffer) + 1, getTotalMessageSize()-2); }
        uint8_t* getDataStart(void) const;

public:
        bool m_autoUpdateChecksum;

        Message(const uint8_t msgId = 0, const uint16_t length = 0,     const uint16_t maxLength = CMT_MAXMSGLEN);

        Message(const uint8_t* source, const uint16_t size, const uint16_t maxLength = CMT_MAXMSGLEN);

        Message(const Message& src);

        ~Message();

        void clear(void);

        uint8_t getBusId(void) const { return m_buffer->m_busId; }
        uint8_t* getDataBuffer(const uint16_t offset = 0)
                { return &((getDataStart())[offset]); }
        const uint8_t* getDataBuffer(const uint16_t offset = 0) const
                { return &((getDataStart())[offset]); }
        uint8_t getDataByte(const uint16_t offset = 0) const
                { return (getDataStart()[offset]); }
        double getDataDouble(const uint16_t offset=0) const;
        float getDataFloat(const uint16_t offset=0) const;
        double getDataF1220(const uint16_t offset=0) const;
        double getDataFP1632(const uint16_t offset=0) const;
        double getDataFPValue(const uint64_t outputSettings, const uint16_t offset = 0) const;
        void getDataFPValue(double *dest, const uint64_t outputSettings, uint16_t offset, const int16_t numValues) const;
        uint32_t getDataLong(const uint16_t offset=0) const;
        uint16_t getDataShort(const uint16_t offset=0) const;
        uint16_t getDataSize(void) const;
        uint8_t getMessageId(void) const { return m_buffer->m_messageId; }
        const uint8_t* getMessageStart(void) const
                { return (uint8_t*) m_buffer; }
        uint16_t getTotalMessageSize(void) const;
        bool isChecksumOk(void) const;
        XsensResultValue loadFromString(const uint8_t* source, const uint16_t size);
        void recomputeChecksum(void) { m_checksum[0] = calcChecksum(); }
        void resizeData(const uint16_t newSize);
        void setBusId(const uint8_t busId);
        void setDataBuffer(const uint8_t* data, const uint16_t offset = 0,
                                                                const uint16_t count = 0);
        void setDataByte(const uint8_t data, const uint16_t offset = 0);
        void setDataDouble(const double data, const uint16_t offset=0);
        void setDataFloat(const float data, const uint16_t offset = 0);
        void setDataF1220(const double data, const uint16_t offset = 0);
        void setDataFP1632(const double data, const uint16_t offset = 0);
        void setDataFPValue(const uint64_t outputSettings, const double data, const uint16_t offset = 0);
        void setDataFPValue(const uint64_t outputSettings, const double *data, uint16_t offset, const uint16_t numValues);
        void setDataLong(const uint32_t data, const uint16_t offset = 0);
        void setDataShort(const uint16_t data, const uint16_t offset = 0);
        void setMessageId(const uint8_t msgId);

        void operator = (const Message& src);

        void deleteData(uint16_t size, uint16_t offset = 0);
        void insertData(uint16_t size, uint16_t offset = 0);
};

}; // end of xsens namespace

#endif  // CMTMESSAGE_H