JanzMessage.h

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#ifndef CARMA_CANBUS_JANZMESSAGE_H
#define CARMA_CANBUS_JANZMESSAGE_H

#include "carma/canbus/Types.h"

namespace carma {
namespace canbus {

    class Message;

    // Typedefs to mimic Janz internal FastMessage structure
    typedef unsigned char BYTE_t;

    typedef struct {
        BYTE_t    unused;      /* driver internal flags */
        BYTE_t    cmd;         /* command specifier */
        BYTE_t    data[14];    /* data array */
    } FastMessage;

    class JanzMessage {
    public:

        typedef enum {
            STANDARD = 0,
            EXTENDED = 1
        } messageTypeType;

        JanzMessage( JanzMessage::messageTypeType msgType = EXTENDED );

        JanzMessage(carma::canbus::idType id, 
                carma::canbus::busIdType busId);

        JanzMessage(carma::canbus::idType id, 
                const std::vector<carma::canbus::byteType> &data,
                carma::canbus::busIdType busId);

        JanzMessage(carma::canbus::FastMessage, 
                    carma::canbus::busIdType busId);

        JanzMessage( const carma::canbus::Message & message );

        JanzMessage(const JanzMessage &other);

        JanzMessage &operator=(const JanzMessage &other);

        bool operator==( const JanzMessage & other ) const;
        
        bool operator!=( const JanzMessage & other ) const;

        carma::canbus::JanzMessage::messageTypeType getMessageType() const;

        carma::canbus::idType getId() const;

        carma::canbus::busIdType getBusId() const;

        std::vector<carma::canbus::byteType> getData() const;

        carma::canbus::portType getPort() const;

        carma::canbus::FastMessage getRawMessage() const;

        double getRxMjd() const;

        bool isSimulated() const;


        void setId(carma::canbus::idType id);

        void setBusId(carma::canbus::busIdType busId);

        void setData(const std::vector<carma::canbus::byteType> &data);

        void setPort(carma::canbus::portType port);     

        void setRxMjd(double mjd);

        void setSimFlag(bool sim);

        void disableTxRetry();

        void enableEcho();

    protected:

        // There are no protected methods or data.

    private:

        static const idType MAX_STANDARD_ID    = 0x7FF;
        static const idType MAX_EXTENDED_ID    = 0x1FFFFFFF;

        int getDataLength() const;

        void setMessageType( JanzMessage::messageTypeType messageType);

        bool validateId(carma::canbus::idType id) const;

        // Private variables.
        carma::canbus::busIdType busId_;  // Bus id.
        carma::canbus::FastMessage rawMsg_;              // Janz raw message
        bool simulated_;      // Flag to indicate if msg is for sim purposes.
        double rxMjd_;        // Rx time in Mean Julian Day format.
    };
} // namespace canbus
} // namespace carma
#endif