/home/toby/moos-ivp/MOOS-2375-Oct0611/Core/MOOSLIB/MOOSMsg.h

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//
//   MOOS - Mission Oriented Operating Suite 
//  
//   A suit of Applications and Libraries for Mobile Robotics Research 
//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and 
//   Oxford University. 
//    
//   This software was written by Paul Newman at MIT 2001-2002 and Oxford 
//   University 2003-2005. email: pnewman@robots.ox.ac.uk. 
//      
//   This file is part of a  MOOS Core Component. 
//        
//   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. 
//
// MOOSMsg.h: interface for the CMOOSMsg class.
//

#if !defined(AFX_MOOSMSG_H__B6540645_B7DA_420D_B212_96E9845BB39F__INCLUDED_)
#define AFX_MOOSMSG_H__B6540645_B7DA_420D_B212_96E9845BB39F__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include <string>

//MESSAGE TYPES
#define MOOS_NOTIFY 'N'
#define MOOS_REGISTER 'R'
#define MOOS_UNREGISTER 'U'
#define MOOS_NOT_SET '~'
#define MOOS_COMMAND 'C'
#define MOOS_ANONYMOUS 'A'
#define MOOS_NULL_MSG '.'
#define MOOS_DATA 'i'
#define MOOS_POISON  'K'
#define MOOS_WELCOME 'W'
#define MOOS_SERVER_REQUEST 'Q'

//MESSAGE DATA TYPES
#define MOOS_DOUBLE 'D'
#define MOOS_STRING    'S'
#define MOOS_BINARY_STRING 'B'

//5 seconds time difference between client clock and MOOSDB clock will be allowed
#define SKEW_TOLERANCE 5

class CMOOSMsg  
{
public:


    CMOOSMsg();
    virtual ~CMOOSMsg();

    CMOOSMsg(char cMsgType,const std::string &sKey,double dfVal,double dfTime=-1);

    CMOOSMsg(char cMsgType,const std::string &sKey,const std::string & sVal,double dfTime=-1);
        
        void MarkAsBinary();


    bool IsDataType (char cDataType)const;

    bool IsDouble()const{return IsDataType(MOOS_DOUBLE);}

    bool IsString()const{return IsDataType(MOOS_STRING) || IsDataType(MOOS_BINARY_STRING);}    

    bool IsSkewed(double dfTimeNow, double * pdfSkew = NULL);

    bool IsYoungerThan(double dfAge)const;

    bool IsType (char  cType)const;

    double GetTime()const {return m_dfTime;};

    double GetDouble()const {return m_dfVal;};

    std::string GetString()const {return m_sVal;};

    std::string GetKey()const {return m_sKey;};
    std::string GetName()const{return GetKey();};

    std::string GetSource()const {return m_sSrc;};
    std::string GetSourceAux()const {return m_sSrcAux;};
        void SetSourceAux(const std::string & sSrcAux){m_sSrcAux = sSrcAux;}

    std::string GetCommunity()const {return m_sOriginatingCommunity;};

    std::string GetAsString(int nFieldWidth=12, int nNumDP=5);

    void Trace();

    void SetDouble(double dfD){m_dfVal = dfD;}

    char m_cMsgType;
    
    char m_cDataType;
    
    std::string m_sKey;
    
    int m_nID;

    double m_dfTime;
    
    //DATA VARIABLES
    
    //a) numeric
    double m_dfVal;
    double m_dfVal2;
    
    //b) string
    std::string m_sVal;

    //who sent this message?
    std::string m_sSrc;
        
        //extra info on source (optional payload)
        std::string m_sSrcAux;

    //what community did it originate in?
    std::string m_sOriginatingCommunity;

    //serialise this message into/outof a character buffer
    int Serialize(unsigned char *  pBuffer,int  nLen,bool bToStream=true);

    //comparsion operator for sorting and storing
    bool operator <(const CMOOSMsg & Msg) const{ return m_dfTime<Msg.m_dfTime;};

    //return size of Msg in bytes when serialised
    unsigned int GetSizeInBytesWhenSerialised() const;



private:
    //private things which you have no business knowing about
    unsigned char * m_pSerializeBufferStart;
    unsigned char * m_pSerializeBuffer;
    int  m_nSerializeBufferLen;
    int  m_nLength;
    int GetLength();
    void  operator << (char & cVal);
    void  operator << (double & dfVal);
    void  operator << (std::string & sVal);
    void  operator << (int & nVal);
    void  operator >> (char & cVal);
    void  operator >> (double & dfVal);
    void  operator >> (std::string & sVal);
    void  operator >> (int & nVal);
    

    bool CanSerialiseN(int N);

};

#endif // !defined(AFX_MOOSMSG_H__B6540645_B7DA_420D_B212_96E9845BB39F__INCLUDED_)