/*

ARIA header files for use with ARNL 1.7.1

Copyright(C) 2004, 2005 ActivMedia Robotics, LLC. 
Copyright(C) 2006, 2007, 2008, 2009 MobileRobots Inc.
All rights reserved.

This copy of Aria was relicensed for use with Arnl and the Arnl
license by MobileRobots Inc.  If you wish to download a seperate
distribution of Aria licensed under the GPL or a commercial license go to
http://www.mobilerobots.com/SOFTWARE/aria.html or contact MobileRobots
Inc, at robots@mobilerobots.com or MobileRobots Inc,
10 Columbia Drive, Amherst, NH 03031; 800-639-9481

MobileRobots Inc hereby grants to other individuals or
organizations permission to use this software with Arnl and in
compliance with the Arnl license.  This software may not be
distributed to others except by MobileRobots Inc.

MobileRobots Inc does not make any representations about the
suitability of this software for any purpose.  It is provided "as is"
without express or implied warranty.

*/
#ifndef ARROBOTPACKET_H
#define ARROBOTPACKET_H

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

/// Represents the packets sent to the robot as well as those received from it
/**
   This class reimplements some of the buf operations since the robot is 
   opposeite endian from intel.  Also has the getID for convenience.  
   
   You can just look at the documentation for the ArBasePacket except for
   the 4 new functions here, verifyCheckSum, getID, print, and calcCheckSum.
 */
class ArRobotPacket: public ArBasePacket
{
public:
  /// Constructor
  AREXPORT ArRobotPacket(unsigned char sync1 = 0xfa, 
			 unsigned char sync2 = 0xfb);
  /// Destructor
  AREXPORT virtual ~ArRobotPacket();

  /// returns true if the checksum matches what it should be
  AREXPORT bool verifyCheckSum(void);

  /// returns the ID of the packet 
  AREXPORT ArTypes::UByte getID(void);

  /// Sets the ID of the packet 
  AREXPORT void setID(ArTypes::UByte id);

  /// returns the checksum, probably used only internally
  AREXPORT ArTypes::Byte2 calcCheckSum(void);
  
  // only call finalizePacket before a send
  AREXPORT virtual void finalizePacket(void);
  
  /// Gets the time the packet was received at
  AREXPORT ArTime getTimeReceived(void);
  /// Sets the time the packet was received at
  AREXPORT void setTimeReceived(ArTime timeReceived);

  AREXPORT virtual void log();

protected:
  unsigned char mySync1;
  unsigned char mySync2;
  ArTime myTimeReceived;
};

#endif // ARROBOTPACKET_H