services-ros1-xbee_mav/include/XBeeFrame.h

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2017-01-10 13:14:41 -04:00
/* XBeeFrame.cpp -- XBee Frame class -- */
/* ------------------------------------------------------------------------- */
/* September 20, 2016 -- @Copyright Aymen Soussia. All rights reserved. */
/* (aymen.soussia@gmail.com) */
#pragma once
#include<cstdio>
#include<cstdlib>
#include<cstring>
namespace Mist
{
namespace Xbee
{
//*****************************************************************************
class Frame
{
public:
Frame();
~Frame();
enum {FRAME_HEADER_LENGTH = 4};
enum {MAX_FRAME_BODY_LENGTH = 280}; // TO DO check value
const char* Get_Frame_Data() const;
char* Get_Frame_Data();
std::size_t Get_Frame_Length() const;
const char* Get_Frame_Body() const;
char* Get_Frame_Body();
std::size_t Get_Frame_Body_Length() const;
bool Decode_Frame_Header();
std::size_t Get_Frame_Type() const;
int Get_Start_Delimiter_Position();
void Rearrange_Corrupted_Header();
private:
char data_buffer_[FRAME_HEADER_LENGTH + MAX_FRAME_BODY_LENGTH];
std::size_t frame_body_length_;
unsigned int frame_type_;
int start_delimiter_position_;
};
}
}