packet.h

机器人仿真软件

/**
	*  Copyright (C) 2006
	*     Videre Design
	*  Copyright (C) 2000  
	*     Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
	*
	*  Videre Erratic robot driver for Player
	*
	*  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
	*
**/

#ifndef _PACKET_H
#define _PACKET_H

#include <string.h>
#include <libplayercore/playercore.h>
//#include <stdint.h>

#define PACKET_LEN 256

enum receive_result_e {
	success = 0,
	failure = 1,
	timeout = 2
};


class ErraticPacket 
{
 public:
  unsigned char packet[PACKET_LEN];
  unsigned char size;

  uint16_t CalcChkSum();

  void Print();
  void PrintHex();
  int Build( unsigned char *data, unsigned char datasize );
  int Send( int fd );
  int Receive( int fd, uint16_t wait = 30 );
  bool Check();
  
  bool operator!= ( ErraticPacket p ) {
    if ( size != p.size) return(true);

    if ( memcmp( packet, p.packet, size ) != 0 ) return (true);

    return(false);
  }
};

#endif