/////////////////////////////////////////////////////////////////////////// // // 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. // ////////////////////////// END_GPL ////////////////////////////////// // 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 //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 /// MOOS Comms Messaging class. This is a class encapsulating the data which the MOOS Comms API shuttles /// between the MOOSDB and other clients class CMOOSMsg { public: /**standard construction destruction*/ CMOOSMsg(); virtual ~CMOOSMsg(); /** specialised construction*/ CMOOSMsg(char cMsgType,const std::string &sKey,double dfVal,double dfTime=-1); /** specialised construction*/ CMOOSMsg(char cMsgType,const std::string &sKey,const std::string & sVal,double dfTime=-1); /** Mark string payload as binary*/ void MarkAsBinary(); /**check data type (MOOS_STRING or MOOS_DOUBLE) */ bool IsDataType (char cDataType)const; /**check data type is double*/ bool IsDouble()const{return IsDataType(MOOS_DOUBLE);} /**check data type is string*/ bool IsString()const{return IsDataType(MOOS_STRING) || IsDataType(MOOS_BINARY_STRING);} /**return true if mesage is substantially (SKEW_TOLERANCE) older than dfTimeNow if pdfSkew is not NULL, the time skew is returned in *pdfSkew*/ bool IsSkewed(double dfTimeNow, double * pdfSkew = NULL); /**return true if message is younger that dfAge*/ bool IsYoungerThan(double dfAge)const; /**check message type MOOS_NOTIFY, REGISTER etc*/ bool IsType (char cType)const; /**return time stamp of message*/ double GetTime()const {return m_dfTime;}; /**return double val of message*/ double GetDouble()const {return m_dfVal;}; /**return string value of message*/ std::string GetString()const {return m_sVal;}; /**return the name of the message*/ std::string GetKey()const {return m_sKey;}; std::string GetName()const{return GetKey();}; /**return the name of the process (as registered with the DB) which posted this notification*/ std::string GetSource()const {return m_sSrc;}; std::string GetSourceAux()const {return m_sSrcAux;}; void SetSourceAux(const std::string & sSrcAux){m_sSrcAux = sSrcAux;} /**return the name of the MOOS community in which the orginator lives*/ std::string GetCommunity()const {return m_sOriginatingCommunity;}; /**format the message as string regardless of type*/ std::string GetAsString(int nFieldWidth=12, int nNumDP=5); /**print a summary of the message*/ void Trace(); /** set the Double value */ void SetDouble(double dfD){m_dfVal = dfD;} /**what type of message is this? Notification,Command,Register etc*/ char m_cMsgType; /**what kind of data is this? String,Double,Array?*/ char m_cDataType; /**what is the variable name?*/ std::string m_sKey; /**ID of message*/ int m_nID; /** double precision time stamp (UNIX time)*/ 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> (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_)