// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).

//

// Licensed under the Apache License, Version 2.0 (the "License");

// you may not use this file except in compliance with the License.

// You may obtain a copy of the License at

//

//     http://www.apache.org/licenses/LICENSE-2.0

//

// Unless required by applicable law or agreed to in writing, software

// distributed under the License is distributed on an "AS IS" BASIS,

// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

// See the License for the specific language governing permissions and

// limitations under the License.

/**

 * @file RTPS_messages.h

 */

#ifndef _FASTDDS_RTPS_RTPS_MESSAGES_H_

#define _FASTDDS_RTPS_RTPS_MESSAGES_H_

#ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC

#include <fastdds/rtps/common/Types.h>

#include <fastdds/rtps/common/Guid.h>

#include <iostream>

 #include <bitset>

namespace eprosima{

namespace fastrtps{

namespace rtps{

// //!@brief Enumeration of the different Submessages types

enum SubmessageId : uint8_t

{

    PAD             = 0x01,

    ACKNACK         = 0x06,

    HEARTBEAT       = 0x07,

    GAP             = 0x08,

    INFO_TS         = 0x09,

    INFO_SRC        = 0x0c,

    INFO_REPLY_IP4  = 0x0d,

    INFO_DST        = 0x0e,

    INFO_REPLY      = 0x0f,

    NACK_FRAG       = 0x12,

    HEARTBEAT_FRAG  = 0x13,

    DATA            = 0x15,

    DATA_FRAG       = 0x16

};

//!@brief Structure Header_t, RTPS Message Header Structure.

//!@ingroup COMMON_MODULE

 struct Header_t{

     //!Protocol version

     ProtocolVersion_t version;

     //!Vendor ID

     VendorId_t vendorId;

     //!GUID prefix

     GuidPrefix_t guidPrefix;

     Header_t():

         version(c_ProtocolVersion)

         , vendorId(c_VendorId_eProsima)

     {

     }

     ~Header_t(){

     }

 };

 /**

  * @param output

  * @param h

  * @return

  */

 inline std::ostream& operator<<(std::ostream& output,const Header_t& h){

     output << "RTPS HEADER of Version: " << (int)h.version.m_major << "." << (int)h.version.m_minor;

     output << "  || VendorId: " <<std::hex<< (int)h.vendorId[0] << "." <<(int)h.vendorId[1] << std::dec;

     output << "GuidPrefix: " << h.guidPrefix;

     return output;

 }

 //!@brief Structure SubmessageHeader_t, used to contain the header information of a submessage.

 struct SubmessageHeader_t

 {

     octet submessageId;

     uint32_t submessageLength;

     SubmessageFlag flags;

     bool is_last;

     SubmessageHeader_t()

         : submessageId(0)

         , submessageLength(0)

         , flags(0)

         , is_last(false)

     {}

 };

 using std::cout;

 using std::endl;

 using std::bitset;

 /**

  * @param output

  * @param sh

  * @return

  */

 inline std::ostream& operator<<(std::ostream& output,const SubmessageHeader_t& sh){

     output << "Submessage Header, ID: " <<std::hex<< (int)sh.submessageId << std::dec;

     output << " length: " << (int)sh.submessageLength << " flags " << (bitset<8>) sh.flags;

     return output;

 }

}

}

}

#endif

#endif /* _FASTDDS_RTPS_MESSAGES_H_ */