// 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.hpp

 */

#ifndef FASTDDS_RTPS_MESSAGES__RTPS_MESSAGES_HPP

#define FASTDDS_RTPS_MESSAGES__RTPS_MESSAGES_HPP

#ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC

#include <iostream>

#include <bitset>

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

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

#include <fastdds/rtps/common/VendorId_t.hpp>

namespace eprosima {

namespace fastdds {

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

    fastdds::rtps::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;

}

} // namespace rtps

} // namespace fastdds

} // namespace eprosima

#endif // ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC

#endif // FASTDDS_RTPS_MESSAGES__RTPS_MESSAGES_HPP