// 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.

/*

 * HeartbeatMsg.hpp

 *

 */

namespace eprosima {

namespace fastdds {

namespace rtps {

bool RTPSMessageCreator::addMessageHeartbeat(

        CDRMessage_t* msg,

        const GuidPrefix_t& guidprefix,

        const EntityId_t& readerId,

        const EntityId_t& writerId,

        const SequenceNumber_t& firstSN,

        const SequenceNumber_t& lastSN,

        Count_t count,

        bool isFinal,

        bool livelinessFlag)

{

    RTPSMessageCreator::addHeader(msg, guidprefix);

    RTPSMessageCreator::addSubmessageHeartbeat(msg, readerId, writerId, firstSN, lastSN, count, isFinal,

            livelinessFlag);

    msg->length = msg->pos;

    return true;

}

bool RTPSMessageCreator::addMessageHeartbeat(

        CDRMessage_t* msg,

        const GuidPrefix_t& guidprefix,

        const GuidPrefix_t& remoteGuidprefix,

        const EntityId_t& readerId,

        const EntityId_t& writerId,

        const SequenceNumber_t& firstSN,

        const SequenceNumber_t& lastSN,

        Count_t count,

        bool isFinal,

        bool livelinessFlag)

{

    RTPSMessageCreator::addHeader(msg, guidprefix);

    RTPSMessageCreator::addSubmessageInfoDST(msg, remoteGuidprefix);

    RTPSMessageCreator::addSubmessageHeartbeat(msg, readerId, writerId, firstSN, lastSN, count, isFinal,

            livelinessFlag);

    msg->length = msg->pos;

    return true;

}

bool RTPSMessageCreator::addSubmessageHeartbeat(

        CDRMessage_t* msg,

        const EntityId_t& readerId,

        const EntityId_t& writerId,

        const SequenceNumber_t& firstSN,

        const SequenceNumber_t& lastSN,

        Count_t count,

        bool isFinal,

        bool livelinessFlag)

{

    octet flags = 0x0;

    Endianness_t old_endianess = msg->msg_endian;

#if FASTDDS_IS_BIG_ENDIAN_TARGET

    msg->msg_endian = BIGEND;

#else

    flags = flags | BIT(0);

    msg->msg_endian = LITTLEEND;

#endif // if FASTDDS_IS_BIG_ENDIAN_TARGET

    if (isFinal)

    {

        flags = flags | BIT(1);

    }

    if (livelinessFlag)

    {

        flags = flags | BIT(2);

    }

    // Submessage header.

    CDRMessage::addOctet(msg, HEARTBEAT);

    CDRMessage::addOctet(msg, flags);

    uint32_t submessage_size_pos = msg->pos;

    uint16_t submessage_size = 0;

    CDRMessage::addUInt16(msg, submessage_size);

    uint32_t position_size_count_size = msg->pos;

    CDRMessage::addEntityId(msg, &readerId);

    CDRMessage::addEntityId(msg, &writerId);

    //Add Sequence Number

    CDRMessage::addSequenceNumber(msg, &firstSN);

    CDRMessage::addSequenceNumber(msg, &lastSN);

    CDRMessage::addInt32(msg, (int32_t)count);

    //TODO(Ricardo) Improve.

    submessage_size = uint16_t(msg->pos - position_size_count_size);

    octet* o = reinterpret_cast<octet*>(&submessage_size);

    if (msg->msg_endian == DEFAULT_ENDIAN)

    {

        msg->buffer[submessage_size_pos] = *(o);

        msg->buffer[submessage_size_pos + 1] = *(o + 1);

    }

    else

    {

        msg->buffer[submessage_size_pos] = *(o + 1);

        msg->buffer[submessage_size_pos + 1] = *(o);

    }

    msg->msg_endian = old_endianess;

    return true;

}

bool RTPSMessageCreator::addMessageHeartbeatFrag(

        CDRMessage_t* msg,

        const GuidPrefix_t& guidprefix,

        const EntityId_t& readerId,

        const EntityId_t& writerId,

        SequenceNumber_t& firstSN,

        FragmentNumber_t& lastFN,

        Count_t count)

{

    RTPSMessageCreator::addHeader(msg, guidprefix);

    RTPSMessageCreator::addSubmessageHeartbeatFrag(msg, readerId, writerId, firstSN, lastFN, count);

    msg->length = msg->pos;

    return true;

}

bool RTPSMessageCreator::addSubmessageHeartbeatFrag(

        CDRMessage_t* msg,

        const EntityId_t& readerId,

        const EntityId_t& writerId,

        SequenceNumber_t& firstSN,

        FragmentNumber_t& lastFN,

        Count_t count)

{

    octet flags = 0x0;

    Endianness_t old_endianess = msg->msg_endian;

#if FASTDDS_IS_BIG_ENDIAN_TARGET

    msg->msg_endian = BIGEND;

#else

    flags = flags | BIT(0);

    msg->msg_endian = LITTLEEND;

#endif // if FASTDDS_IS_BIG_ENDIAN_TARGET

    // Submessage header.

    CDRMessage::addOctet(msg, HEARTBEAT_FRAG);

    CDRMessage::addOctet(msg, flags);

    uint32_t submessage_size_pos = msg->pos;

    uint16_t submessage_size = 0;

    CDRMessage::addUInt16(msg, submessage_size);

    uint32_t position_size_count_size = msg->pos;

    CDRMessage::addEntityId(msg, &readerId);

    CDRMessage::addEntityId(msg, &writerId);

    //Add Sequence Number

    CDRMessage::addSequenceNumber(msg, &firstSN);

    CDRMessage::addUInt32(msg, (uint32_t)lastFN);

    CDRMessage::addInt32(msg, (int32_t)count);

    //TODO(Ricardo) Improve.

    submessage_size = uint16_t(msg->pos - position_size_count_size);

    octet* o = reinterpret_cast<octet*>(&submessage_size);

    if (msg->msg_endian == DEFAULT_ENDIAN)

    {

        msg->buffer[submessage_size_pos] = *(o);

        msg->buffer[submessage_size_pos + 1] = *(o + 1);

    }

    else

    {

        msg->buffer[submessage_size_pos] = *(o + 1);

        msg->buffer[submessage_size_pos + 1] = *(o);

    }

    msg->msg_endian = old_endianess;

    return true;

}

} // namespace rtps

} // namespace fastdds

} // namespace eprosima