// 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 CDRMessageCreator.cpp

 *

 */

#include <rtps/messages/RTPSMessageCreator.hpp>

#include <fastdds/core/policy/ParameterList.hpp>

#include <fastdds/dds/log/Log.hpp>

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

using ParameterList = eprosima::fastdds::dds::ParameterList;

namespace eprosima {

namespace fastdds {

namespace rtps {

bool RTPSMessageCreator::addHeader(

        CDRMessage_t* msg,

        const GuidPrefix_t& guidPrefix,

        const ProtocolVersion_t& version,

        const fastdds::rtps::VendorId_t& vendorId)

{

    CDRMessage::addOctet(msg, 'R');

    CDRMessage::addOctet(msg, 'T');

    CDRMessage::addOctet(msg, 'P');

    CDRMessage::addOctet(msg, 'S');

    CDRMessage::addOctet(msg, version.m_major);

    CDRMessage::addOctet(msg, version.m_minor);

    CDRMessage::addOctet(msg, vendorId[0]);

    CDRMessage::addOctet(msg, vendorId[1]);

    CDRMessage::addData(msg, guidPrefix.value, 12);

    msg->length = msg->pos;

    return true;

}

bool RTPSMessageCreator::addHeader(

        CDRMessage_t* msg,

        const GuidPrefix_t& guidPrefix)

{

    return RTPSMessageCreator::addHeader(msg, guidPrefix, c_ProtocolVersion, c_VendorId_eProsima);

}

bool RTPSMessageCreator::addCustomContent(

        CDRMessage_t* msg,

        const octet* content,

        const size_t contentSize)

{

    CDRMessage::addData(msg, content, static_cast<uint32_t>(contentSize));

    msg->length = msg->pos;

    return true;

}

bool RTPSMessageCreator::addSubmessageHeader(

        CDRMessage_t* msg,

        octet id,

        octet flags,

        uint16_t size)

{

#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

    CDRMessage::addOctet(msg, id);

    CDRMessage::addOctet(msg, flags);

    CDRMessage::addUInt16(msg, size);

    msg->length = msg->pos;

    return true;

}

bool RTPSMessageCreator::addSubmessageInfoTS(

        CDRMessage_t* msg,

        const Time_t& time,

        bool invalidateFlag)

{

    octet flags = 0x0;

    uint16_t size = 8;

#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 (invalidateFlag)

    {

        flags = flags | BIT(1);

        size = 0;

    }

    CDRMessage::addOctet(msg, INFO_TS);

    CDRMessage::addOctet(msg, flags);

    CDRMessage::addUInt16(msg, size);

    if (!invalidateFlag)

    {

        CDRMessage::addInt32(msg, time.seconds());

        CDRMessage::addUInt32(msg, time.fraction());

    }

    return true;

}

bool RTPSMessageCreator::addSubmessageInfoSRC(

        CDRMessage_t* msg,

        const ProtocolVersion_t& version,

        const fastdds::rtps::VendorId_t& vendorId,

        const GuidPrefix_t& guidPrefix)

{

    octet flags = 0x0;

    uint16_t size = 20;

#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

    CDRMessage::addOctet(msg, INFO_SRC);

    CDRMessage::addOctet(msg, flags);

    CDRMessage::addUInt16(msg, size);

    CDRMessage::addUInt32(msg, 0);

    CDRMessage::addOctet(msg, version.m_major);

    CDRMessage::addOctet(msg, version.m_minor);

    CDRMessage::addOctet(msg, vendorId[0]);

    CDRMessage::addOctet(msg, vendorId[1]);

    CDRMessage::addData(msg, guidPrefix.value, 12);

    return true;

}

bool RTPSMessageCreator::addSubmessageInfoDST(

        CDRMessage_t* msg,

        const GuidPrefix_t& guidP)

{

    octet flags = 0x0;

    uint16_t size = 12;

#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

    CDRMessage::addOctet(msg, INFO_DST);

    CDRMessage::addOctet(msg, flags);

    CDRMessage::addUInt16(msg, size);

    CDRMessage::addData(msg, guidP.value, 12);

    return true;

}

bool RTPSMessageCreator::addSubmessageInfoTS_Now(

        CDRMessage_t* msg,

        bool invalidateFlag)

{

    Time_t time_now;

    Time_t::now(time_now);

    return RTPSMessageCreator::addSubmessageInfoTS(msg, time_now, invalidateFlag);

}

} // namespace rtps

} /* namespace rtps */

} /* namespace eprosima */

#include <rtps/messages/submessages/DataMsg.hpp>

#include <rtps/messages/submessages/HeartbeatMsg.hpp>

#include <rtps/messages/submessages/AckNackMsg.hpp>

#include <rtps/messages/submessages/GapMsg.hpp>