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#ifndef KINOVAUTILAPI_H
#define KINOVAUTILAPI_H
#include "messages/Frame.pb.h"
namespace Kinova
{
namespace Api
{
typedef union
{
uint32_t frame_info;
struct
{
uint32_t errorSubCode: 12;
uint32_t errorCode: 4;
uint32_t deviceId: 8;
uint32_t frameType: 4;
uint32_t headerVersion : 4;
};
} FrameInfo;
typedef union
{
uint32_t message_info;
struct
{
uint32_t messageId: 16;
uint32_t sessionId: 16;
};
} MessageInfo;
typedef union
{
uint32_t service_info;
struct
{
uint32_t functionId: 16;
uint32_t serviceId: 12;
uint32_t serviceVersion: 4;
};
struct
{
uint32_t functionUid: 28;
};
} ServiceInfo;
typedef union
{
uint32_t payload_info;
struct
{
uint32_t payloadLength: 24;
uint32_t reserved: 8;
};
} PayloadInfo;
class HeaderInfo
{
public:
HeaderInfo();
HeaderInfo(const Header& headerProto);
Header createHeader();
void fillHeader(Header* pHeader);
FrameInfo m_frameInfo;
MessageInfo m_messageInfo;
ServiceInfo m_serviceInfo;
PayloadInfo m_payloadInfo;
};
} // namespace Api
} // namespace Kinova
#endif
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