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