| #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;
|
| };
|
|
|
|
|
| }
|
| }
|
|
|
| #endif
|
|
|
