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// File Name: reportManipulatorSpecificationsMessage.h
//
// Written By: Danny Kent (jaus AT dannykent DOT com), Tom Galluzzo 
//
// Version: 3.3.0a
//
// Date: 08/07/08
//
// Description: This file defines the attributes of a ReportManipulatorSpecificationsMessage

#ifndef REPORT_MANIPULATOR_SPECIFICATIONS_MESSAGE_H
#define REPORT_MANIPULATOR_SPECIFICATIONS_MESSAGE_H

#include "jaus.h"

typedef struct
{
	// Include all parameters from a JausMessage structure:
	// Header Properties
	struct
	{
		// Properties by bit fields
		#ifdef JAUS_BIG_ENDIAN
			JausUnsignedShort reserved:2;
			JausUnsignedShort version:6;
			JausUnsignedShort expFlag:1;
			JausUnsignedShort scFlag:1;
			JausUnsignedShort ackNak:2;
			JausUnsignedShort priority:4; 
		#elif JAUS_LITTLE_ENDIAN
			JausUnsignedShort priority:4; 
			JausUnsignedShort ackNak:2;
			JausUnsignedShort scFlag:1; 
			JausUnsignedShort expFlag:1;
			JausUnsignedShort version:6; 
			JausUnsignedShort reserved:2;
		#else
			#error "Please define system endianess (see jaus.h)"
		#endif
	}properties;

	JausUnsignedShort commandCode; 

	JausAddress destination;

	JausAddress source;

	JausUnsignedInteger dataSize;

	JausUnsignedInteger dataFlag;
	
	JausUnsignedShort sequenceNumber;

	// MESSAGE DATA MEMBERS GO HERE

	JausByte numJoints;
	JausByte *jointType;	
	JausDouble *jointOffset;	
	JausDouble *linkLength;	
	JausDouble *twistAngle;	
	JausDouble *jointMinValue;	
	JausDouble *jointMaxValue;	
	JausDouble *jointMaxVelocity;	
	JausDouble coordinateSysX;
	JausDouble coordinateSysY;
	JausDouble coordinateSysZ;
	JausDouble coordinateSysA;
	JausDouble coordinateSysB;
	JausDouble coordinateSysC;
	JausDouble coordinateSysD;
		
}ReportManipulatorSpecificationsMessageStruct;

typedef ReportManipulatorSpecificationsMessageStruct* ReportManipulatorSpecificationsMessage;

JAUS_EXPORT ReportManipulatorSpecificationsMessage reportManipulatorSpecificationsMessageCreate(void);
JAUS_EXPORT void reportManipulatorSpecificationsMessageDestroy(ReportManipulatorSpecificationsMessage);

JAUS_EXPORT JausBoolean reportManipulatorSpecificationsMessageFromBuffer(ReportManipulatorSpecificationsMessage message, unsigned char* buffer, unsigned int bufferSizeBytes);
JAUS_EXPORT JausBoolean reportManipulatorSpecificationsMessageToBuffer(ReportManipulatorSpecificationsMessage message, unsigned char *buffer, unsigned int bufferSizeBytes);

JAUS_EXPORT ReportManipulatorSpecificationsMessage reportManipulatorSpecificationsMessageFromJausMessage(JausMessage jausMessage);
JAUS_EXPORT JausMessage reportManipulatorSpecificationsMessageToJausMessage(ReportManipulatorSpecificationsMessage message);

JAUS_EXPORT unsigned int reportManipulatorSpecificationsMessageSize(ReportManipulatorSpecificationsMessage message);

#endif // REPORT_MANIPULATOR_SPECIFICATIONS_MESSAGE_H
