ASDP_Core_API.cpp

/*
 * Copyright (C) 2024: Arizona Board of Regents on Behalf of the University of Arizona
 */

#include "ASDP_Core_API.h"
#include "ASDP_SpinFreeQueue.hpp"
#include "ASDP_SpinFreeAccurateTimer.hpp"
#include <string.h>   // For memcpy
#include <iostream>
#include <algorithm>
#include <atomic>
#include <vector>
#include <cmath>
#include <stdio.h>
#include <fcntl.h>
#ifdef _WIN32
#include <io.h>
#endif

// Must be defined outside of the namespace.
std::ostream& operator<<(std::ostream& os, const asdp::StreamEndpoint& endpoint) {
  os << ((endpoint.IP & (0xff << 24)) >> 24) << "."
    << ((endpoint.IP & (0xff << 16)) >> 16) << "."
    << ((endpoint.IP & (0xff << 8)) >> 8) << "."
    << (endpoint.IP & 0xff)
    << ":" << endpoint.port;
  return os;
}

using namespace asdp;

//----------------------------------------------------------------------------
/// Error handling.

std::string asdp::ErrorMessage(Status status)
{
  switch (status) {
  case OKAY:
    return "No error";

  case TIMEOUT:
    return "Timeout";

  case THREAD_COMPLETED:
    return "Thread completed";

  case BAD_PARAMETER:
    return "Bad parameter";
  case OUT_OF_MEMORY:
    return "Out of memory";
  case NOT_IMPLEMENTED:
    return "Feature not yet implemented";
  case DELETION_FAILED:
    return "Pointer deletion failed";
  case NULL_OBJECT_POINTER:
    return "Object method called with NULL object pointer";
  case INTERNAL_EXCEPTION:
    return "Exception thrown inside implementation";
  case SOCKET_FAILURE:
    return "Socket error";
  case READ_PAST_END:
    return "Attempt to read past end of buffer";
  case BAD_COOKIE:
    return "Bad magic cookie";
  case WRITE_PAST_END:
    return "Attempt to write past end of buffer";
  case SOCKET_READ_FAILURE:
    return "Read error on socket or client buffer too small";
  case FILE_FAILURE:
    return "File error";
  case UNEXPECTED_INTERNAL_STATE:
    return "Unexpected internal state";
  case INCORRECT_ENDIANNESS:
    return "This architecture is not little-endian";
  case NOT_CONNECTED:
    return "Not connected";
  case INCORRECT_FLOAT_SIZE:
    return "This architecture does not have 32-bit floats";
  case INCOMPATIBLE_API_VERSION:
    return "Incompatible API version";

  default:
    return "Unrecognized error code: " + std::to_string(status);
  }
}

/// @brief Helper function to translate from OpCode to a descriptive string.
/// @param opCode The OpCode to translate.
/// @return A descriptive string for the OpCode.
static std::string OpCodeName(OpCode opCode)
{
  switch (opCode) {
  case RESET: return "RESET";
  case START_RECORDING: return "START_RECORDING";
  case STOP_RECORDING: return "STOP_RECORDING";
  case SET_START_UP_RECORDING_STATE: return "SET_START_UP_RECORDING_STATE";
  case START_REPLAY: return "START_REPLAY";
  case PAUSE_REPLAY: return "PAUSE_REPLAY";
  case RESUME_REPLAY: return "RESUME_REPLAY";
  case STOP_REPLAY: return "STOP_REPLAY";
  case SET_STREAM_STATE_PERIOD: return "SET_STREAM_STATE_PERIOD";
  case SET_NUC_FLAG_STATE: return "SET_NUC_FLAG_STATE";
  case START_ON_CAMERA_NUC: return "START_ON_CAMERA_NUC";
  case CONFIGURE_TRIGGER: return "CONFIGURE_TRIGGER";
  case SOFTWARE_TRIGGER: return "SOFTWARE_TRIGGER";
  case SET_EVENT_VERBOSITY: return "SET_EVENT_VERBOSITY";
  case STREAM_SUBREGION: return "STREAM_SUBREGION";
  case CANCEL_SUBREGION: return "CANCEL_SUBREGION";
  case ERASE_ALL_STORED_STREAMS: return "ERASE_ALL_STORED_STREAMS";
  case LIST_STORED_STREAMS: return "LIST_STORED_STREAMS";
  case ERASE_STORED_STREAM: return "ERASE_STORED_STREAM";
  case STREAM_TEMPERATURES: return "STREAM_TEMPERATURES";
  case CANCEL_TEMPERATURES: return "CANCEL_TEMPERATURES";
  case STREAM_POSES: return "STREAM_POSES";
  case CANCEL_POSES: return "CANCEL_POSES";
  default: return "UNKNOWN";
  }
}

//----------------------------------------------------------------------------
// Definitions of static constants used below.

static const unsigned char MAGIC_COOKIE[4] = { 'A', 'S', 'D', 'P' };
// NOTE: The version number is in the form major.minor.patch, where the first and third are bytes and
// the second is a 16-bit integer.  This is done to allow for a large number of minor versions.  The
// 16-bit minor version value is stored in little-endian format.
static const unsigned char VERSION[4] = { 8, 7,0, 0 };

static std::string ANALYSIS_STREAM_HEADER = "[{\"Version\":\"01.000.000\"}";

static const uint32_t PACKET_HEADER_TOTAL_SIZE_OFFSET = 0;
static const uint32_t PACKET_BASIC_HEADER_SIZE = sizeof(uint32_t);
static const uint32_t COMMAND_PACKET_OPCODE_OFFSET = PACKET_BASIC_HEADER_SIZE;
static const uint32_t COMMAND_PACKET_BASE_SIZE = PACKET_BASIC_HEADER_SIZE + sizeof(uint32_t);
static const uint32_t STREAM_PACKET_SEQUENCE_NUMBER_OFFSET = PACKET_BASIC_HEADER_SIZE;
static const uint32_t STREAM_PACKET_BASE_SIZE = PACKET_BASIC_HEADER_SIZE + sizeof(uint32_t);

static const uint32_t MESSAGE_BASE_SIZE = 4 * sizeof(uint32_t);
static const uint32_t MESSAGE_HEADER_MESSAGE_TOTAL_SIZE_OFFSET = 0;
static const uint32_t MESSAGE_HEADER_MESSAGE_TIME_SECONDS_OFFSET = sizeof(uint32_t);
static const uint32_t MESSAGE_HEADER_MESSAGE_TIME_MICROSECONDS_SIZE_OFFSET = 2 * sizeof(uint32_t);
static const uint32_t MESSAGE_HEADER_MESSAGE_TYPE_OFFSET = 3 * sizeof(uint32_t);

//----------------------------------------------------------------------------
// Figure out whether we're using Windows sockets or not.

// let's start with a clean slate
#undef ASDP_USE_WINSOCK_SOCKETS

// Does cygwin use winsock sockets or unix sockets?  Define this before
// compiling the library if you want it to use WINSOCK sockets.
//#define CYGWIN_USES_WINSOCK_SOCKETS

#if defined(_WIN32) && (!defined(__CYGWIN__) || defined(CYGWIN_USES_WINSOCK_SOCKETS))
#define ASDP_USE_WINSOCK_SOCKETS
#endif

//--------------------------------------
// Architecture-dependent include files.

#ifndef ASDP_USE_WINSOCK_SOCKETS
#include <sys/time.h>    // for timeval, timezone, gettimeofday
#include <sys/select.h>  // for fd_set
#include <netinet/in.h>  // for htonl, htons
#include <netinet/tcp.h> // for TCP_NODELAY
#include <poll.h>        // for poll()
#include <netdb.h>       // for addrinfo and related functions
#include <unistd.h>      // for close()
#include <sys/types.h>
#include <ifaddrs.h>
#include <arpa/inet.h>
#endif

#ifdef ASDP_USE_WINSOCK_SOCKETS
  // These are a pair of horrible hacks that instruct Windows include
  // files to (1) not define min() and max() in a way that messes up
  // standard-library calls to them, and (2) avoids pulling in a large
  // number of Windows header files.  They are not used directly within
  // the Sockets library, but rather within the Windows include files to
  // change the way they behave.

#ifndef NOMINMAX
#define ASDP_CORESOCKET_REPLACE_NOMINMAX
#define NOMINMAX
#endif
#ifndef WIN32_LEAN_AND_MEAN
#define ASDP_CORESOCKET_REPLACE_WIN32_LEAN_AND_MEAN
#define WIN32_LEAN_AND_MEAN
#endif
#include <winsock2.h> // struct timeval is defined here
#include "Ws2Tcpip.h"
#pragma comment(lib,"WS2_32")
#ifdef ASDP_CORESOCKET_REPLACE_NOMINMAX
#undef NOMINMAX
#endif
#ifdef ASDP_CORESOCKET_REPLACE_WIN32_LEAN_AND_MEAN
#undef WIN32_LEAN_AND_MEAN
#endif

// Ignore this flag on Windows; it is not defined and also not needed.
#define MSG_NOSIGNAL 0

#endif

//----------------------------------------------------------------------------
// Architecture-dependent definitions.

#ifndef ASDP_USE_WINSOCK_SOCKETS

// On Winsock, we have to use SOCKET, so we're going to have to use it
// everywhere.
typedef int SOCKET;

// On Winsock, INVALID_SOCKET is #defined as ~0 (sockets are unsigned ints)
// We can't redefine it locally, so we have to switch to another name
static const int BAD_SOCKET = -1;
static const int SOCKET_ERROR = -1;
#define closesocket close

#else // not winsock sockets

// Bring the SOCKET type into our namespace, basing it on the root namespace one.
typedef SOCKET SOCKET;

// Make a namespaced INVALID_SOCKET definition, which cannot be just
// INVALID_SOCKET because Windows #defines it, so we pick another name.
static const SOCKET BAD_SOCKET = INVALID_SOCKET;

#endif // winsock sockets

//--------------------------------------------------------------
// Ensures that someone calls WSAStartup on Windows before using
// any socket code.
#if defined(ASDP_USE_WINSOCK_SOCKETS)
class WSAStart {
public:
  WSAStart() {
    WSADATA wsaData;
    int winStatus;

    winStatus = WSAStartup(MAKEWORD(1, 1), &wsaData);
    if (winStatus) {
      std::cerr << "ASDP_Core: Failed to set up sockets: WSAStartup failed with error code " << winStatus << std::endl;
    }
  }
  // We do not call WSACleanup() because we don't know that we're the only
  // user of the sockets library.
};
static WSAStart startUp;
#endif

#ifdef ASDP_USE_WINSOCK_SOCKETS
#include <iphlpapi.h>
#pragma comment(lib, "IPHLPAPI.lib")
#endif

//----------------------------------------------------------------------------
// Helper functions.

/// @brief Get the server connection information from a URL.
/// @param [in] URL URL for the server.
/// @param [out] IP IP address of the server.
/// @param [out] port Port number of the server. If one is not specified in the URL, 0 is returned.
static Status ServerInfoFromURL(std::string URL, std::string& IP, uint16_t& port)
{
  // Make sure the URL starts with "tcp://".
  if (URL.substr(0, 6) != "tcp://") {
    return BAD_PARAMETER;
  }

  // Get the IP address and port.
  std::string IPString = URL.substr(6);
  size_t colonPos = IPString.find(':');
  IP = IPString.substr(0, colonPos);
  port = 0;
  if (colonPos != std::string::npos) {
    std::string portString = IPString.substr(colonPos + 1);
    port = std::stoi(portString);
  }

  return OKAY;
}

uint32_t asdp::GetLocalIPForRemote(uint32_t remote_ip)
{
  static uint16_t remote_port = 80;

  int sock = socket(AF_INET, SOCK_DGRAM, 0);
  if (sock < 0) {
    std::cerr << "Failed to create socket\n";
    return 0;
  }

  sockaddr_in remote_addr{};
  remote_addr.sin_family = AF_INET;
  remote_addr.sin_addr.s_addr = htonl(remote_ip);
  remote_addr.sin_port = htons(remote_port);

  // Connect to remote address (no packets sent)
  if (connect(sock, (sockaddr*)&remote_addr, sizeof(remote_addr)) < 0) {
    std::cerr << "Connect failed\n";
    closesocket(sock);
    return 0;
  }

  // Get local address used for this connection
  sockaddr_in local_addr{};
  socklen_t addr_len = sizeof(local_addr);
  if (getsockname(sock, (sockaddr*)&local_addr, &addr_len) < 0) {
    std::cerr << "getsockname failed\n";
    closesocket(sock);
    return 0;
  }

  char ip_str[INET_ADDRSTRLEN];
  inet_ntop(AF_INET, &local_addr.sin_addr, ip_str, sizeof(ip_str));

  closesocket(sock);

#ifdef _WIN32
  return htonl(local_addr.sin_addr.S_un.S_addr);
#else
  return htonl(local_addr.sin_addr.s_addr);
#endif
}

/// @brief Helper function to determine the size of the buffer needed to hold a message,
/// which can include padding to align each line to a 4-byte boundary.
static size_t PaddedSize(size_t nx, size_t ny)
{
  size_t padding = 4 - (nx * sizeof(uint16_t)) % 4;
  if (padding == 4) { padding = 0; }
  return (nx * sizeof(uint16_t) + padding) * ny;
}

/// @brief Helper function to determine how much padding to add to a string after null terminating it.
static size_t PaddingToAdd(const std::string& str)
{
  size_t withNull = str.size() + 1;
  size_t padding = 4 - (withNull % 4);
  if (padding == 4) {
    padding = 0;
  }
  return padding;
}

/// @brief Helper function to determine the size of a buffer needed to hold a string Event parameter.
static size_t PaddedSize(const std::string& str)
{
  // If the string is empty, the entire size is 0.
  if (str.size() == 0) {
    return 0;
  }

  // Otherwise, add the size of the string plus 1 for the null terminator and padding.
  return str.size() + 1 + PaddingToAdd(str);
}

/// @brief Helper function to unpack the version sections.
static void UnpackVersion(const uint8_t *version, uint16_t& major, uint16_t& minor, uint16_t& patch)
{
  major = version[0];
  minor = version[1] + (version[2] * static_cast<uint16_t>(256));
  patch = version[3];
}

/// @brief Helper function to determine the subnet mask for a given IP address.
/// @param [in] ipAddress Address of one of our local NICs.
/// @return The subnet mask for the NIC, or full mask for address not found.
/// This is returned in host byte order.
static uint32_t FindSubnetMask(std::string ipAddress)
{
  // We return the fully-filled mask if we can't find the address.
  uint32_t ret = ntohl(0xffffffff);

#ifdef ASDP_USE_WINSOCK_SOCKETS
  // Get the list of all network interfaces on the system
  ULONG bufferLength = 0;
  GetAdaptersInfo(NULL, &bufferLength);

  IP_ADAPTER_INFO* adapterInfo = (IP_ADAPTER_INFO*)malloc(bufferLength);
  if (GetAdaptersInfo(adapterInfo, &bufferLength) == NO_ERROR) {
    // Iterate over all network interfaces
    for (IP_ADAPTER_INFO* adapter = adapterInfo; adapter; adapter = adapter->Next) {
      // Iterate over all IP addresses for this network interface
      for (IP_ADDR_STRING* ipAddr = &adapter->IpAddressList; ipAddr; ipAddr = ipAddr->Next) {
        // Check if this is the IP address we're interested in
        if (ipAddress == ipAddr->IpAddress.String) {
          // Convert the subnet mask from string to host-ordered 4-byte unsigned
          unsigned long subnetMask;
          if (inet_pton(AF_INET, ipAddr->IpMask.String, &subnetMask) == 1) {
            ret = ntohl(subnetMask);
          }
        }
      }
    }
  }

  free(adapterInfo);
#else
  // Return entire mask for localhost
  if (ipAddress == "127.0.0.1" || ipAddress == "localhost") { return ret; }

  struct ifaddrs* ifAddrStruct = NULL;
  struct ifaddrs* ifa = NULL;
  void* tmpAddrPtr = NULL;

  getifaddrs(&ifAddrStruct);

  for (ifa = ifAddrStruct; ifa != NULL; ifa = ifa->ifa_next) {
    if (!ifa->ifa_addr) {
      continue;
    }
    // check it is IP4
    if (ifa->ifa_addr->sa_family == AF_INET) {
      tmpAddrPtr = &((struct sockaddr_in*)ifa->ifa_addr)->sin_addr;
      char addressBuffer[INET_ADDRSTRLEN];
      inet_ntop(AF_INET, tmpAddrPtr, addressBuffer, INET_ADDRSTRLEN);
      if (strcmp(addressBuffer, ipAddress.c_str()) == 0) {
        // found the network interface associated with the IP. Return in host
        // byte order.
        ret = ntohl(((struct sockaddr_in*)ifa->ifa_netmask)->sin_addr.s_addr);
      }
    }
  }
  if (ifAddrStruct != NULL) {
    freeifaddrs(ifAddrStruct);
  }
#endif

  return ret;
}

/// @brief Helper function to make a broadcast address for the NIC associated with an IP address.
/// @param [in] IP The IP address to find the broadcast address for.
/// @return The broadcast address for the NIC associated with the given IP.
static uint32_t MakeBroadcastAddress(uint32_t IP)
{
  // Convert the host-ordered address into a dotted-decimal string.
  struct in_addr addr;
  addr.s_addr = htonl(IP);
  std::string ipString = inet_ntoa(addr);

  // Find the subnet mask for the IP.
  uint32_t subnetMask = FindSubnetMask(ipString);

  // Invert all of the bits in the subnet mask to find the bits belonging to the address.
  uint32_t invertedMask = ~subnetMask;

  // Or the inverted mask with the IP to find the return value.
  return IP | invertedMask;
}

/// @brief Read exactly `len` bytes from a blocking TCP socket into `buf`.
/// @param [in] sock The socket to read from.
/// @param [out] buf The buffer to read into. Must be at least `len` bytes long.
/// @param [in] len The number of bytes to read.
/// @return true if exactly len bytes were read, false on error or connection closed.
static bool RecvAll(SOCKET sock, void* buf, size_t len)
{
  uint8_t* ptr = static_cast<uint8_t*>(buf);
  size_t remaining = len;
  while (remaining > 0) {
    int r = recv(sock, reinterpret_cast<char*>(ptr), static_cast<int>(remaining), 0);
    if (r > 0) {
      ptr += r;
      remaining -= static_cast<size_t>(r);
      continue;
    }
    if (r == 0) {
      // Connection closed by peer.
      return false;
    }
    // r < 0, an error occurred.  On POSIX handle EINTR and retry.
#ifndef ASDP_USE_WINSOCK_SOCKETS
    if ((errno == EINTR) || (errno == EAGAIN) || (errno == EWOULDBLOCK)) {
      // EINTR => retry; EAGAIN/EWOULDBLOCK should not normally happen on blocking sockets,
      // but handle conservatively by yielding and retrying once.
      std::this_thread::yield();
      continue;
    }
#else
    int wsaerr = WSAGetLastError();
    if (wsaerr == WSAEINTR || wsaerr == WSAEWOULDBLOCK) {
      std::this_thread::yield();
      continue;
    }
#endif
    return false;
  }
  return true;
}

//----------------------------------------------------------------------------
// API functions

StreamEndpoint::StreamEndpoint(const std::string& host, uint16_t port)
  : IP(0)
  , port(0)
{
  StreamEndpoint::port = port;

  if (host == "") {
    IP = INADDR_ANY;
  } else {
    // Look up the IPV4 address of the host.
    struct addrinfo* result = nullptr;
    struct addrinfo hints;
    memset(&hints, 0, sizeof(hints));
    hints.ai_family = AF_INET;
    hints.ai_socktype = SOCK_DGRAM;
    hints.ai_flags |= AI_CANONNAME;
    const char* hostName = host.c_str();
    int status = getaddrinfo(hostName, nullptr, &hints, &result);
    if (status != 0) {
      return;
    }
    struct sockaddr_in* address = (struct sockaddr_in*)result->ai_addr;
    // Convert to host byte order
    IP = ntohl(address->sin_addr.s_addr);
    freeaddrinfo(result);
  }
}

std::string StreamEndpoint::Test()
{
  // Construct a StreamEndpoint and verify that it has the expected IP and port.
  // We expect it to be 127.0.0.1 when converted from network byte order
  StreamEndpoint endpoint("localhost", 1234);
  uint32_t expectedIP = (127 << 24) + 1;
  if (endpoint.IP != expectedIP || endpoint.port != 1234) {
    return "Error constructing StreamEndpoint: IP is " + std::to_string(endpoint.IP) + " and port is " + std::to_string(endpoint.port);
  }

  return "";
}

Timer::Timer()
  : m_coreNegativeOffset({0, 0})
  , m_corePositiveOffset({0, 0})
{
}

Status Timer::GetCoreTime(Time& core_time, const std::chrono::steady_clock::time_point local_time) const
{
  // Get the local time into a Time.
  Time localTime = {
    static_cast<uint32_t>(std::chrono::duration_cast<std::chrono::microseconds>(local_time.time_since_epoch()).count() / 1000000),
    static_cast<uint32_t>(std::chrono::duration_cast<std::chrono::microseconds>(local_time.time_since_epoch()).count() % 1000000)
  };

  // Verify that the local time is not before the core offset.
  if (localTime + m_corePositiveOffset < m_coreNegativeOffset) {
    return BAD_PARAMETER;
  }

  // Adjust the time
  core_time = localTime + m_corePositiveOffset - m_coreNegativeOffset;
  return OKAY;
}

Status Timer::SetCoreNegativeOffset(Time offset)
{
  // Ensure that the offset is not too large.
  std::chrono::steady_clock::time_point local_time = std::chrono::steady_clock::now();
  Time localTime = {
    static_cast<uint32_t>(std::chrono::duration_cast<std::chrono::microseconds>(local_time.time_since_epoch()).count() / 1000000),
    static_cast<uint32_t>(std::chrono::duration_cast<std::chrono::microseconds>(local_time.time_since_epoch()).count() % 1000000)
  };
  if (offset > localTime) {
    return BAD_PARAMETER;
  }

  m_coreNegativeOffset = offset;
  return OKAY;
}

Status Timer::SetCorePositiveOffset(Time offset)
{
  m_corePositiveOffset = offset;
  return OKAY;
}

Timer::~Timer()
{
}

std::string Timer::Test()
{
  // Test the + and += operators on the Time class.
  {
    Time time1 = { 1, 2 };
    Time time2 = { 3, 4 };
    Time time3 = time1 + time2;
    if (time3.seconds != 4 || time3.microseconds != 6) {
      return "Error adding times: " + std::to_string(time3.seconds) + "." + std::to_string(time3.microseconds);
    }
    time1 += time2;
    if (time1.seconds != 4 || time1.microseconds != 6) {
      return "Error adding times: " + std::to_string(time1.seconds) + "." + std::to_string(time1.microseconds);
    }
  }

  // Test the - and -= operators on the Time class, including cases where the microseconds must borrow.
  {
    Time time1 = { 1, 2 };
    Time time2 = { 3, 4 };
    Time time3 = time2 - time1;
    if (time3.seconds != 2 || time3.microseconds != 2) {
      return "Error subtracting times: " + std::to_string(time3.seconds) + "." + std::to_string(time3.microseconds);
    }
    time2 -= time1;
    if (time2.seconds != 2 || time2.microseconds != 2) {
      return "Error subtracting times: " + std::to_string(time2.seconds) + "." + std::to_string(time2.microseconds);
    }
    time1 = { 1, 2 };
    time2 = { 0, 4 };
    time3 = time1 - time2;
    if (time3.seconds != 0 || time3.microseconds != 999998) {
      return "Error subtracting times: " + std::to_string(time3.seconds) + "." + std::to_string(time3.microseconds);
    }
    time1 -= time2;
    if (time1.seconds != 0 || time1.microseconds != 999998) {
      return "Error subtracting times: " + std::to_string(time1.seconds) + "." + std::to_string(time1.microseconds);
    }
  }

  // Test the Timer class methods for cases that should work and cases that should fail.
  {
    Timer timer;
    Time coreTime;
    std::chrono::steady_clock::time_point localTime = std::chrono::steady_clock::now();
    Time localTimeStruct = {
      static_cast<uint32_t>(std::chrono::duration_cast<std::chrono::microseconds>(localTime.time_since_epoch()).count() / 1000000),
      static_cast<uint32_t>(std::chrono::duration_cast<std::chrono::microseconds>(localTime.time_since_epoch()).count() % 1000000)
    };

    // Test the GetCoreTime method.
    Status status = timer.GetCoreTime(coreTime, localTime);
    if (status != OKAY) {
      return "Error getting core time: " + ErrorMessage(status);
    }
    if (coreTime != localTimeStruct) {
      return "Error getting core time: " + std::to_string(coreTime.seconds) + "." + std::to_string(coreTime.microseconds);
    }

    // Test the SetCoreNegativeOffset method.
    status = timer.SetCoreNegativeOffset(localTimeStruct);
    if (status != OKAY) {
      return "Error setting core negative offset: " + ErrorMessage(status);
    }

    // Test the GetCoreTime method again.
    status = timer.GetCoreTime(coreTime, localTime);
    if (status != OKAY) {
      return "Error getting core time: " + ErrorMessage(status);
    }
    if (coreTime != Time({ 0, 0 })) {
      return "Error getting core time: " + std::to_string(coreTime.seconds) + "." + std::to_string(coreTime.microseconds);
    }

    // Test the SetCoreNegativeOffset method with a bad parameter.
    Time badTimeStruct = localTimeStruct;
    badTimeStruct.seconds += 1;
    status = timer.SetCoreNegativeOffset(badTimeStruct);
    if (status != BAD_PARAMETER) {
      return "Error: Permitted to set core offset when should not have been: " + ErrorMessage(status);
    }
  }

  // Test using both a positive and negative offset.
  {
    Timer timer;
    Time coreTime;
    std::chrono::steady_clock::time_point localTime = std::chrono::steady_clock::now();
    Time localTimeStruct = {
      static_cast<uint32_t>(std::chrono::duration_cast<std::chrono::microseconds>(localTime.time_since_epoch()).count() / 1000000),
      static_cast<uint32_t>(std::chrono::duration_cast<std::chrono::microseconds>(localTime.time_since_epoch()).count() % 1000000)
    };

    // Set the negative offset to 1 second.
    Time negativeOffset = { 1, 0 };
    Status status = timer.SetCoreNegativeOffset(negativeOffset);
    if (status != OKAY) {
      return "Error setting core negative offset: " + ErrorMessage(status);
    }

    // Set the positive offset to 1 seconds.
    Time positiveOffset = { 2, 5 };
    status = timer.SetCorePositiveOffset(positiveOffset);
    if (status != OKAY) {
      return "Error setting core positive offset: " + ErrorMessage(status);
    }

    // Get the core time and verify that it is 1.5 larger.
    status = timer.GetCoreTime(coreTime, localTime);
    if (status != OKAY) {
      return "Error getting core time: " + ErrorMessage(status);
    }
    if (coreTime != localTimeStruct + Time({ 1, 5 })) {
      return "Error getting core time: " + std::to_string(coreTime.seconds) + "." + std::to_string(coreTime.microseconds);
    }
  }

  return "";
}

BasicPacket::BasicPacket(uint32_t extraSize)
  : m_buffer(std::make_shared<std::vector<uint8_t>>(PACKET_BASIC_HEADER_SIZE + extraSize))
  , m_offset(0)
  , m_constructorStatus(OKAY)
{
  // Pack our header.
  unsigned char* bufPtr = MyData();
  uint32_t totalSize = PACKET_BASIC_HEADER_SIZE + extraSize;
  memcpy(bufPtr, &totalSize, sizeof(totalSize)); bufPtr += sizeof(totalSize);
}

BasicPacket::BasicPacket(std::shared_ptr<std::vector<uint8_t>> existingBuffer, size_t offset)
  : m_buffer(existingBuffer)
  , m_offset(offset)
  , m_constructorStatus(OKAY)
{
  // Make sure the buffer is large enough.
  if (MyRemainingSize() < PACKET_BASIC_HEADER_SIZE) {
    m_constructorStatus = BAD_PARAMETER;
    return;
  }
}

Status BasicPacket::GetConstructorStatus() const
{
  return m_constructorStatus;
}

Status BasicPacket::GetTotalLength(uint32_t& totalLength) const
{
  // Make sure we have enough data to hold the header.
  if (MyRemainingSize() < PACKET_BASIC_HEADER_SIZE) {
    return READ_PAST_END;
  }

  // Read the total packet length.
  memcpy(&totalLength, MyData() + PACKET_HEADER_TOTAL_SIZE_OFFSET, sizeof(totalLength));
  return OKAY;
}

Status BasicPacket::IncreaseTotalLength(uint32_t increase)
{
  // Make sure we have enough data to hold the header.
  if (MyRemainingSize() < PACKET_BASIC_HEADER_SIZE) {
    return READ_PAST_END;
  }

  // Read the total packet length, verify that it is not too long and then increase it.
  uint32_t totalLength;
  memcpy(&totalLength, MyData() + PACKET_HEADER_TOTAL_SIZE_OFFSET, sizeof(totalLength));
  totalLength += increase;
  if (totalLength > MyRemainingSize()) {
    return WRITE_PAST_END;
  }
  memcpy(MyData() + PACKET_HEADER_TOTAL_SIZE_OFFSET, &totalLength, sizeof(totalLength));
  return OKAY;
}

BasicPacket::~BasicPacket()
{
}

std::string BasicPacket::Test()
{
  {
    // Construct a basic packet, giving it some extra parameter size.
    uint32_t parameterSize = 200;
    BasicPacket packet(parameterSize);
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing base packet: " + ErrorMessage(packet.GetConstructorStatus());
    }

    // Construct a new packet from the original packet's buffer.
    BasicPacket packet2(packet.m_buffer);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing base packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }

    // Check the length of the packet to make sure it matches expectation.
    uint32_t totalLength;
    Status status = packet2.GetTotalLength(totalLength);
    if (status != OKAY) {
      return "Error checking base packet size: " + ErrorMessage(status);
    }
    if (totalLength != PACKET_BASIC_HEADER_SIZE + parameterSize) {
      return "Error constructing base packet from buffer: packet length is not " +
        std::to_string(PACKET_BASIC_HEADER_SIZE + parameterSize) + " but " + std::to_string(totalLength);
    }
  }

  {
    // Try to construct a basic packet from a buffer that is too small and make
    // sure that it fails.
    std::shared_ptr<std::vector<uint8_t>> empty = std::make_shared<std::vector<uint8_t>>();
    BasicPacket packet(empty);
    Status status = packet.GetConstructorStatus();
    if (status == OKAY) {
      return "Unexpected OKAY return code from empty packet construction";
    }
  }

  {
    // Construct multiple BasicPackets in the same buffer.
    std::shared_ptr<std::vector<uint8_t>> buffer =
      std::make_shared<std::vector<uint8_t>>(PACKET_BASIC_HEADER_SIZE * (3 + 4));
    uint32_t headerSize = PACKET_BASIC_HEADER_SIZE;
    for (int i = 0; i < 3; i++) {
      memcpy(buffer->data() + i * sizeof(headerSize), &headerSize, sizeof(headerSize));
    }
    BasicPacket packet1(buffer, 0);
    if (packet1.GetConstructorStatus() != OKAY) {
      return "Error constructing base packet from buffer: " + ErrorMessage(packet1.GetConstructorStatus());
    }
    BasicPacket packet2(buffer, sizeof(headerSize));
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing base packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
    BasicPacket packet3(buffer, 2 * sizeof(headerSize));
    if (packet3.GetConstructorStatus() != OKAY) {
      return "Error constructing base packet from buffer: " + ErrorMessage(packet3.GetConstructorStatus());
    }

    // Increase the size of the final packet.
    Status status = packet3.IncreaseTotalLength(4 * sizeof(headerSize));
    if (status != OKAY) {
      return "Error increasing packet size: " + ErrorMessage(status);
    }

    // We should be unable to increase it again.
    status = packet3.IncreaseTotalLength(1);
    if (status != WRITE_PAST_END) {
      return "Error unexpected ability to increasing packet size: " + ErrorMessage(status);
    }
  }

  // Everything worked.
  return "";
}

CommandPacket::CommandPacket(uint32_t parameterSize, OpCode code)
  : BasicPacket(sizeof(uint32_t) + parameterSize)
{
  // Pack our operation code.
  unsigned char *bufPtr = MyData() + COMMAND_PACKET_OPCODE_OFFSET;
  uint32_t myOpCode = code;
  memcpy(bufPtr, &myOpCode, sizeof(myOpCode)); bufPtr += sizeof(myOpCode);
}

CommandPacket::CommandPacket(std::shared_ptr<std::vector<uint8_t>> existingBuffer)
  : BasicPacket(existingBuffer)
{
  if (MyRemainingSize() < COMMAND_PACKET_BASE_SIZE) {
    m_constructorStatus = BAD_PARAMETER;
  }
}

CommandPacket::CommandPacket(std::shared_ptr<std::vector<uint8_t>> existingBuffer, OpCode code)
  : CommandPacket(existingBuffer)
{
  // Verify the opcode after creating the buffer.
  OpCode opCode;
  Status status = GetOpCode(opCode);
  if (status != OKAY) {
    m_constructorStatus = status;
    return;
  }
  if (opCode != code) {
    m_constructorStatus = BAD_PARAMETER;
    return;
  }
}

Status CommandPacket::GetOpCode(OpCode& opCode) const
{
  // Make sure we have enough data to hold the header.
  if (MyRemainingSize() < COMMAND_PACKET_BASE_SIZE) {
    return READ_PAST_END;
  }

  memcpy(&opCode, MyData() + COMMAND_PACKET_OPCODE_OFFSET, sizeof(opCode));
  return OKAY;
}

std::string CommandPacket::Test()
{
  {
    // Construct a command packet with the RESET opcode and verify that we can read its opcode.
    CommandPacket resetPacket(0, RESET);
    if (resetPacket.GetConstructorStatus() != OKAY) {
      return "Error constructing base packet: " + ErrorMessage(resetPacket.GetConstructorStatus());
    }
    OpCode opCode;
    Status status = resetPacket.GetOpCode(opCode);
    if (status != OKAY) {
      return "Error getting opcode from base packet: " + ErrorMessage(status);
    }
    if (opCode != RESET) {
      return "Error getting opcode from base packet: opcode is not RESET";
    }

    // Construct a new packet from the reset packet's buffer and verify that it has the same opcode.
    CommandPacket resetPacket2(resetPacket.m_buffer, RESET);
    if (resetPacket2.GetConstructorStatus() != OKAY) {
      return "Error constructing base packet from buffer: " + ErrorMessage(resetPacket2.GetConstructorStatus());
    }
    OpCode opCode2;
    status = resetPacket2.GetOpCode(opCode2);
    if (status != OKAY) {
      return "Error getting opcode from base packet constructed from buffer: " + ErrorMessage(status);
    }
  }

  {
    // Try to construct a CommandPacket from a buffer that is too small and make
    // sure that it fails.
    std::shared_ptr<std::vector<uint8_t>> empty = std::make_shared<std::vector<uint8_t>>();
    CommandPacket packet(empty, RESET);
    Status status = packet.GetConstructorStatus();
    if (status == OKAY) {
      return "Unexpected OKAY return code from empty packet construction";
    }

    // Also make sure that trying to read its opcode fails.
    OpCode opCode;
    status = packet.GetOpCode(opCode);
    if (status != READ_PAST_END) {
      return "Unexpected return code from empty packet opcode read: " + ErrorMessage(status);
    }
  }

  // Everything worked.
  return "";
}

CommandPacketReset::CommandPacketReset()
  : CommandPacket(0, RESET)
{
}

CommandPacketReset::CommandPacketReset(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, RESET)
{
}

std::string CommandPacketReset::Test()
{
  {
    // Construct a command packet and verify that we can read its opcode.
    CommandPacketReset packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing packet: " + ErrorMessage(packet.GetConstructorStatus());
    }
    OpCode opCode;
    Status status = packet.GetOpCode(opCode);
    if (status != OKAY) {
      return "Error getting opcode from packet: " + ErrorMessage(status);
    }
    if (opCode != RESET) {
      return "Error getting opcode from packet: opcode is not RESET";
    }

    // Construct a new packet from the packet's buffer and verify that it has the same opcode.
    CommandPacket &originalPacket = packet;
    CommandPacketReset packet2(originalPacket);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
  }

  return "";
}

CommandPacketStartRecording::CommandPacketStartRecording()
  : CommandPacket(0, START_RECORDING)
{
}

CommandPacketStartRecording::CommandPacketStartRecording(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, START_RECORDING)
{
}

std::string CommandPacketStartRecording::Test()
{
  {
    // Construct a command packet and verify that we can read its opcode.
    CommandPacketStartRecording packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing packet: " + ErrorMessage(packet.GetConstructorStatus());
    }
    OpCode opCode;
    Status status = packet.GetOpCode(opCode);
    if (status != OKAY) {
      return "Error getting opcode from packet: " + ErrorMessage(status);
    }
    if (opCode != START_RECORDING) {
      return "Error getting opcode from packet: opcode is not START_RECORDING";
    }

    // Construct a new packet from the packet's buffer and verify that it has the same opcode.
    CommandPacket& originalPacket = packet;
    CommandPacketStartRecording packet2(originalPacket);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
  }

  return "";
}

CommandPacketStopRecording::CommandPacketStopRecording()
  : CommandPacket(0, STOP_RECORDING)
{
}

CommandPacketStopRecording::CommandPacketStopRecording(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, STOP_RECORDING)
{
}

std::string CommandPacketStopRecording::Test()
{
  {
    // Construct a command packet and verify that we can read its opcode.
    CommandPacketStopRecording packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing packet: " + ErrorMessage(packet.GetConstructorStatus());
    }
    OpCode opCode;
    Status status = packet.GetOpCode(opCode);
    if (status != OKAY) {
      return "Error getting opcode from packet: " + ErrorMessage(status);
    }
    if (opCode != STOP_RECORDING) {
      return "Error getting opcode from packet: opcode is not STOP_RECORDING";
    }

    // Construct a new packet from the packet's buffer and verify that it has the same opcode.
    CommandPacket& originalPacket = packet;
    CommandPacketStopRecording packet2(originalPacket);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
  }

  return "";
}

CommandPacketPauseReplay::CommandPacketPauseReplay()
  : CommandPacket(0, PAUSE_REPLAY)
{
}

CommandPacketPauseReplay::CommandPacketPauseReplay(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, PAUSE_REPLAY)
{
}

std::string CommandPacketPauseReplay::Test()
{
  {
    // Construct a command packet and verify that we can read its opcode.
    CommandPacketPauseReplay packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing packet: " + ErrorMessage(packet.GetConstructorStatus());
    }
    OpCode opCode;
    Status status = packet.GetOpCode(opCode);
    if (status != OKAY) {
      return "Error getting opcode from packet: " + ErrorMessage(status);
    }
    if (opCode != PAUSE_REPLAY) {
      return "Error getting opcode from packet: opcode is not PAUSE_REPLAY";
    }

    // Construct a new packet from the packet's buffer and verify that it has the same opcode.
    CommandPacket& originalPacket = packet;
    CommandPacketPauseReplay packet2(originalPacket);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
  }

  return "";
}

CommandPacketStartReplay::CommandPacketStartReplay(uint32_t ID, Time initialTime)
  : CommandPacket(sizeof(ID) + sizeof(initialTime), START_REPLAY)
{
  unsigned char* bufPtr = MyData() + COMMAND_PACKET_BASE_SIZE;
  memcpy(bufPtr, &ID, sizeof(ID)); bufPtr += sizeof(ID);
  memcpy(bufPtr, &initialTime.seconds, sizeof(initialTime.seconds)); bufPtr += sizeof(initialTime.seconds);
  memcpy(bufPtr, &initialTime.microseconds, sizeof(initialTime.microseconds)); bufPtr += sizeof(initialTime.microseconds);
}

CommandPacketStartReplay::CommandPacketStartReplay(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, START_REPLAY)
{
}

Status CommandPacketStartReplay::GetID(uint32_t& ID) const
{
  if (m_buffer->size() < COMMAND_PACKET_BASE_SIZE + sizeof(ID)) {
    return READ_PAST_END;
  }
  memcpy(&ID, MyData() + COMMAND_PACKET_BASE_SIZE, sizeof(ID));
  return OKAY;
}

Status CommandPacketStartReplay::GetInitialTime(Time& initialTime) const
{
  if (m_buffer->size() < COMMAND_PACKET_BASE_SIZE + 3 * sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  memcpy(&initialTime.seconds, MyData() + COMMAND_PACKET_BASE_SIZE + sizeof(uint32_t), sizeof(uint32_t));
  memcpy(&initialTime.microseconds, MyData() + COMMAND_PACKET_BASE_SIZE + 2 * sizeof(uint32_t), sizeof(uint32_t));
  return OKAY;
}

std::string CommandPacketStartReplay::Test()
{
  {
    // Construct a command packet and verify that we can read its opcode.
    CommandPacketStartReplay packet(10, { 1, 2 });
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing packet: " + ErrorMessage(packet.GetConstructorStatus());
    }
    OpCode opCode;
    Status status = packet.GetOpCode(opCode);
    if (status != OKAY) {
      return "Error getting opcode from packet: " + ErrorMessage(status);
    }
    if (opCode != START_REPLAY) {
      return "Error getting opcode from packet: opcode is not START_REPLAY";
    }

    // Also be sure we can read the ID.
    uint32_t ID;
    status = packet.GetID(ID);
    if (status != OKAY) {
      return "Error getting ID from packet: " + ErrorMessage(status);
    }
    if (ID != 10) {
      return "Error getting ID from packet: ID is not 10";
    }

    // Also be sure we can read the initial time.
    Time initialTime;
    status = packet.GetInitialTime(initialTime);
    if (status != OKAY) {
      return "Error getting initial time from packet: " + ErrorMessage(status);
    }
    if (initialTime.seconds != 1 || initialTime.microseconds != 2) {
      return "Error getting initial time from packet: time is not 1.2";
    }

    // Construct a new packet from the packet's buffer and verify that it has the same parameters.
    CommandPacket& originalPacket = packet;
    CommandPacketStartReplay packet2(originalPacket);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
    status = packet2.GetID(ID);
    if (status != OKAY) {
      return "Error getting ID from packet constructed from buffer: " + ErrorMessage(status);
    }
    if (ID != 10) {
      return "Error getting ID from packet constructed from buffer: ID is not 10";
    }
    status = packet2.GetInitialTime(initialTime);
    if (status != OKAY) {
      return "Error getting initial time from packet constructed from buffer: " + ErrorMessage(status);
    }
    if (initialTime.seconds != 1 || initialTime.microseconds != 2) {
      return "Error getting initial time from packet constructed from buffer: time is not 1.2";
    }
  }

  return "";
}

CommandPacketResumeReplay::CommandPacketResumeReplay()
  : CommandPacket(0, RESUME_REPLAY)
{
}

CommandPacketResumeReplay::CommandPacketResumeReplay(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, RESUME_REPLAY)
{
}

std::string CommandPacketResumeReplay::Test()
{
  {
    // Construct a command packet and verify that we can read its opcode.
    CommandPacketResumeReplay packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing packet: " + ErrorMessage(packet.GetConstructorStatus());
    }
    OpCode opCode;
    Status status = packet.GetOpCode(opCode);
    if (status != OKAY) {
      return "Error getting opcode from packet: " + ErrorMessage(status);
    }
    if (opCode != RESUME_REPLAY) {
      return "Error getting opcode from packet: opcode is not RESUME_REPLAY";
    }

    // Construct a new packet from the packet's buffer and verify that it has the same opcode.
    CommandPacket& originalPacket = packet;
    CommandPacketResumeReplay packet2(originalPacket);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
  }

  return "";
}

CommandPacketStopReplay::CommandPacketStopReplay()
  : CommandPacket(0, STOP_REPLAY)
{
}

CommandPacketStopReplay::CommandPacketStopReplay(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, STOP_REPLAY)
{
}

std::string CommandPacketStopReplay::Test()
{
  {
    // Construct a command packet and verify that we can read its opcode.
    CommandPacketStopReplay packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing packet: " + ErrorMessage(packet.GetConstructorStatus());
    }
    OpCode opCode;
    Status status = packet.GetOpCode(opCode);
    if (status != OKAY) {
      return "Error getting opcode from packet: " + ErrorMessage(status);
    }
    if (opCode != STOP_REPLAY) {
      return "Error getting opcode from packet: opcode is not STOP_REPLAY";
    }

    // Construct a new packet from the packet's buffer and verify that it has the same opcode.
    CommandPacket& originalPacket = packet;
    CommandPacketStopReplay packet2(originalPacket);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
  }

  return "";
}

CommandPacketSetStartUpRecordingState::CommandPacketSetStartUpRecordingState(uint32_t state)
  : CommandPacket(sizeof(state), SET_START_UP_RECORDING_STATE)
{
  memcpy(MyData() + COMMAND_PACKET_BASE_SIZE, &state, sizeof(state));
}

CommandPacketSetStartUpRecordingState::CommandPacketSetStartUpRecordingState(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, SET_START_UP_RECORDING_STATE)
{
}

Status CommandPacketSetStartUpRecordingState::GetState(uint32_t& state) const
{
  if (m_buffer->size() < COMMAND_PACKET_BASE_SIZE + sizeof(state)) {
    return READ_PAST_END;
  }
  memcpy(&state, MyData() + COMMAND_PACKET_BASE_SIZE, sizeof(state));
  return OKAY;
}

std::string CommandPacketSetStartUpRecordingState::Test()
{
  {
    // Construct a CommandPacketSetStartUpRecordingState command packet and verify that we can read its opcode.
    CommandPacketSetStartUpRecordingState packet(1);
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing packet: " + ErrorMessage(packet.GetConstructorStatus());
    }
    OpCode opCode;
    Status status = packet.GetOpCode(opCode);
    if (status != OKAY) {
      return "Error getting opcode from packet: " + ErrorMessage(status);
    }
    if (opCode != SET_START_UP_RECORDING_STATE) {
      return "Error getting opcode from packet: opcode is not SET_START_UP_RECORDING_STATE";
    }

    // Also be sure we can read the state.
    uint32_t state;
    status = packet.GetState(state);
    if (status != OKAY) {
      return "Error getting state from packet: " + ErrorMessage(status);
    }
    if (state != 1) {
      return "Error getting state from packet: state is not 1";
    }
  }

  return "";
}

CommandPacketSetStreamStatePeriod::CommandPacketSetStreamStatePeriod(float interval)
  : CommandPacket(sizeof(float), SET_STREAM_STATE_PERIOD)
{
  unsigned char* bufPtr = MyData() + COMMAND_PACKET_BASE_SIZE;
  memcpy(bufPtr, &interval, sizeof(interval)); bufPtr += sizeof(interval);
}

CommandPacketSetStreamStatePeriod::CommandPacketSetStreamStatePeriod(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, SET_STREAM_STATE_PERIOD)
{
}

Status CommandPacketSetStreamStatePeriod::GetInterval(float& interval) const
{
  if (m_buffer->size() < COMMAND_PACKET_BASE_SIZE + sizeof(float)) {
    return READ_PAST_END;
  }
  memcpy(&interval, MyData() + COMMAND_PACKET_BASE_SIZE, sizeof(interval));
  return OKAY;
}

std::string CommandPacketSetStreamStatePeriod::Test()
{
  std::string ret = CommandPacket::Test();
  if (ret.size() > 0) { return ret; }
  {
    // Construct a command packet and verify that we can read its interval.
    CommandPacketSetStreamStatePeriod packet(3);
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing packet: " + ErrorMessage(packet.GetConstructorStatus());
    }
    float interval;
    Status status = packet.GetInterval(interval);
    if (status != OKAY) {
      return "Error getting interval from packet: " + ErrorMessage(status);
    }
    if (interval != 3) {
      return "Error getting interval from packet: interval is not 3";
    }

    // Construct a new packet from the packet's buffer and verify that it has the same parameters.
    CommandPacket& originalPacket = packet;
    CommandPacketSetStreamStatePeriod packet2(originalPacket);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
    status = packet2.GetInterval(interval);
    if (status != OKAY) {
      return "Error getting interval from packet constructed from buffer: " + ErrorMessage(status);
    }
    if (interval != 3) {
      return "Error getting interval from packet constructed from buffer: interval is not 3";
    }
  }

  return "";
}

CommandPacketSetNUCFlagState::CommandPacketSetNUCFlagState(uint32_t ID, uint32_t state)
  : CommandPacket(2 * sizeof(uint32_t), SET_NUC_FLAG_STATE)
{
  unsigned char* bufPtr = MyData() + COMMAND_PACKET_BASE_SIZE;
  memcpy(bufPtr, &ID, sizeof(ID)); bufPtr += sizeof(ID);
  memcpy(bufPtr, &state, sizeof(state)); bufPtr += sizeof(state);
}

CommandPacketSetNUCFlagState::CommandPacketSetNUCFlagState(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, SET_NUC_FLAG_STATE)
{
}

Status CommandPacketSetNUCFlagState::GetID(uint32_t& ID) const
{
  if (m_buffer->size() < COMMAND_PACKET_BASE_SIZE + sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  memcpy(&ID, MyData() + COMMAND_PACKET_BASE_SIZE, sizeof(uint32_t));
  return OKAY;
}

Status CommandPacketSetNUCFlagState::GetState(uint32_t& state) const
{
  if (m_buffer->size() < COMMAND_PACKET_BASE_SIZE + 2 * sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  memcpy(&state, MyData() + COMMAND_PACKET_BASE_SIZE + sizeof(uint32_t), sizeof(uint32_t));
  return OKAY;
}

std::string CommandPacketSetNUCFlagState::Test()
{
  {
    // Construct a command packet and verify that we can read its parameters.
    CommandPacketSetNUCFlagState packet(1, 2);
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing packet: " + ErrorMessage(packet.GetConstructorStatus());
    }
    uint32_t ID;
    Status status = packet.GetID(ID);
    if (status != OKAY) {
      return "Error getting ID from packet: " + ErrorMessage(status);
    }
    if (ID != 1) {
      return "Error getting ID from packet: ID is not 1";
    }
    uint32_t state;
    status = packet.GetState(state);
    if (status != OKAY) {
      return "Error getting state from packet: " + ErrorMessage(status);
    }
    if (state != 2) {
      return "Error getting state from packet: state is not 2";
    }

    // Construct a new packet from the packet's buffer and verify that it has the same parameters.
    CommandPacket& originalPacket = packet;
    CommandPacketSetNUCFlagState packet2(originalPacket);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
    status = packet2.GetID(ID);
    if (status != OKAY) {
      return "Error getting ID from packet constructed from buffer: " + ErrorMessage(status);
    }
    if (ID != 1) {
      return "Error getting ID from packet constructed from buffer: ID is not 1";
    }
    status = packet2.GetState(state);
    if (status != OKAY) {
      return "Error getting state from packet constructed from buffer: " + ErrorMessage(status);
    }
    if (state != 2) {
      return "Error getting state from packet constructed: " + ErrorMessage(status);
    }
  }

  return "";
}

CommandPacketStartOnCameraNUC::CommandPacketStartOnCameraNUC(uint32_t ID)
  : CommandPacket(sizeof(uint32_t), START_ON_CAMERA_NUC)
{
  unsigned char* bufPtr = MyData() + COMMAND_PACKET_BASE_SIZE;
  memcpy(bufPtr, &ID, sizeof(ID)); bufPtr += sizeof(ID);
}

CommandPacketStartOnCameraNUC::CommandPacketStartOnCameraNUC(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, START_ON_CAMERA_NUC)
{
}

Status CommandPacketStartOnCameraNUC::GetID(uint32_t& ID) const
{
  if (m_buffer->size() < COMMAND_PACKET_BASE_SIZE + sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  memcpy(&ID, MyData() + COMMAND_PACKET_BASE_SIZE, sizeof(uint32_t));
  return OKAY;
}

std::string CommandPacketStartOnCameraNUC::Test()
{
  {
    // Construct a command packet and verify that we can read its ID.
    CommandPacketStartOnCameraNUC packet(1);
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing packet: " + ErrorMessage(packet.GetConstructorStatus());
    }
    uint32_t ID;
    Status status = packet.GetID(ID);
    if (status != OKAY) {
      return "Error getting ID from packet: " + ErrorMessage(status);
    }
    if (ID != 1) {
      return "Error getting ID from packet: ID is not 1";
    }

    // Construct a new packet from the packet's buffer and verify that it has the same ID.
    CommandPacket& originalPacket = packet;
    CommandPacketStartOnCameraNUC packet2(originalPacket);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
    status = packet2.GetID(ID);
    if (status != OKAY) {
      return "Error getting ID from packet constructed from buffer: " + ErrorMessage(status);
    }
    if (ID != 1) {
      return "Error getting ID from packet constructed from buffer: ID is not 1";
    }
  }

  return "";
}

CommandPacketConfigureTrigger::CommandPacketConfigureTrigger(TriggerInfo config)
  : CommandPacket(sizeof(double)+2*sizeof(float)+sizeof(uint16_t)+2*sizeof(uint8_t), CONFIGURE_TRIGGER)
{
  unsigned char* bufPtr = MyData() + COMMAND_PACKET_BASE_SIZE;
  memcpy(bufPtr, &config.period, sizeof(config.period)); bufPtr += sizeof(config.period);
  memcpy(bufPtr, &config.offset, sizeof(config.offset)); bufPtr += sizeof(config.offset);
  memcpy(bufPtr, &config.trackingFactor, sizeof(config.trackingFactor)); bufPtr += sizeof(config.trackingFactor);
  memcpy(bufPtr, &config.ID, sizeof(config.ID)); bufPtr += sizeof(config.ID);
  memcpy(bufPtr, &config.mode, sizeof(config.mode)); bufPtr += sizeof(config.mode);
  memcpy(bufPtr, &config.externalID, sizeof(config.externalID)); bufPtr += sizeof(config.externalID);
}

CommandPacketConfigureTrigger::CommandPacketConfigureTrigger(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, CONFIGURE_TRIGGER)
{
}

Status CommandPacketConfigureTrigger::GetConfiguration(TriggerInfo& config) const
{
  const size_t TRIGGERSIZE = sizeof(double)+2*sizeof(float)+sizeof(uint16_t)+2*sizeof(uint8_t);
  if (m_buffer->size() < COMMAND_PACKET_BASE_SIZE + TRIGGERSIZE) {
    return READ_PAST_END;
  }
  const uint8_t *bufPtr = MyData() + COMMAND_PACKET_BASE_SIZE;
  memcpy(&config.period, bufPtr, sizeof(config.period)); bufPtr += sizeof(config.period);
  memcpy(&config.offset, bufPtr, sizeof(config.offset)); bufPtr += sizeof(config.offset);
  memcpy(&config.trackingFactor, bufPtr, sizeof(config.trackingFactor)); bufPtr += sizeof(config.trackingFactor);
  memcpy(&config.ID, bufPtr, sizeof(config.ID)); bufPtr += sizeof(config.ID);
  memcpy(&config.mode, bufPtr, sizeof(config.mode)); bufPtr += sizeof(config.mode);
  memcpy(&config.externalID, bufPtr, sizeof(config.externalID)); bufPtr += sizeof(config.externalID);
  return OKAY;
}

std::string CommandPacketConfigureTrigger::Test()
{
  {
    // Construct a command packet and verify that we can read its opcode.
    TriggerInfo config = { 1, 2, 3, 4, 5, 6 };
    CommandPacketConfigureTrigger packet(config);
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing packet: " + ErrorMessage(packet.GetConstructorStatus());
    }
    OpCode opCode;
    Status status = packet.GetOpCode(opCode);
    if (status != OKAY) {
      return "Error getting opcode from packet: " + ErrorMessage(status);
    }
    if (opCode != CONFIGURE_TRIGGER) {
      return "Error getting opcode from packet: opcode is not CONFIGURE_TRIGGER";
    }

    // Also be sure we can read the configuration.
    TriggerInfo rConfig;
    status = packet.GetConfiguration(rConfig);
    if (status != OKAY) {
      return "Error getting configuration from packet: " + ErrorMessage(status);
    }
    if (rConfig != config) {
      return "Error getting configuration from packet: configuration does not match";
    }

    // Construct a new packet from the packet's buffer and verify that it has the same parameters.
    CommandPacket& originalPacket = packet;
    CommandPacketConfigureTrigger packet2(originalPacket);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
    status = packet2.GetConfiguration(rConfig);
    if (status != OKAY) {
      return "Error getting configuration from packet constructed from buffer: " + ErrorMessage(status);
    }
    if (rConfig != config) {
      return "Error getting configuration from packet constructed from buffer: configuration does not match";
    }
  }

  return "";
}

CommandPacketSoftwareTrigger::CommandPacketSoftwareTrigger(uint8_t ID, Time initialTime)
  : CommandPacket(sizeof(ID) + 3 + sizeof(initialTime), SOFTWARE_TRIGGER)
{
  unsigned char* bufPtr = MyData() + COMMAND_PACKET_BASE_SIZE;
  uint32_t IDField = ID;
  memcpy(bufPtr, &IDField, sizeof(IDField)); bufPtr += sizeof(IDField);
  memcpy(bufPtr, &initialTime.seconds, sizeof(initialTime.seconds)); bufPtr += sizeof(initialTime.seconds);
  memcpy(bufPtr, &initialTime.microseconds, sizeof(initialTime.microseconds)); bufPtr += sizeof(initialTime.microseconds);
}

CommandPacketSoftwareTrigger::CommandPacketSoftwareTrigger(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, SOFTWARE_TRIGGER)
{
}

Status CommandPacketSoftwareTrigger::GetID(uint8_t& ID) const
{
  if (m_buffer->size() < COMMAND_PACKET_BASE_SIZE + sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  uint32_t IDField;
  memcpy(&IDField, MyData() + COMMAND_PACKET_BASE_SIZE, sizeof(IDField));
  ID = IDField;
  return OKAY;
}

Status CommandPacketSoftwareTrigger::GetInitialTime(Time& initialTime) const
{
  if (m_buffer->size() < COMMAND_PACKET_BASE_SIZE + 2 * sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  memcpy(&initialTime.seconds, MyData() + COMMAND_PACKET_BASE_SIZE + sizeof(uint32_t), sizeof(uint32_t));
  memcpy(&initialTime.microseconds, MyData() + COMMAND_PACKET_BASE_SIZE + 2 * sizeof(uint32_t), sizeof(uint32_t));
  return OKAY;
}

std::string CommandPacketSoftwareTrigger::Test()
{
  {
    // Construct a CommandPacketSoftwareTrigger command packet and verify that we can read its opcode.
    CommandPacketSoftwareTrigger packet(1, { 2, 3 });
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing packet: " + ErrorMessage(packet.GetConstructorStatus());
    }
    OpCode opCode;
    Status status = packet.GetOpCode(opCode);
    if (status != OKAY) {
      return "Error getting opcode from packet: " + ErrorMessage(status);
    }
    if (opCode != SOFTWARE_TRIGGER) {
      return "Error getting opcode from packet: opcode is not SOFTWARE_TRIGGER";
    }

    // Also be sure we can read the ID.
    uint8_t ID;
    status = packet.GetID(ID);
    if (status != OKAY) {
      return "Error getting ID from packet: " + ErrorMessage(status);
    }
    if (ID != 1) {
      return "Error getting ID from packet: ID is not 1";
    }

    // Also be sure we can read the initial time.
    Time initialTime;
    status = packet.GetInitialTime(initialTime);
    if (status != OKAY) {
      return "Error getting initial time from packet: " + ErrorMessage(status);
    }
    if (initialTime.seconds != 2 || initialTime.microseconds != 3) {
      return "Error getting initial time from packet: time is not 2.3";
    }

    // Construct a new packet from the packet's buffer and verify that it has the same parameters.
    CommandPacket& originalPacket = packet;
    CommandPacketSoftwareTrigger packet2(originalPacket);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
    status = packet2.GetID(ID);
    if (status != OKAY) {
      return "Error getting ID from packet constructed from buffer: " + ErrorMessage(status);
    }
    if (ID != 1) {
      return "Error getting ID from packet constructed from buffer: ID is not 1";
    }
    status = packet2.GetInitialTime(initialTime);
    if (status != OKAY) {
      return "Error getting initial time from packet constructed from buffer: " + ErrorMessage(status);
    }
    if (initialTime.seconds != 2 || initialTime.microseconds != 3) {
      return "Error getting initial time from packet constructed from buffer: time is not 2.3";
    }
  }
  return "";
}

CommandPacketSetEventVerbosity::CommandPacketSetEventVerbosity(uint8_t verbosity)
  : CommandPacket(sizeof(verbosity), SET_EVENT_VERBOSITY)
{
  unsigned char* bufPtr = MyData() + COMMAND_PACKET_BASE_SIZE;
  memcpy(bufPtr, &verbosity, sizeof(verbosity)); bufPtr += sizeof(verbosity);
  memset(bufPtr, 0, 3); bufPtr += 3;
}

CommandPacketSetEventVerbosity::CommandPacketSetEventVerbosity(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, SET_EVENT_VERBOSITY)
{
}

Status CommandPacketSetEventVerbosity::GetVerbosity(uint8_t& verbosity) const
{
  if (m_buffer->size() < COMMAND_PACKET_BASE_SIZE + sizeof(verbosity)) {
    return READ_PAST_END;
  }
  memcpy(&verbosity, MyData() + COMMAND_PACKET_BASE_SIZE, sizeof(verbosity));
  return OKAY;
}

std::string CommandPacketSetEventVerbosity::Test()
{
  {
    // Construct a command packet and verify that we can read its verbosity.
    CommandPacketSetEventVerbosity packet(3);
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing packet: " + ErrorMessage(packet.GetConstructorStatus());
    }
    uint8_t verbosity;
    Status status = packet.GetVerbosity(verbosity);
    if (status != OKAY) {
      return "Error getting verbosity from packet: " + ErrorMessage(status);
    }
    if (verbosity != 3) {
      return "Error getting verbosity from packet: verbosity is not 3";
    }

    // Construct a new packet from the packet's buffer and verify that it has the same parameters.
    CommandPacket& originalPacket = packet;
    CommandPacketSetEventVerbosity packet2(originalPacket);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
    status = packet2.GetVerbosity(verbosity);
    if (status != OKAY) {
      return "Error getting verbosity from packet constructed from buffer: " + ErrorMessage(status);
    }
    if (verbosity != 3) {
      return "Error getting verbosity from packet constructed from buffer: verbosity is not 3";
    }
  }

  return "";
}

CommandPacketStreamSubregion::CommandPacketStreamSubregion(StreamEndpoint endpoint,
  SubregionDescription const &region)
  : CommandPacket(sizeof(region) + 2 * sizeof(uint32_t), STREAM_SUBREGION)
{
  unsigned char *bufPtr = MyData() + COMMAND_PACKET_BASE_SIZE;
  memcpy(bufPtr, &region.cameraID, sizeof(region.cameraID)); bufPtr += sizeof(region.cameraID);
  memcpy(bufPtr, &endpoint.IP, sizeof(endpoint.IP)); bufPtr += sizeof(endpoint.IP);
  uint32_t portField = endpoint.port;
  memcpy(bufPtr, &portField, sizeof(portField)); bufPtr += sizeof(portField);
  memcpy(bufPtr, &region.skipFrames, sizeof(region.skipFrames)); bufPtr += sizeof(region.skipFrames);
  memcpy(bufPtr, &region.startTimeSeconds, sizeof(region.startTimeSeconds)); bufPtr += sizeof(region.startTimeSeconds);
  memcpy(bufPtr, &region.startTimeMicroseconds, sizeof(region.startTimeMicroseconds)); bufPtr += sizeof(region.startTimeMicroseconds);
  memcpy(bufPtr, &region.left, sizeof(region.left)); bufPtr += sizeof(region.left);
  memcpy(bufPtr, &region.top, sizeof(region.left)); bufPtr += sizeof(region.top);
  memcpy(bufPtr, &region.right, sizeof(region.left)); bufPtr += sizeof(region.right);
  memcpy(bufPtr, &region.bottom, sizeof(region.left)); bufPtr += sizeof(region.bottom);
}

CommandPacketStreamSubregion::CommandPacketStreamSubregion(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, STREAM_SUBREGION)
{
}

Status CommandPacketStreamSubregion::GetEndpoint(StreamEndpoint& endpoint) const
{
  if (m_buffer->size() < COMMAND_PACKET_BASE_SIZE + sizeof(SubregionDescription) + 2 * sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  unsigned char* bufPtr = MyData() + COMMAND_PACKET_BASE_SIZE;
  // Skip the camera ID
  bufPtr += sizeof(uint32_t);
  memcpy(&endpoint.IP, bufPtr, sizeof(endpoint.IP)); bufPtr += sizeof(endpoint.IP);
  uint32_t portField;
  memcpy(&portField, bufPtr, sizeof(portField)); bufPtr += sizeof(portField);
  endpoint.port = portField;
  return OKAY;
}

Status CommandPacketStreamSubregion::GetRegionDescription(SubregionDescription& region) const
{
  if (m_buffer->size() < COMMAND_PACKET_BASE_SIZE + sizeof(SubregionDescription) + 2 * sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  unsigned char *bufPtr = MyData() + COMMAND_PACKET_BASE_SIZE;
  memcpy(&region.cameraID, bufPtr, sizeof(region.cameraID)); bufPtr += sizeof(region.cameraID);
  // Skip the endpoint information
  bufPtr += 2 * sizeof(uint32_t);
  memcpy(&region.skipFrames, bufPtr, sizeof(region.skipFrames)); bufPtr += sizeof(region.skipFrames);
  memcpy(&region.startTimeSeconds, bufPtr, sizeof(region.startTimeSeconds)); bufPtr += sizeof(region.startTimeSeconds);
  memcpy(&region.startTimeMicroseconds, bufPtr, sizeof(region.startTimeMicroseconds)); bufPtr += sizeof(region.startTimeMicroseconds);
  memcpy(&region.left, bufPtr, sizeof(region.left)); bufPtr += sizeof(region.left);
  memcpy(&region.top, bufPtr, sizeof(region.top)); bufPtr += sizeof(region.top);
  memcpy(&region.right, bufPtr, sizeof(region.right)); bufPtr += sizeof(region.right);
  memcpy(&region.bottom, bufPtr, sizeof(region.bottom)); bufPtr += sizeof(region.bottom);
  return OKAY;
}

std::string CommandPacketStreamSubregion::Test()
{
  {
    // Construct a CommandPacketStreamSubregion command packet and verify that we can read its values.
    uint32_t IP = 0x01020304;
    uint16_t port = 1234;
    SubregionDescription region = { 1, 2, 3, 4, 5, 6, 7, 8 };
    CommandPacketStreamSubregion packet({ IP, port }, region);
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing CommandPacketStreamSubregion packet: " + ErrorMessage(packet.GetConstructorStatus());
    }
    StreamEndpoint endpoint;
    Status status = packet.GetEndpoint(endpoint);
    if (status != OKAY) {
      return "Error getting endpoint from CommandPacketStreamSubregion packet: " + ErrorMessage(status);
    }
    if (endpoint.IP != IP || endpoint.port != port) {
      return "Error getting endpoint from CommandPacketStreamSubregion packet: endpoint doesn't match";
    }
    SubregionDescription rRegion;
    status = packet.GetRegionDescription(rRegion);
    if (status != OKAY) {
      return "Error getting region from CommandPacketStreamSubregion packet: " + ErrorMessage(status);
    }
    if (rRegion != region) {
      return "Error getting region from CommandPacketStreamSubregion packet: regions don't match";
    }
  }

  return "";
}

CommandPacketCancelSubregion::CommandPacketCancelSubregion(uint32_t camera, StreamEndpoint endpoint)
  : CommandPacket(sizeof(camera) + 2 * sizeof(uint32_t), CANCEL_SUBREGION)
{
  unsigned char* bufPtr = MyData() + COMMAND_PACKET_BASE_SIZE;
  memcpy(bufPtr, &camera, sizeof(uint32_t)); bufPtr += sizeof(camera);
  memcpy(bufPtr, &endpoint.IP, sizeof(endpoint.IP)); bufPtr += sizeof(endpoint.IP);
  uint32_t portField = endpoint.port;
  memcpy(bufPtr, &portField, sizeof(portField)); bufPtr += sizeof(portField);
}

CommandPacketCancelSubregion::CommandPacketCancelSubregion(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, CANCEL_SUBREGION)
{
}

Status CommandPacketCancelSubregion::GetCamera(uint32_t& camera) const
{
  if (m_buffer->size() < COMMAND_PACKET_BASE_SIZE + sizeof(camera)) {
    return READ_PAST_END;
  }
  unsigned char* bufPtr = MyData() + COMMAND_PACKET_BASE_SIZE;
  memcpy(&camera, bufPtr, sizeof(camera)); bufPtr += sizeof(camera);
  return OKAY;
}

Status CommandPacketCancelSubregion::GetEndpoint(StreamEndpoint& endpoint) const
{
  if (m_buffer->size() < COMMAND_PACKET_BASE_SIZE + 3 * sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  unsigned char* bufPtr = MyData() + COMMAND_PACKET_BASE_SIZE;
  // Skip the camera ID
  bufPtr += sizeof(uint32_t);
  memcpy(&endpoint.IP, bufPtr, sizeof(endpoint.IP)); bufPtr += sizeof(endpoint.IP);
  uint32_t portField;
  memcpy(&portField, bufPtr, sizeof(portField)); bufPtr += sizeof(portField);
  endpoint.port = portField;
  return OKAY;
}

std::string CommandPacketCancelSubregion::Test()
{
  // Construct a command and verify that we can read its values.
  StreamEndpoint endpoint = { 0x01020304, 1234 };
  CommandPacketCancelSubregion packet(1, endpoint);
  if (packet.GetConstructorStatus() != OKAY) {
    return "Error constructing CommandPacketCancelSubregion packet: " + ErrorMessage(packet.GetConstructorStatus());
  }
  uint32_t camera;
  Status status = packet.GetCamera(camera);
  if (status != OKAY) {
    return "Error getting camera from CommandPacketCancelSubregion packet: " + ErrorMessage(status);
  }
  if (camera != 1) {
    return "Error getting camera from CommandPacketCancelSubregion packet: camera doesn't match";
  }
  StreamEndpoint rEndpoint;
  status = packet.GetEndpoint(rEndpoint);
  if (status != OKAY) {
    return "Error getting endpoint from CommandPacketCancelSubregion packet: " + ErrorMessage(status);
  }
  if (rEndpoint.IP != endpoint.IP || rEndpoint.port != endpoint.port) {
    return "Error getting endpoint from CommandPacketCancelSubregion packet: endpoint doesn't match";
  }

  return "";
}

CommandPacketEraseAllStoredStreams::CommandPacketEraseAllStoredStreams()
  : CommandPacket(0, ERASE_ALL_STORED_STREAMS)
{
}

CommandPacketEraseAllStoredStreams::CommandPacketEraseAllStoredStreams(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, ERASE_ALL_STORED_STREAMS)
{
}

std::string CommandPacketEraseAllStoredStreams::Test()
{
  {
    // Construct a command packet and verify that we can read its opcode.
    CommandPacketEraseAllStoredStreams packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing packet: " + ErrorMessage(packet.GetConstructorStatus());
    }
    OpCode opCode;
    Status status = packet.GetOpCode(opCode);
    if (status != OKAY) {
      return "Error getting opcode from packet: " + ErrorMessage(status);
    }
    if (opCode != ERASE_ALL_STORED_STREAMS) {
      return "Error getting opcode from packet: opcode is not ERASE_ALL_STORED_STREAMS";
    }

    // Construct a new packet from the packet's buffer and verify that it has the same opcode.
    CommandPacket& originalPacket = packet;
    CommandPacketEraseAllStoredStreams packet2(originalPacket);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
  }

  return "";
}

CommandPacketListStoredStreams::CommandPacketListStoredStreams()
  : CommandPacket(0, LIST_STORED_STREAMS)
{
}

CommandPacketListStoredStreams::CommandPacketListStoredStreams(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, LIST_STORED_STREAMS)
{
}

std::string CommandPacketListStoredStreams::Test()
{
  {
    // Construct a command packet and verify that it worked.
    CommandPacketListStoredStreams packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing packet: " + ErrorMessage(packet.GetConstructorStatus());
    }

    // Construct a new packet from the packet's buffer.
    CommandPacket& originalPacket = packet;
    CommandPacketListStoredStreams packet2(originalPacket);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
  }

  return "";
}

CommandPacketEraseStoredStream::CommandPacketEraseStoredStream(uint32_t ID)
  : CommandPacket(sizeof(ID), ERASE_STORED_STREAM)
{
  unsigned char* bufPtr = MyData() + COMMAND_PACKET_BASE_SIZE;
  memcpy(bufPtr, &ID, sizeof(ID)); bufPtr += sizeof(ID);
}

CommandPacketEraseStoredStream::CommandPacketEraseStoredStream(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, ERASE_STORED_STREAM)
{
}

Status CommandPacketEraseStoredStream::GetID(uint32_t& ID) const
{
  if (m_buffer->size() < COMMAND_PACKET_BASE_SIZE + sizeof(ID)) {
    return READ_PAST_END;
  }
  memcpy(&ID, MyData() + COMMAND_PACKET_BASE_SIZE, sizeof(ID));
  return OKAY;
}

std::string CommandPacketEraseStoredStream::Test()
{
  {
    // Construct a command packet and verify that we can read its opcode.
    CommandPacketEraseStoredStream packet(10);
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing packet: " + ErrorMessage(packet.GetConstructorStatus());
    }
    OpCode opCode;
    Status status = packet.GetOpCode(opCode);
    if (status != OKAY) {
      return "Error getting opcode from packet: " + ErrorMessage(status);
    }
    if (opCode != ERASE_STORED_STREAM) {
      return "Error getting opcode from packet: opcode is not ERASE_STORED_STREAM";
    }

    // Also be sure we can read the ID.
    uint32_t ID;
    status = packet.GetID(ID);
    if (status != OKAY) {
      return "Error getting ID from packet: " + ErrorMessage(status);
    }
    if (ID != 10) {
      return "Error getting ID from packet: ID is not 10";
    }

    // Construct a new packet from the packet's buffer and verify that it has the same parameters.
    CommandPacket& originalPacket = packet;
    CommandPacketEraseStoredStream packet2(originalPacket);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
    status = packet2.GetID(ID);
    if (status != OKAY) {
      return "Error getting ID from packet constructed from buffer: " + ErrorMessage(status);
    }
    if (ID != 10) {
      return "Error getting ID from packet constructed from buffer: ID is not 10";
    }
  }

  return "";
}

CommandPacketStreamTemperatures::CommandPacketStreamTemperatures()
  : CommandPacket(0, STREAM_TEMPERATURES)
{
}

CommandPacketStreamTemperatures::CommandPacketStreamTemperatures(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, STREAM_TEMPERATURES)
{
}

std::string CommandPacketStreamTemperatures::Test()
{
  std::string ret = CommandPacket::Test();
  if (ret.size() > 0) { return ret; }

  return "";
}

CommandPacketStreamPoses::CommandPacketStreamPoses()
  : CommandPacket(0, STREAM_POSES)
{
}

CommandPacketStreamPoses::CommandPacketStreamPoses(CommandPacket& basePacket)
  : CommandPacket(basePacket.m_buffer, STREAM_POSES)
{
}

std::string CommandPacketStreamPoses::Test()
{
  std::string ret = CommandPacket::Test();
  if (ret.size() > 0) { return ret; }

  return "";
}

StreamPacket::StreamPacket(uint32_t bufferMaxSize, uint32_t sequenceNumber)
  : BasicPacket(bufferMaxSize - PACKET_BASIC_HEADER_SIZE)
{
  // Overwrite the stored total size with the actually filled-in size, leaving room in the buffer.
  uint32_t usedSize = STREAM_PACKET_BASE_SIZE;
  unsigned char* bufPtr = MyData() + PACKET_HEADER_TOTAL_SIZE_OFFSET;
  memcpy(bufPtr, &usedSize, sizeof(usedSize)); bufPtr += sizeof(usedSize);

  // Set the sequence number.
  bufPtr = MyData() + STREAM_PACKET_SEQUENCE_NUMBER_OFFSET;
  memcpy(bufPtr, &sequenceNumber, sizeof(sequenceNumber)); bufPtr += sizeof(sequenceNumber);
}

StreamPacket::StreamPacket(std::shared_ptr<std::vector<uint8_t>> existingBuffer, size_t offset)
  : BasicPacket(existingBuffer, offset)
{
  if (MyRemainingSize() < STREAM_PACKET_BASE_SIZE) {
    m_constructorStatus = BAD_PARAMETER;
  }
}

Status StreamPacket::GetSequenceNumber(uint32_t& sequenceNumber) const
{
  // Make sure we have enough data to hold the header.
  if (MyRemainingSize() < STREAM_PACKET_BASE_SIZE) {
    return READ_PAST_END;
  }

  memcpy(&sequenceNumber, MyData() + STREAM_PACKET_SEQUENCE_NUMBER_OFFSET, sizeof(sequenceNumber));
  return OKAY;
}

Status StreamPacket::SetSequenceNumber(uint32_t sequenceNumber)
{
  // Make sure we have enough data to hold the header.
  if (MyRemainingSize() < STREAM_PACKET_BASE_SIZE) {
    return WRITE_PAST_END;
  }

  memcpy(MyData() + STREAM_PACKET_SEQUENCE_NUMBER_OFFSET, &sequenceNumber, sizeof(sequenceNumber));
  return OKAY;
}

Status StreamPacket::OffsetMessageTimes(double offset)
{
  uint32_t seconds = static_cast<uint32_t>(fabs(offset));
  uint32_t microseconds = static_cast<uint32_t>((fabs(offset) - seconds) * 1000000 + 0.5);

  std::shared_ptr<Message> msg;
  Status status = GetNextMessage(msg);
  if (status != OKAY) {
    return status;
  }
  while (msg != nullptr) {
    // Compute the new time
    Time time;
    status = msg->GetTime(time);
    if (status != OKAY) {
      return status;
    }
    if (offset < 0) {
      Time subtractTime(seconds, microseconds);
      if (time < subtractTime) {
        time = Time(0, 0);
      } else {
        time -= subtractTime;
      }
    } else {
      time += Time(seconds, microseconds);
    }

    // If this is a MessageConsolidatedFrameData message, we need to convert to that type so that we call
    // the correct SetTime function.
    asdp::MessageID type;
    status = msg->GetType(type);
    if (status != OKAY) {
      return status;
    }
    if (type == asdp::MessageID::CONSOLIDATED_FRAME_DATA) {
      MessageConsolidatedFrameData frameMsg(*msg);
      status = frameMsg.SetTime(time);
      if (status != OKAY) {
        return status;
      }
    } else {
      // Set the new time in the base message type.
      status = msg->SetTime(time);
      if (status != OKAY) {
        return status;
      }
    }

    // Get the next message.
    status = GetNextMessage(msg);
    if (status != OKAY) {
      return status;
    }
  }
  return OKAY;
}

Status StreamPacket::GetNextMessage(std::shared_ptr<Message>& message) const
{
  // Make sure we have enough data to hold the header. Then get the total length
  // of the packet.
  if (MyRemainingSize() < STREAM_PACKET_BASE_SIZE) {
    message.reset();
    return READ_PAST_END;
  }
  uint32_t totalLength;
  memcpy(&totalLength, MyData() + PACKET_HEADER_TOTAL_SIZE_OFFSET, sizeof(totalLength));

  // If the message is a nullptr, then find the offset to the first message
  // in the buffer.  Otherwise, use the offset from the message
  uint32_t offset;
  if (message == nullptr) {
    offset = STREAM_PACKET_BASE_SIZE;
  } else {
    // Make sure we're using the same buffer.
    if (message->m_buffer != m_buffer) {
      message.reset();
      return BAD_PARAMETER;
    }

    // Make sure we're not trying to read past the end of the buffer.
    offset = RemoveOffset(message->m_offset);
    if (offset + MESSAGE_HEADER_MESSAGE_TOTAL_SIZE_OFFSET + sizeof(uint32_t) > totalLength) {
      message.reset();
      return READ_PAST_END;
    }

    // Add the length of the message to the offset to find the offset of the next message.
    uint32_t msgSize;
    memcpy(&msgSize, MyData() + offset + MESSAGE_HEADER_MESSAGE_TOTAL_SIZE_OFFSET, sizeof(msgSize));
    offset += msgSize;
  }

  // If our offset is past the end of the packet, we're done and return a nullptr.
  if (offset >= totalLength) {
    message.reset();
    return OKAY;
  }

  // Read the size of the first message and make sure it fits entirely within the buffer.
  uint32_t messageSize;
  if (totalLength < offset + MESSAGE_HEADER_MESSAGE_TOTAL_SIZE_OFFSET + sizeof(messageSize)) {
    message.reset();
    return READ_PAST_END;
  }
  memcpy(&messageSize, MyData() + offset + MESSAGE_HEADER_MESSAGE_TOTAL_SIZE_OFFSET, sizeof(messageSize));
  if (offset + messageSize > totalLength) {
    message.reset();
    return READ_PAST_END;
  }

  // Construct a message from the buffer, giving it the correct total offset.
  message.reset(new Message(m_buffer, AddOffset(offset)));
  if (message->GetConstructorStatus() != OKAY) {
    message.reset();
    return message->GetConstructorStatus();
  }
  return OKAY;
}

std::string StreamPacket::Test()
{
  {
    // Construct a StreamPacket with no messages and check its length.
    StreamPacket packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing stream packet: " + ErrorMessage(packet.GetConstructorStatus());
    }

    // Check the length of the packet to make sure it matches expectation.
    uint32_t totalLength;
    Status status = packet.GetTotalLength(totalLength);
    if (status != OKAY) {
      return "Error checking stream packet size: " + ErrorMessage(status);
    }
    if (totalLength != STREAM_PACKET_BASE_SIZE) {
      return "Error constructing stream packet from buffer: packet length is not " +
        std::to_string(STREAM_PACKET_BASE_SIZE) + " but " + std::to_string(totalLength);
    }

    // Increase its length and ensure that it still does.
    status = packet.IncreaseTotalLength(100);
    if (status != OKAY) {
      return "Error increasing stream packet size: " + ErrorMessage(status);
    }
    status = packet.GetTotalLength(totalLength);
    if (totalLength != STREAM_PACKET_BASE_SIZE + 100) {
      return "Error increasing stream packet size: packet length is not " +
        std::to_string(STREAM_PACKET_BASE_SIZE + 100) + " but " + std::to_string(totalLength);
    }

    // Try to increase its length too much and ensure that it fails.
    status = packet.IncreaseTotalLength(packet.m_buffer->size() * 2);
    if (status != WRITE_PAST_END) {
      return "Unexpected return code from increasing stream packet size: " + ErrorMessage(status);
    }
  }

  {
    // Construct a StreamPacket with a specified sequence number.
    uint32_t sequenceNumber = 1234;
    StreamPacket packet(1200, sequenceNumber);
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing stream packet: " + ErrorMessage(packet.GetConstructorStatus());
    }

    // Check the values to make sure they match expectation.
    uint32_t rSequenceNumber;
    Status status = packet.GetSequenceNumber(rSequenceNumber);
    if (status != OKAY) {
      return "Error getting sequence number from stream packet: " + ErrorMessage(status);
    }
    if (rSequenceNumber != sequenceNumber) {
      return "Error getting sequence number from stream packet: sequence number is not " +
        std::to_string(sequenceNumber) + " but " + std::to_string(rSequenceNumber);
    }

    // Set a new sequence number code and check that it is set correctly.
    sequenceNumber = 4321;
    status = packet.SetSequenceNumber(sequenceNumber);
    if (status != OKAY) {
      return "Error setting sequence number in stream packet: " + ErrorMessage(status);
    }
    status = packet.GetSequenceNumber(rSequenceNumber);
    if (status != OKAY) {
      return "Error getting set sequence number from stream packet: " + ErrorMessage(status);
    }
    if (rSequenceNumber != sequenceNumber) {
      return "Error getting set sequence number from stream packet: sequence number is not " +
        std::to_string(sequenceNumber);
    }

    // Verify that we can create multiple stream packets in the same buffer.
    std::shared_ptr<std::vector<uint8_t>> buffer =
      std::make_shared<std::vector<uint8_t>>(STREAM_PACKET_BASE_SIZE * 3);
    uint32_t headerSize = STREAM_PACKET_BASE_SIZE;
    for (int i = 0; i < 3; i++) {
      memcpy(buffer->data() + i * STREAM_PACKET_BASE_SIZE, &headerSize, sizeof(headerSize));
    }
    StreamPacket packet1(buffer, 0);
    if (packet1.GetConstructorStatus() != OKAY) {
      return "Error constructing stream packet from buffer: " + ErrorMessage(packet1.GetConstructorStatus());
    }
    StreamPacket packet2(buffer, STREAM_PACKET_BASE_SIZE);
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing stream packet from buffer: " + ErrorMessage(packet2.GetConstructorStatus());
    }
    StreamPacket packet3(buffer, STREAM_PACKET_BASE_SIZE * 2);
    if (packet3.GetConstructorStatus() != OKAY) {
      return "Error constructing stream packet from buffer: " + ErrorMessage(packet3.GetConstructorStatus());
    }

    // We should not be able to construct a fourth.
    StreamPacket packet4(buffer, STREAM_PACKET_BASE_SIZE * 3);
    if (packet4.GetConstructorStatus() != BAD_PARAMETER) {
      return "Error illegaly constructing stream packet from buffer: " + ErrorMessage(packet4.GetConstructorStatus());
    }
  }

  // Test adding messages to a StreamPacket and then using OffsetMessageTimes to adjust them.
  {
    // Construct a StreamPacket with a sequence number.
    StreamPacket packet(9000, 1234);
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing stream packet: " + ErrorMessage(packet.GetConstructorStatus());
    }

    // Add messages (just picking random types here and not including parameters) to the packet.
    Time time = { 1, 2 };
    Message message(packet, 0, time, STORED_STREAMS);
    if (message.GetConstructorStatus() != OKAY) {
      return "Error constructing message: " + ErrorMessage(message.GetConstructorStatus());
    }
    time = { 2, 3 };
    Message message2(packet, 0, time, TEMPERATURE);
    if (message2.GetConstructorStatus() != OKAY) {
      return "Error constructing message: " + ErrorMessage(message2.GetConstructorStatus());
    }

    // Offset the time of the messages and check that it worked.
    Status status = packet.OffsetMessageTimes(1.5);
    if (status != OKAY) {
      return "Error offsetting message times: " + ErrorMessage(status);
    }
    Time rTime;
    status = message.GetTime(rTime);
    if (status != OKAY) {
      return "Error getting time from message: " + ErrorMessage(status);
    }
    if (rTime.seconds != 2 || rTime.microseconds != 500002) {
      return "Error getting time from message: time is not 2.500002";
    }
    status = message2.GetTime(rTime);
    if (status != OKAY) {
      return "Error getting time from message: " + ErrorMessage(status);
    }
    if (rTime.seconds != 3 || rTime.microseconds != 500003) {
      return "Error getting time from message: time is not 3.500003";
    }

    // Offset by a negative time and check that it worked.
    status = packet.OffsetMessageTimes(-1.5);
    if (status != OKAY) {
      return "Error offsetting message times negative: " + ErrorMessage(status);
    }
    status = message.GetTime(rTime);
    if (status != OKAY) {
      return "Error getting time from negative offset message: " + ErrorMessage(status);
    }
    if (rTime.seconds != 1 || rTime.microseconds != 2) {
      return "Error getting time from negative offset message: time is not 1.2";
    }
    status = message2.GetTime(rTime);
    if (status != OKAY) {
      return "Error getting time from negative offset message: " + ErrorMessage(status);
    }
    if (rTime.seconds != 2 || rTime.microseconds != 3) {
      return "Error getting time from negative offset message: time is not 2.3";
    }

    // Offset by a large negative and make sure they clamp to 0.
    status = packet.OffsetMessageTimes(-12.5);
    if (status != OKAY) {
      return "Error offsetting message times negative clamp: " + ErrorMessage(status);
    }
    status = message.GetTime(rTime);
    if (status != OKAY) {
      return "Error getting time from negative clamp message: " + ErrorMessage(status);
    }
    if (rTime.seconds != 0 || rTime.microseconds != 0) {
      return "Error getting time from negative clamp message: time is not 0.0";
    }
    status = message2.GetTime(rTime);
    if (status != OKAY) {
      return "Error getting time from negative clamp message: " + ErrorMessage(status);
    }
    if (rTime.seconds != 0 || rTime.microseconds != 0) {
      return "Error getting time from negative clamp message: time is not 0.0";
    }

    // Construct a consolidated frame data message and verify that its time is adjusted correctly.
    time = { 10, 500000 };
    uint8_t rowBuffer[1280 * sizeof(uint16_t)];
    MessageConsolidatedFrameData frameMessage(packet, time, 1, 2, 1280, 1024, 0, 0, 1279, 0, false, false,
      rowBuffer, 1280, 0, 0, Time(50,60), 0);
    if (frameMessage.GetConstructorStatus() != OKAY) {
      return "Error constructing consolidated frame data message: " + ErrorMessage(frameMessage.GetConstructorStatus());
    }
    status = packet.OffsetMessageTimes(-5.25);
    if (status != OKAY) {
      return "Error offsetting message times negative clamp: " + ErrorMessage(status);
    }
    status = frameMessage.GetTime(rTime);
    if (status != OKAY) {
      return "Error getting time from negative clamp message: " + ErrorMessage(status);
    }
    if (rTime.seconds != 5 || rTime.microseconds != 250000) {
      return "Error getting time from negative clamp message: time is not 5.250000";
    }
  }

  // Everything worked.
  return "";
}

Message::Message(StreamPacket& packet, uint32_t parameterSize, Time timeCode, MessageID type)
  : m_buffer(packet.m_buffer)
  , m_offset(packet.m_offset)   ///< Take into account the offset of the packet in the buffer.
  , m_constructorStatus(OKAY)
{
  uint32_t totalSize = MESSAGE_BASE_SIZE + parameterSize;

  // Make sure that we have enough room in the buffer to add the message to the packet.
  uint32_t originalSize;
  Status status = packet.GetTotalLength(originalSize);
  if (status != OKAY) {
    m_constructorStatus = status;
    return;
  }
  m_offset += originalSize;
  status = packet.IncreaseTotalLength(totalSize);
  if (status != OKAY) {
    m_constructorStatus = status;
    return;
  }

  // Pack our header.
  uint8_t *bufPtr = m_buffer->data() + m_offset;
  memcpy(bufPtr, &totalSize, sizeof(totalSize)); bufPtr += sizeof(totalSize);
  memcpy(bufPtr, &timeCode.seconds, sizeof(timeCode.seconds)); bufPtr += sizeof(timeCode.seconds);
  memcpy(bufPtr, &timeCode.microseconds, sizeof(timeCode.microseconds)); bufPtr += sizeof(timeCode.microseconds);
  uint32_t myType = type;
  memcpy(bufPtr, &myType, sizeof(myType)); bufPtr += sizeof(myType);
}

Message::Message(std::shared_ptr<std::vector<uint8_t>> existingBuffer, uint32_t offset)
  : m_buffer(existingBuffer), m_offset(offset), m_constructorStatus(OKAY)
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE) {
    m_constructorStatus = BAD_PARAMETER;
  }
}

Status Message::GetConstructorStatus() const
{
  return m_constructorStatus;
}

Status Message::GetTime(Time& time) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE) {
    return READ_PAST_END;
  }
  memcpy(&time.seconds, m_buffer->data() + m_offset + MESSAGE_HEADER_MESSAGE_TIME_SECONDS_OFFSET,
    sizeof(time.seconds));
  memcpy(&time.microseconds, m_buffer->data() + m_offset + MESSAGE_HEADER_MESSAGE_TIME_MICROSECONDS_SIZE_OFFSET,
    sizeof(time.microseconds));
  return OKAY;
}

Status Message::SetTime(Time time)
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE) {
    return WRITE_PAST_END;
  }
  unsigned char* bufPtr = m_buffer->data() + m_offset + MESSAGE_HEADER_MESSAGE_TIME_SECONDS_OFFSET;
  memcpy(bufPtr, &time.seconds, sizeof(time.seconds)); bufPtr += sizeof(time.seconds);
  memcpy(bufPtr, &time.microseconds, sizeof(time.microseconds)); bufPtr += sizeof(time.microseconds);
  return OKAY;
}

Status Message::GetType(MessageID& messageID) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE) {
    return READ_PAST_END;
  }
  memcpy(&messageID, m_buffer->data() + m_offset + MESSAGE_HEADER_MESSAGE_TYPE_OFFSET, sizeof(messageID));
  return OKAY;
}

Status Message::GetTotalSize(uint32_t& size) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE) {
    return READ_PAST_END;
  }
  memcpy(&size, m_buffer->data() + m_offset + MESSAGE_HEADER_MESSAGE_TOTAL_SIZE_OFFSET, sizeof(size));
  return OKAY;
}

// Templated implementation that performs the actual copy.
// It uses a cast of *this to the template type M; callers do not pass a source object.
template <typename M>
Status Message::CopyToStreamPacketTemplate(StreamPacket & packet, Time timeCode) const
{
  // Use the concrete type reference to access base fields via Message's scope.
  const M& src = static_cast<const M&>(*this);

  // Make sure we have enough room in the buffer to add the message to the packet.
  uint32_t originalSize;
  Status status = packet.GetTotalLength(originalSize);
  if (status != OKAY) {
    return status;
  }
  uint32_t mySize;
  status = src.GetTotalSize(mySize);
  if (status != OKAY) {
    return status;
  }
  status = packet.IncreaseTotalLength(mySize);
  if (status != OKAY) {
    return status;
  }

  // Copy the message to the packet.
  uint32_t packetOffset = packet.m_offset + originalSize;
  memcpy(packet.m_buffer->data() + packetOffset, src.m_buffer->data() + src.m_offset, mySize);

  // Update the time code in the packet if necessary.
  if (timeCode != Time()) {
    Message message(packet.m_buffer, packetOffset);
    if (message.GetConstructorStatus() != OKAY) {
      return message.GetConstructorStatus();      
    }
    M messageAsM(message);
    if (messageAsM.GetConstructorStatus() != OKAY) {
      return messageAsM.GetConstructorStatus();
    }
    status = messageAsM.SetTime(timeCode);
    if (status != OKAY) {
      return status;
      
    }
  }
  
  return OKAY;
}

// Instantiate the template for Message and then implement the call.
template Status Message::CopyToStreamPacketTemplate<Message>(StreamPacket& packet, Time timeCode) const;
Status Message::CopyToStreamPacket(StreamPacket& packet, Time timeCode) const
{
  return CopyToStreamPacketTemplate<Message>(packet, timeCode);
}

Message::~Message()
{
}

std::string Message::Test()
{
  // Construct a message (random type) with no parameters and check its length, size, time and type.
  StreamPacket packet;
  if (packet.GetConstructorStatus() != OKAY) {
    return "Error constructing stream packet for message test: " + ErrorMessage(packet.GetConstructorStatus());
  }
  Time timeCode = { 1234, 5678 };
  Message message(packet, 0, timeCode, STORED_STREAMS);
  if (message.GetConstructorStatus() != OKAY) {
    return "Error constructing message: " + ErrorMessage(message.GetConstructorStatus());
  }

  // Check the length of the message to make sure it matches expectation.
  uint32_t totalSize;
  Status status = message.GetTotalSize(totalSize);
  if (status != OKAY) {
    return "Error checking message size for message test: " + ErrorMessage(status);
  }
  if (totalSize != MESSAGE_BASE_SIZE) {
    return "Error constructing message from buffer for message test: message length is not " +
      std::to_string(MESSAGE_BASE_SIZE) + " but " + std::to_string(totalSize);
  }

  // Check the length of the packet including the message to make sure it matches expectation.
  uint32_t totalLength;
  status = packet.GetTotalLength(totalLength);
  if (status != OKAY) {
    return "Error checking message size for message test: " + ErrorMessage(status);
  }
  if (totalLength != STREAM_PACKET_BASE_SIZE + MESSAGE_BASE_SIZE) {
    return "Error constructing message from buffer for message test: packet length is not " +
      std::to_string(STREAM_PACKET_BASE_SIZE + MESSAGE_BASE_SIZE) + " but " + std::to_string(totalLength);
  }
  if (packet.m_buffer->size() != 9000 - 28) {
    return "Error constructing message from buffer for message test: packet size is not " +
      std::to_string(9000 - 28) + " but " + std::to_string(packet.m_buffer->size());
  }

  // Check the time and type of the message.
  Time rTimeCode;
  status = message.GetTime(rTimeCode);
  if (status != OKAY) {
    return "Error getting time code from message for message test: " + ErrorMessage(status);
  }
  if (rTimeCode != timeCode) {
    return "Error getting time code from message for message test: time code is not " +
      std::to_string(timeCode.seconds) + "." + std::to_string(timeCode.microseconds);
  }
  MessageID type;
  status = message.GetType(type);
  if (status != OKAY) {
    return "Error getting type from message for message test: " + ErrorMessage(status);
  }
  if (type != STORED_STREAMS) {
    return "Error getting type from message for message test: type is not STORED_STREAMS";
  }

  // Construct a Message based on the existing one in the StreamPacket and make sure we
  // can read data from it as well.
  Message message2(packet.m_buffer, STREAM_PACKET_BASE_SIZE);
  if (message2.GetConstructorStatus() != OKAY) {
    return "Error constructing second message: " + ErrorMessage(message2.GetConstructorStatus());
  }
  status = message2.GetTime(rTimeCode);
  if (status != OKAY) {
    return "Error getting time code from second message for message test: " + ErrorMessage(status);
  }
  if (rTimeCode != timeCode) {
    return "Error getting time code from second message for message test: time code is not " +
      std::to_string(timeCode.seconds) + "." + std::to_string(timeCode.microseconds);
  }
  status = message2.GetType(type);
  if (status != OKAY) {
    return "Error getting type from second message for message test: " + ErrorMessage(status);
  }
  if (type != STORED_STREAMS) {
    return "Error getting type from second message for message test: type is not STORED_STREAMS";
  }

  // Find the messages in the packet and make sure we can read them.
  std::shared_ptr<Message> message3;
  status = packet.GetNextMessage(message3);
  if (status != OKAY) {
    return "Error getting first message from packet for message test: " + ErrorMessage(status);
  }
  if (message3 == nullptr) {
    return "Error getting first message from packet for message test: message is null";
  }
  status = message3->GetTime(rTimeCode);
  if (status != OKAY) {
    return "Error getting time code from packet for message test: " + ErrorMessage(status);
  }
  if (rTimeCode != timeCode) {
    return "Error getting time code from packet for message test: time code is not " +
      std::to_string(timeCode.seconds) + "." + std::to_string(timeCode.microseconds);
  }
  status = message3->GetType(type);
  if (status != OKAY) {
    return "Error getting type from packet for message test: " + ErrorMessage(status);
  }
  if (type != STORED_STREAMS) {
    return "Error getting type from packet for message test: type is not STORED_STREAMS";
  }
  status = packet.GetNextMessage(message3);
  if (status != OKAY) {
    return "Error getting second message from packet for message test: " + ErrorMessage(status);
  }
  if (message3 != nullptr) {
    return "Error getting second message from packet for message test: message is not null";
  }

  // Test adding messages to a StreamPacket that has an offset
  {
    std::shared_ptr< std::vector<uint8_t> > buffer = std::make_shared< std::vector<uint8_t> >(5000);
    uint32_t offset = 100;
    uint32_t origSize = 8;  ///< We're building the entry by hand here.
    memcpy(buffer->data() + offset, &origSize, sizeof(origSize));
    StreamPacket streamPacket(buffer, offset);
    Time timeCode1 = { 1, 2 };
    Message message1(streamPacket, 0, timeCode1, STORED_STREAMS);
    if (message.GetConstructorStatus() != OKAY) {
      return "Error constructing message: " + ErrorMessage(message.GetConstructorStatus());
    }
    Time timeCode2 = { 3, 4 };
    Message message2(streamPacket, 0, timeCode2, STORED_STREAMS);
    if (message.GetConstructorStatus() != OKAY) {
      return "Error constructing message: " + ErrorMessage(message.GetConstructorStatus());
    }
    std::shared_ptr<Message> message;
    Status status = streamPacket.GetNextMessage(message);
    if (status != OKAY) {
      return "Error getting first message from packet for offset message test: " + ErrorMessage(status);
    }
    MessageID rID;
    status = message->GetType(rID);
    if (status != OKAY) {
      return "Error getting type from packet for offset message test: " + ErrorMessage(status);
    }
    if (rID != STORED_STREAMS) {
      return "Error getting type from packet for offset message test: type is not STORED_STREAMS but " +
        std::to_string(rID);
    }
    Time rTime;
    status = message->GetTime(rTime);
    if (status != OKAY) {
      return "Error getting time code from packet for offset message test: " + ErrorMessage(status);
    }
    if (rTime != timeCode1) {
      return "Error getting time code from packet for offset message test: time code is not " +
        std::to_string(timeCode1.seconds) + "." + std::to_string(timeCode1.microseconds) +
        " but " +
        std::to_string(rTime.seconds) + "." + std::to_string(rTime.microseconds);
    }
    status = streamPacket.GetNextMessage(message);
    if (status != OKAY) {
      return "Error getting second message from packet for offset message test: " + ErrorMessage(status);
    }
    status = message->GetTime(rTime);
    if (status != OKAY) {
      return "Error getting time code from packet for offset message test: " + ErrorMessage(status);
    }
    if (rTime != timeCode2) {
      return "Error getting time code from packet for offset message test: time code is not " +
        std::to_string(timeCode2.seconds) + "." + std::to_string(timeCode2.microseconds);
    }
  }

  // Test copying a message into a StreamPacket and make sure time adjustment works.
  {
    StreamPacket packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing stream packet for copy message test: " + ErrorMessage(packet.GetConstructorStatus());
    }
    Time timeCode = { 1234, 5678 };
    Message message(packet, 0, timeCode, STORED_STREAMS);
    if (message.GetConstructorStatus() != OKAY) {
      return "Error constructing message: " + ErrorMessage(message.GetConstructorStatus());
    }
    Time newTime = { 4321, 8765 };
    StreamPacket packet2;
    Status status = message.CopyToStreamPacket(packet2, newTime);
    if (status != OKAY) {
      return "Error copying message to packet for copy message test: " + ErrorMessage(status);
    }
    std::shared_ptr<Message> message2;
    status = packet2.GetNextMessage(message2);
    if (status != OKAY) {
      return "Error getting message from packet for copy message test: " + ErrorMessage(status);
    }
    Time rTime;
    status = message2->GetTime(rTime);
    if (status != OKAY) {
      return "Error getting time code from packet for copy message test: " + ErrorMessage(status);
    }
    if (rTime != newTime) {
      return "Error getting time code from packet for copy message test: time code is not " +
        std::to_string(newTime.seconds) + "." + std::to_string(newTime.microseconds);
    }
    MessageID rID;
    status = message.GetType(rID);
    if (status != OKAY) {
      return "Error getting type from packet for copy message test: " + ErrorMessage(status);
    }
    if (rID != STORED_STREAMS) {
      return "Error getting type from packet for copy message test: type is not STORED_STREAMS but " +
        std::to_string(rID);
    }

    // Copy again with no time adjustment.
    StreamPacket packet3;
    status = message.CopyToStreamPacket(packet3, Time());
    if (status != OKAY) {
      return "Error copying message to packet for copy message test: " + ErrorMessage(status);
    }
    std::shared_ptr<Message> message3;
    status = packet3.GetNextMessage(message3);
    if (status != OKAY) {
      return "Error getting message from packet for copy message test: " + ErrorMessage(status);
    }
    status = message3->GetTime(rTime);
    if (status != OKAY) {
      return "Error getting time code from packet for copy message test: " + ErrorMessage(status);
    }
    if (rTime != timeCode) {
      return "Error getting time code from packet for copy message test: time code is not " +
        std::to_string(timeCode.seconds) + "." + std::to_string(timeCode.microseconds);
    }
  }

  // Set the time to a different value and check that it is set correctly.
  Time newTimeCode = { 4321, 8765 };
  status = message.SetTime(newTimeCode);
  if (status != OKAY) {
    return "Error setting time code in message for message test: " + ErrorMessage(status);
  }
  status = message.GetTime(rTimeCode);
  if (status != OKAY) {
    return "Error getting set time code from message for message test: " + ErrorMessage(status);
  }
  if (rTimeCode != newTimeCode) {
    return "Error setting set time code in message for message test: time code is not " +
      std::to_string(newTimeCode.seconds) + "." + std::to_string(newTimeCode.microseconds);
  }

  return "";
}

MessageDiscovery::MessageDiscovery(StreamPacket& packet, Time timeCode,
    StreamEndpoint endpoint, uint32_t serial)
  : Message(packet, 5 * sizeof(uint32_t), timeCode, DISCOVERY)
{
  // See if our subobject failed. If so, we're done.
  if (m_constructorStatus != OKAY) {
    return;
  }

  // Pack our parameters, including the magic cookie and version.
  unsigned char* bufPtr = m_buffer->data() + m_offset + MESSAGE_BASE_SIZE;
  memcpy(bufPtr, MAGIC_COOKIE, 4); bufPtr += 4;
  memcpy(bufPtr, VERSION, 4); bufPtr += 4;
  memcpy(bufPtr, &endpoint.IP, sizeof(endpoint.IP)); bufPtr += sizeof(endpoint.IP);
  uint32_t portField = endpoint.port;
  memcpy(bufPtr, &portField, sizeof(portField)); bufPtr += sizeof(portField);
  memcpy(bufPtr, &serial, sizeof(serial)); bufPtr += sizeof(serial);
}

MessageDiscovery::MessageDiscovery(Message& baseMessage)
  : Message(baseMessage)
{
  MessageID type;
  baseMessage.GetType(type);
  if (type != DISCOVERY) {
    m_constructorStatus = BAD_PARAMETER;
  }

  // Check the magic cookie.
  unsigned char* bufPtr = m_buffer->data() + m_offset + MESSAGE_BASE_SIZE;
  if (memcmp(bufPtr, MAGIC_COOKIE, 4) != 0) {
    m_constructorStatus = BAD_COOKIE;
  }
}

Status MessageDiscovery::GetVersion(uint8_t& major, uint16_t& minor, uint8_t& patch) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(uint32_t)) {
    return READ_PAST_END;
  }

  unsigned char *bufPtr = m_buffer->data() + m_offset + MESSAGE_BASE_SIZE + 4;
  memcpy(&major, bufPtr, sizeof(major)); bufPtr += sizeof(major);
  memcpy(&minor, bufPtr, sizeof(minor)); bufPtr += sizeof(minor);
  memcpy(&patch, bufPtr, sizeof(patch)); bufPtr += sizeof(patch);

  return OKAY;
}

Status MessageDiscovery::GetEndpoint(StreamEndpoint& endpoint) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + 4 * sizeof(uint32_t)) {
    return READ_PAST_END;
  }

  memcpy(&endpoint.IP, m_buffer->data() + m_offset + MESSAGE_BASE_SIZE + 2 * 4, sizeof(endpoint.IP));

  uint32_t portField;
  memcpy(&portField, m_buffer->data() + m_offset + MESSAGE_BASE_SIZE + 2 * 4 + sizeof(uint32_t), sizeof(portField));
  endpoint.port = portField;
  return OKAY;
}

Status MessageDiscovery::GetSerial(uint32_t& serial) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + 5 * sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  memcpy(&serial, m_buffer->data() + m_offset + MESSAGE_BASE_SIZE + 2 * 4 + 2 * sizeof(uint32_t), sizeof(serial));
  return OKAY;
}

std::string MessageDiscovery::Test()
{
  {
    // Construct a message and check its length, time and type.
    StreamPacket packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing stream packet for MessageDiscovery test: " + ErrorMessage(packet.GetConstructorStatus());
    }

    // Add a message.
    Time timeCode = { 1234, 5678 };
    uint32_t IP = 0x01020304, serial = 0x05060708;
    uint16_t port = 1234;
    MessageDiscovery message(packet, timeCode, { IP, port }, serial);
    if (message.GetConstructorStatus() != OKAY) {
      return "Error constructing MessageDiscovery: " + ErrorMessage(message.GetConstructorStatus());
    }

    // Check the length of the packet including the message to make sure it matches expectation.
    uint32_t totalLength;
    Status status = packet.GetTotalLength(totalLength);
    if (status != OKAY) {
      return "Error checking message size for MessageDiscovery test: " + ErrorMessage(status);
    }
    if (totalLength != STREAM_PACKET_BASE_SIZE + MESSAGE_BASE_SIZE + 5 * sizeof(uint32_t)) {
      return "Error constructing MessageDiscovery from buffer: packet length is not " +
        std::to_string(STREAM_PACKET_BASE_SIZE + MESSAGE_BASE_SIZE + 5 * sizeof(uint32_t)) + " but " +
        std::to_string(totalLength);
    }

    // Check the time and type of the message.
    Time rTimeCode;
    status = message.GetTime(rTimeCode);
    if (status != OKAY) {
      return "Error getting time code from MessageDiscovery for MessageDiscovery test: " + ErrorMessage(status);
    }
    if (rTimeCode != timeCode) {
      return "Error getting time code from MessageDiscovery for MessageDiscovery test: time code is not " +
        std::to_string(timeCode.seconds) + "." + std::to_string(timeCode.microseconds);
    }
    MessageID type;
    status = message.GetType(type);
    if (status != OKAY) {
      return "Error getting type from MessageDiscovery for MessageDiscovery test: " + ErrorMessage(status);
    }
    if (type != DISCOVERY) {
      return "Error getting type from MessageDiscovery for MessageDiscovery test: type is not DISCOVERY";
    }

    // Check the version of the message
    uint8_t major, patch;
    uint16_t minor;
    status = message.GetVersion(major, minor, patch);
    if (status != OKAY) {
      return "Error getting version from MessageDiscovery for MessageDiscovery test: " + ErrorMessage(status);
    }
    uint16_t sysMajor, sysPatch;
    uint16_t sysMinor;
    UnpackVersion(VERSION, sysMajor, sysMinor, sysPatch);
    if (major != sysMajor || minor != sysMinor || patch != sysPatch) {
      return "Error getting version from MessageDiscovery for MessageDiscovery test: version is not " +
        std::to_string(sysMajor) + "." + std::to_string(sysMinor) + "." + std::to_string(sysPatch);
    }

    // Check the values of the message
    StreamEndpoint rEndpoint;
    status = message.GetEndpoint(rEndpoint);
    if (status != OKAY) {
      return "Error getting endpoint from MessageDiscovery for MessageDiscovery test: " + ErrorMessage(status);
    }
    if (rEndpoint.IP != IP) {
      return "Error getting IP from MessageDiscovery for MessageDiscovery test: IP is not " +
        std::to_string(IP);
    }
    if (rEndpoint.port != port) {
      return "Error getting port from MessageDiscovery for MessageDiscovery test: port is not " +
        std::to_string(port);
    }
    uint32_t rSerial;
    status = message.GetSerial(rSerial);
    if (status != OKAY) {
      return "Error getting serial from MessageDiscovery for MessageDiscovery test: " + ErrorMessage(status);
    }
    if (rSerial != serial) {
      return "Error getting serial from MessageDiscovery for MessageDiscovery test: serial is not " +
        std::to_string(serial);
    }

    // Construct a MessageDiscovery based on the existing one in the StreamPacket and make sure we
    // can read data from it as well.
    MessageDiscovery message2(static_cast<Message&>(message));
    if (message2.GetConstructorStatus() != OKAY) {
      return "Error constructing second MessageDiscovery: " + ErrorMessage(message2.GetConstructorStatus());
    }
    status = message2.GetTime(rTimeCode);
    if (status != OKAY) {
      return "Error getting time code from second MessageDiscovery for MessageDiscovery test: " + ErrorMessage(status);
    }
    if (rTimeCode != timeCode) {
      return "Error getting time code from second MessageDiscovery for MessageDiscovery test: time code is not " +
        std::to_string(timeCode.seconds) + "." + std::to_string(timeCode.microseconds);
    }
    status = message2.GetType(type);
    if (status != OKAY) {
      return "Error getting type from second MessageDiscovery for MessageDiscovery test: " + ErrorMessage(status);
    }
    if (type != DISCOVERY) {
      return "Error getting type from second MessageDiscovery for MessageDiscovery test: type is not DISCOVERY";
    }
    status = message2.GetEndpoint(rEndpoint);
    if (status != OKAY) {
      return "Error getting endpoint from second MessageDiscovery for MessageDiscovery test: " + ErrorMessage(status);
    }
    if (rEndpoint.IP != IP) {
      return "Error getting IP from second MessageDiscovery for MessageDiscovery test: IP is not " +
        std::to_string(IP);
    }
    if (rEndpoint.port != port) {
      return "Error getting port from second MessageDiscovery for MessageDiscovery test: port is not " +
        std::to_string(port);
    }
    status = message2.GetSerial(rSerial);
    if (status != OKAY) {
      return "Error getting serial from second MessageDiscovery for MessageDiscovery test: " + ErrorMessage(status);
    }
    if (rSerial != serial) {
      return "Error getting serial from second MessageDiscovery for MessageDiscovery test: serial is not " +
        std::to_string(serial);
    }
  }

  return "";
}

MessageState::MessageState(StreamPacket& packet, Time timeCode,
    std::vector<FeatureID> features, std::vector<CameraInfo> cameras,
    uint32_t numTempSensorsPerCamera, uint32_t numExternalTempSensors,
    uint8_t storing, uint8_t camerasStreaming, uint8_t replaying, uint8_t replayAtEnd,
    uint8_t recordOnReset,
    std::vector<TriggerInfo> triggerConfigs,
    uint64_t totalDiskSpace, uint64_t remainingDiskSpace,
    Time streamReplayTime)
  : Message(packet,
      sizeof(uint32_t) + features.size() * sizeof(uint16_t) + (features.size() % 2) * sizeof(uint16_t)
        + cameras.size() * (2*sizeof(double) + 2*sizeof(uint32_t) + 2*sizeof(uint16_t))
        + sizeof(numTempSensorsPerCamera) + sizeof(numExternalTempSensors)
        + 8 /* The byte-sized ones and padding */
        + sizeof(uint32_t)
        + triggerConfigs.size() * (sizeof(double)+2*sizeof(float)+sizeof(uint16_t)+2*sizeof(uint8_t))
        + sizeof(totalDiskSpace) + sizeof(remainingDiskSpace)
        + 2 * sizeof(uint32_t) /* Time */,
      timeCode, STATE)
{
  // See if our subobject failed. If so, we're done.
  if (m_constructorStatus != OKAY) {
    return;
  }

  // Pack our parameters.
  unsigned char* bufPtr = m_buffer->data() + m_offset + MESSAGE_BASE_SIZE;
  uint32_t numFeatures = features.size();
  memcpy(bufPtr, &numFeatures, sizeof(numFeatures)); bufPtr += sizeof(numFeatures);
  for (uint32_t i = 0; i < numFeatures; i++) {
    memcpy(bufPtr, &features[i], sizeof(features[i])); bufPtr += sizeof(features[i]);
  }
  // Pad to 4-byte alignment.
  if (numFeatures % 2 != 0) {
    bufPtr += sizeof(uint16_t);
  }
  uint32_t numCameras = cameras.size();
  memcpy(bufPtr, &numCameras, sizeof(numCameras)); bufPtr += sizeof(numCameras);
  for (uint32_t i = 0; i < numCameras; i++) {
    memcpy(bufPtr, &cameras[i].minTriggerPeriod, sizeof(cameras[i].minTriggerPeriod)); bufPtr += sizeof(cameras[i].minTriggerPeriod);
    memcpy(bufPtr, &cameras[i].maxTriggerPeriod, sizeof(cameras[i].maxTriggerPeriod)); bufPtr += sizeof(cameras[i].maxTriggerPeriod);
    memcpy(bufPtr, &cameras[i].trigger, sizeof(cameras[i].trigger)); bufPtr += sizeof(cameras[i].trigger);
    memcpy(bufPtr, &cameras[i].type, sizeof(cameras[i].type)); bufPtr += sizeof(cameras[i].type);
    memcpy(bufPtr, &cameras[i].width, sizeof(cameras[i].width)); bufPtr += sizeof(cameras[i].width);
    memcpy(bufPtr, &cameras[i].height, sizeof(cameras[i].height)); bufPtr += sizeof(cameras[i].height);
  }
  memcpy(bufPtr, &numTempSensorsPerCamera, sizeof(numTempSensorsPerCamera)); bufPtr += sizeof(numTempSensorsPerCamera);
  memcpy(bufPtr, &numExternalTempSensors, sizeof(numExternalTempSensors)); bufPtr += sizeof(numExternalTempSensors);
  *bufPtr = storing; bufPtr++;
  *bufPtr = camerasStreaming; bufPtr++;
  *bufPtr = replaying; bufPtr++;
  *bufPtr = replayAtEnd; bufPtr++;
  *bufPtr = recordOnReset; bufPtr++;
  bufPtr += 3; // Padding
  uint32_t numTriggers = triggerConfigs.size();
  memcpy(bufPtr, &numTriggers, sizeof(numTriggers)); bufPtr += sizeof(numTriggers);
  for (uint32_t i = 0; i < numTriggers; i++) {
    memcpy(bufPtr, &triggerConfigs[i].period, sizeof(triggerConfigs[i].period)); bufPtr += sizeof(triggerConfigs[i].period);
    memcpy(bufPtr, &triggerConfigs[i].offset, sizeof(triggerConfigs[i].offset)); bufPtr += sizeof(triggerConfigs[i].offset);
    memcpy(bufPtr, &triggerConfigs[i].trackingFactor, sizeof(triggerConfigs[i].trackingFactor)); bufPtr += sizeof(triggerConfigs[i].trackingFactor);
    memcpy(bufPtr, &triggerConfigs[i].ID, sizeof(triggerConfigs[i].ID)); bufPtr += sizeof(triggerConfigs[i].ID);
    memcpy(bufPtr, &triggerConfigs[i].mode, sizeof(triggerConfigs[i].mode)); bufPtr += sizeof(triggerConfigs[i].mode);
    memcpy(bufPtr, &triggerConfigs[i].externalID, sizeof(triggerConfigs[i].externalID)); bufPtr += sizeof(triggerConfigs[i].externalID);
  }
  memcpy(bufPtr, &totalDiskSpace, sizeof(totalDiskSpace)); bufPtr += sizeof(totalDiskSpace);
  memcpy(bufPtr, &remainingDiskSpace, sizeof(remainingDiskSpace)); bufPtr += sizeof(remainingDiskSpace);
  memcpy(bufPtr, &streamReplayTime.seconds, sizeof(streamReplayTime.seconds)); bufPtr += sizeof(streamReplayTime.seconds);
  memcpy(bufPtr, &streamReplayTime.microseconds, sizeof(streamReplayTime.microseconds)); bufPtr += sizeof(streamReplayTime.microseconds);
}

MessageState::MessageState(Message& baseMessage)
  : Message(baseMessage)
{
  MessageID type;
  baseMessage.GetType(type);
  if (type != STATE) {
    m_constructorStatus = BAD_PARAMETER;
  }
}

Status MessageState::GetFeatures(std::vector<FeatureID>& features) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  uint32_t numFeatures;
  memcpy(&numFeatures, m_buffer->data() + m_offset + MESSAGE_BASE_SIZE, sizeof(numFeatures));
  features.resize(numFeatures);
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + sizeof(uint32_t) + numFeatures * sizeof(uint16_t)) {
    return READ_PAST_END;
  }
  memcpy(features.data(), m_buffer->data() + m_offset + MESSAGE_BASE_SIZE + sizeof(uint32_t), numFeatures * sizeof(uint16_t));
  return OKAY;
}

Status MessageState::GetCameras(std::vector<CameraInfo>& cameras) const
{
  uint32_t afterFeaturesOffset;
  Status status = GetAfterFeaturesOffset(afterFeaturesOffset);
  if (status != OKAY) {
    return status;
  }
  if (m_buffer->size() < afterFeaturesOffset + sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  uint32_t numCameras;
  memcpy(&numCameras, m_buffer->data() + afterFeaturesOffset, sizeof(numCameras));
  cameras.resize(numCameras);
  const size_t CAMERASIZE = 2*sizeof(double) + 2*sizeof(uint32_t) + 2*sizeof(uint16_t);
  if (m_buffer->size() < afterFeaturesOffset + sizeof(uint32_t) + numCameras * CAMERASIZE) {
    return READ_PAST_END;
  }
  const uint8_t* bufPtr = m_buffer->data() + afterFeaturesOffset + sizeof(uint32_t);
  for (uint32_t c = 0; c < numCameras; c++) {
    memcpy(&cameras[c].minTriggerPeriod, bufPtr, sizeof(cameras[c].minTriggerPeriod)); bufPtr += sizeof(cameras[c].minTriggerPeriod);
    memcpy(&cameras[c].maxTriggerPeriod, bufPtr, sizeof(cameras[c].maxTriggerPeriod)); bufPtr += sizeof(cameras[c].maxTriggerPeriod);
    memcpy(&cameras[c].trigger, bufPtr, sizeof(cameras[c].trigger)); bufPtr += sizeof(cameras[c].trigger);
    memcpy(&cameras[c].type, bufPtr, sizeof(cameras[c].type)); bufPtr += sizeof(cameras[c].type);
    memcpy(&cameras[c].width, bufPtr, sizeof(cameras[c].width)); bufPtr += sizeof(cameras[c].width);
    memcpy(&cameras[c].height, bufPtr, sizeof(cameras[c].height)); bufPtr += sizeof(cameras[c].height);
  }
  return OKAY;
}

Status MessageState::GetNumTempSensorsPerCamera(uint32_t& numTempSensorsPerCamera) const
{
  uint32_t afterCamerasOffset;
  Status status = GetAfterCamerasOffset(afterCamerasOffset);
  if (status != OKAY) {
    return status;
  }
  if (m_buffer->size() < afterCamerasOffset + sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  memcpy(&numTempSensorsPerCamera, m_buffer->data() + afterCamerasOffset, sizeof(numTempSensorsPerCamera));
  return OKAY;
}

Status MessageState::GetNumExternalTempSensors(uint32_t& numExternalTempSensors) const
{
  uint32_t afterCamerasOffset;
  Status status = GetAfterCamerasOffset(afterCamerasOffset);
  if (status != OKAY) {
    return status;
  }
  if (m_buffer->size() < afterCamerasOffset + sizeof(uint32_t) + sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  memcpy(&numExternalTempSensors, m_buffer->data() + afterCamerasOffset + sizeof(uint32_t), sizeof(numExternalTempSensors));
  return OKAY;
}

Status MessageState::GetStoring(uint8_t& storing) const
{
  uint32_t afterCamerasOffset;
  Status status = GetAfterCamerasOffset(afterCamerasOffset);
  if (status != OKAY) {
    return status;
  }
  if (m_buffer->size() < afterCamerasOffset + 2 * sizeof(uint32_t) + sizeof(uint8_t)) {
    return READ_PAST_END;
  }
  memcpy(&storing, m_buffer->data() + afterCamerasOffset + 2 * sizeof(uint32_t), sizeof(storing));
  return OKAY;
}

Status MessageState::GetCamerasStreaming(uint8_t& camerasStreaming) const
{
  uint32_t afterCamerasOffset;
  Status status = GetAfterCamerasOffset(afterCamerasOffset);
  if (status != OKAY) {
    return status;
  }
  if (m_buffer->size() < afterCamerasOffset + 2 * sizeof(uint32_t) + 2 * sizeof(uint8_t)) {
    return READ_PAST_END;
  }
  memcpy(&camerasStreaming, m_buffer->data() + afterCamerasOffset + 2 * sizeof(uint32_t) + sizeof(uint8_t), sizeof(camerasStreaming));
  return OKAY;
}

Status MessageState::GetReplaying(uint8_t& replaying) const
{
  uint32_t afterCamerasOffset;
  Status status = GetAfterCamerasOffset(afterCamerasOffset);
  if (status != OKAY) {
    return status;
  }
  if (m_buffer->size() < afterCamerasOffset + 2 * sizeof(uint32_t) + 3 * sizeof(uint8_t)) {
    return READ_PAST_END;
  }
  memcpy(&replaying, m_buffer->data() + afterCamerasOffset + 2 * sizeof(uint32_t) + 2 * sizeof(uint8_t), sizeof(replaying));
  return OKAY;
}

Status MessageState::GetReplayAtEnd(uint8_t& replayAtEnd) const
{
  uint32_t afterCamerasOffset;
  Status status = GetAfterCamerasOffset(afterCamerasOffset);
  if (status != OKAY) {
    return status;
  }
  if (m_buffer->size() < afterCamerasOffset + 2 * sizeof(uint32_t) + 4 * sizeof(uint8_t)) {
    return READ_PAST_END;
  }
  memcpy(&replayAtEnd, m_buffer->data() + afterCamerasOffset + 2 * sizeof(uint32_t) + 3 * sizeof(uint8_t), sizeof(replayAtEnd));
  return OKAY;
}

Status MessageState::GetRecordOnReset(uint8_t& recordOnReset) const
{
  uint32_t afterCamerasOffset;
  Status status = GetAfterCamerasOffset(afterCamerasOffset);
  if (status != OKAY) {
    return status;
  }
  if (m_buffer->size() < afterCamerasOffset + 2 * sizeof(uint32_t) + 5 * sizeof(uint8_t)) {
    return READ_PAST_END;
  }
  memcpy(&recordOnReset, m_buffer->data() + afterCamerasOffset + 2 * sizeof(uint32_t) + 4 * sizeof(uint8_t), sizeof(recordOnReset));
  return OKAY;
}

Status MessageState::GetTriggerConfigs(std::vector<TriggerInfo>& triggerConfigs) const
{
  uint32_t afterCamerasOffset;
  Status status = GetAfterCamerasOffset(afterCamerasOffset);
  if (status != OKAY) {
    return status;
  }
  if (m_buffer->size() < afterCamerasOffset + 2 * sizeof(uint32_t) + 8 + sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  uint32_t numTriggers;
  const size_t TRIGGERSIZE = sizeof(double)+2*sizeof(float)+sizeof(uint16_t)+2*sizeof(uint8_t);
  memcpy(&numTriggers, m_buffer->data() + afterCamerasOffset + 2 * sizeof(uint32_t) + 8, sizeof(numTriggers));
  triggerConfigs.resize(numTriggers);
  if (m_buffer->size() < afterCamerasOffset + 2 * sizeof(uint32_t) + 8 + sizeof(uint32_t) + numTriggers*TRIGGERSIZE) {
    return READ_PAST_END;
  }
  uint32_t baseOffset = afterCamerasOffset + 2 * sizeof(uint32_t) + 8 + sizeof(uint32_t);
  for (uint32_t i = 0; i < numTriggers; i++) {
    uint32_t paramOffset = baseOffset + i * TRIGGERSIZE;
    memcpy(&triggerConfigs[i].period, m_buffer->data() + paramOffset, sizeof(triggerConfigs[i].period));
    paramOffset += sizeof(triggerConfigs[i].period);
    memcpy(&triggerConfigs[i].offset, m_buffer->data() + paramOffset, sizeof(triggerConfigs[i].offset));
    paramOffset += sizeof(triggerConfigs[i].offset);
    memcpy(&triggerConfigs[i].trackingFactor, m_buffer->data() + paramOffset, sizeof(triggerConfigs[i].trackingFactor));
    paramOffset += sizeof(triggerConfigs[i].trackingFactor);
    memcpy(&triggerConfigs[i].ID, m_buffer->data() + paramOffset, sizeof(triggerConfigs[i].ID));
    paramOffset += sizeof(triggerConfigs[i].ID);
    memcpy(&triggerConfigs[i].mode, m_buffer->data() + paramOffset, sizeof(triggerConfigs[i].mode));
    paramOffset += sizeof(triggerConfigs[i].mode);
    memcpy(&triggerConfigs[i].externalID, m_buffer->data() + paramOffset, sizeof(triggerConfigs[i].externalID));
    paramOffset += sizeof(triggerConfigs[i].externalID);
  }
  return OKAY;
}

Status MessageState::GetTotalDiskSpace(uint64_t& totalDiskSpace) const
{
  uint32_t afterTriggerConfigsOffset;
  Status status = GetAfterTriggerConfigsOffset(afterTriggerConfigsOffset);
  if (status != OKAY) {
    return status;
  }
  if (m_buffer->size() < afterTriggerConfigsOffset + sizeof(uint64_t)) {
    return READ_PAST_END;
  }
  memcpy(&totalDiskSpace, m_buffer->data() + afterTriggerConfigsOffset, sizeof(totalDiskSpace));
  return OKAY;
}

Status MessageState::GetRemainingDiskSpace(uint64_t& remainingDiskSpace) const
{
  uint32_t afterTriggerConfigsOffset;
  Status status = GetAfterTriggerConfigsOffset(afterTriggerConfigsOffset);
  if (status != OKAY) {
    return status;
  }
  if (m_buffer->size() < afterTriggerConfigsOffset + sizeof(uint64_t) + sizeof(uint64_t)) {
    return READ_PAST_END;
  }
  memcpy(&remainingDiskSpace, m_buffer->data() + afterTriggerConfigsOffset + sizeof(uint64_t), sizeof(remainingDiskSpace));
  return OKAY;
}

Status MessageState::GetStreamReplayTime(Time& streamReplayTime) const
{
  uint32_t afterTriggerConfigsOffset;
  Status status = GetAfterTriggerConfigsOffset(afterTriggerConfigsOffset);
  if (status != OKAY) {
    return status;
  }
  if (m_buffer->size() < afterTriggerConfigsOffset + 2 * sizeof(uint64_t) + 2 * sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  memcpy(&streamReplayTime.seconds,
    m_buffer->data() + afterTriggerConfigsOffset + 2 * sizeof(uint64_t), sizeof(streamReplayTime.seconds));
  memcpy(&streamReplayTime.microseconds,
    m_buffer->data() + afterTriggerConfigsOffset + 2 * sizeof(uint64_t) + sizeof(streamReplayTime.seconds),
    sizeof(streamReplayTime.microseconds));
  return OKAY;
}

std::string MessageState::Test()
{
  {
    // Construct a message and check its length, time and type.
    StreamPacket packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing stream packet for MessageState test: " + ErrorMessage(packet.GetConstructorStatus());
    }

    // Add a message.
    Time timeCode = { 1234, 5678 };
    std::vector<FeatureID> features = { STORAGE_API_AVAILABLE, TEMPERATURE_API_AVAILABLE, POSE_API_ORIENTATION_AVAILABLE };
    std::vector<CameraInfo> cameras = { { 1, 2, 3, 4, 5, 6 }, { 7, 8, 9, 10, 11, 12 } };
    uint32_t numTempSensorsPerCamera = 13, numExternalTempSensors = 14;
    uint8_t storing = 16, camerasStreaming = 17, replaying = 18, replayAtEnd = 19, recordOnReset = 20;
    std::vector<TriggerInfo> triggerConfigs = { { 1, 2, 3, 4, 5, 6 }, { 7, 8, 9, 10, 11, 12 } };
    uint64_t totalDiskSpace = 21, remainingDiskSpace = 22;
    Time streamReplayTime = { 23, 24 };
    MessageState message(packet, timeCode, features, cameras, numTempSensorsPerCamera, numExternalTempSensors,
      storing, camerasStreaming, replaying, replayAtEnd, recordOnReset, triggerConfigs,
      totalDiskSpace, remainingDiskSpace, streamReplayTime);
    if (message.GetConstructorStatus() != OKAY) {
      return "Error constructing MessageState: " + ErrorMessage(message.GetConstructorStatus());
    }

    // Check the length of the packet including the message to make sure it matches expectation.
    uint32_t totalLength;
    Status status = packet.GetTotalLength(totalLength);
    if (status != OKAY) {
      return "Error checking message size for MessageState test: " + ErrorMessage(status);
    }
    const size_t CAMERASIZE = 2 * sizeof(double) + 2 * sizeof(uint32_t) + 2 * sizeof(uint16_t);
    const size_t TRIGGERSIZE = sizeof(double) + 2 * sizeof(float) + sizeof(uint16_t) + 2 * sizeof(uint8_t);
    if (totalLength != STREAM_PACKET_BASE_SIZE + MESSAGE_BASE_SIZE + sizeof(uint32_t) + features.size() * sizeof(uint16_t)
      + (features.size() % 2) * sizeof(uint16_t)
      + cameras.size() * CAMERASIZE + sizeof(numTempSensorsPerCamera) + sizeof(numExternalTempSensors)
      + 8 + sizeof(uint32_t) + triggerConfigs.size() * TRIGGERSIZE
      + sizeof(totalDiskSpace) + sizeof(remainingDiskSpace) + 2 * sizeof(uint32_t)) {
      return "Error constructing MessageState from buffer: packet length is not " +
        std::to_string(STREAM_PACKET_BASE_SIZE + MESSAGE_BASE_SIZE + sizeof(uint32_t) + features.size() * sizeof(uint16_t)
                 + (features.size() % 2) * sizeof(uint16_t)
                 + cameras.size() * CAMERASIZE + sizeof(numTempSensorsPerCamera) + sizeof(numExternalTempSensors)
                 + 8 + sizeof(uint32_t) + triggerConfigs.size() * TRIGGERSIZE
                 + sizeof(totalDiskSpace) + sizeof(remainingDiskSpace) + 2 * sizeof(uint32_t)) + " but " +
        std::to_string(totalLength);
    }

    // Check the time and type of the message.
    Time rTimeCode;
    status = message.GetTime(rTimeCode);
    if (status != OKAY) {
      return "Error getting time code from MessageState for MessageState test: " + ErrorMessage(status);
    }
    if (rTimeCode != timeCode) {
      return "Error getting time code from MessageState for MessageState test: time code is not " +
        std::to_string(timeCode.seconds) + "." + std::to_string(timeCode.microseconds);
    }
    MessageID type;
    status = message.GetType(type);
    if (status != OKAY) {
      return "Error getting type from MessageState for MessageState test: " + ErrorMessage(status);
    }
    if (type != STATE) {
      return "Error getting type from MessageState for MessageState test: type is not DISCOVERY";
    }

    // Check the values of the message
    std::vector<FeatureID> rFeatures;
    status = message.GetFeatures(rFeatures);
    if (status != OKAY) {
      return "Error getting features from MessageState for MessageState test: " + ErrorMessage(status);
    }
    if (rFeatures != features) {
      return "Error getting features from MessageState for MessageState test: features are not { 1, 2, 3, 4, 5 }";
    }
    std::vector<CameraInfo> rCameras;
    status = message.GetCameras(rCameras);
    if (status != OKAY) {
      return "Error getting cameras from MessageState for MessageState test: " + ErrorMessage(status);
    }
    if (rCameras != cameras) {
      return "Error getting cameras from MessageState for MessageState test: cameras are not { { 1, 2, 3, 4, 5, 6 }, { 7, 8, 9, 10, 11, 12 } }";
    }
    uint32_t rNumTempSensorsPerCamera;
    status = message.GetNumTempSensorsPerCamera(rNumTempSensorsPerCamera);
    if (status != OKAY) {
      return "Error getting numTempSensorsPerCamera from MessageState for MessageState test: " + ErrorMessage(status);
    }
    if (rNumTempSensorsPerCamera != numTempSensorsPerCamera) {
      return "Error getting numTempSensorsPerCamera from MessageState for MessageState test: numTempSensorsPerCamera is not 13";
    }
    uint32_t rNumExternalTempSensors;
    status = message.GetNumExternalTempSensors(rNumExternalTempSensors);
    if (status != OKAY) {
      return "Error getting numExternalTempSensors from MessageState for MessageState test: " + ErrorMessage(status);
    }
    if (rNumExternalTempSensors != numExternalTempSensors) {
      return "Error getting numExternalTempSensors from MessageState for MessageState test: numExternalTempSensors is not 14";
    }
    uint8_t rStoring;
    status = message.GetStoring(rStoring);
    if (status != OKAY) {
      return "Error getting storing from MessageState for MessageState test: " + ErrorMessage(status);
    }
    if (rStoring != storing) {
      return "Error getting storing from MessageState for MessageState test: storing is not 16";
    }
    uint8_t rCamerasStreaming;
    status = message.GetCamerasStreaming(rCamerasStreaming);
    if (status != OKAY) {
      return "Error getting camerasStreaming from MessageState for MessageState test: " + ErrorMessage(status);
    }
    if (rCamerasStreaming != camerasStreaming) {
      return "Error getting camerasStreaming from MessageState for MessageState test: camerasStreaming is not 17";
    }
    uint8_t rReplaying;
    status = message.GetReplaying(rReplaying);
    if (status != OKAY) {
      return "Error getting replaying from MessageState for MessageState test: " + ErrorMessage(status);
    }
    if (rReplaying != replaying) {
      return "Error getting replaying from MessageState for MessageState test: replaying is not 18";
    }
    uint8_t rReplayAtEnd;
    status = message.GetReplayAtEnd(rReplayAtEnd);
    if (status != OKAY) {
      return "Error getting replayAtEnd from MessageState for MessageState test: " + ErrorMessage(status);
    }
    if (rReplayAtEnd != replayAtEnd) {
      return "Error getting replayAtEnd from MessageState for MessageState test: replayAtEnd is not 19";
    }
    uint8_t rRecordOnReset;
    status = message.GetRecordOnReset(rRecordOnReset);
    if (status != OKAY) {
      return "Error getting recordOnReset from MessageState for MessageState test: " + ErrorMessage(status);
    }
    if (rRecordOnReset != recordOnReset) {
      return "Error getting recordOnReset from MessageState for MessageState test: recordOnReset is not 20";
    }
    std::vector<TriggerInfo> rTriggerConfigs;
    status = message.GetTriggerConfigs(rTriggerConfigs);
    if (status != OKAY) {
      return "Error getting triggerConfigs from MessageState for MessageState test: " + ErrorMessage(status);
    }
    if (rTriggerConfigs != triggerConfigs) {
      return "Error getting triggerConfigs from MessageState for MessageState test: triggerConfigs are not { { 1, 2, 3, 4, 5, 6 }, { 7, 8, 9, 10, 11, 12 } }";
    }
    uint64_t rTotalDiskSpace;
    status = message.GetTotalDiskSpace(rTotalDiskSpace);
    if (status != OKAY) {
      return "Error getting totalDiskSpace from MessageState for MessageState test: " + ErrorMessage(status);
    }
    if (rTotalDiskSpace != totalDiskSpace) {
      return "Error getting totalDiskSpace from MessageState for MessageState test: totalDiskSpace is not 21";
    }
    uint64_t rRemainingDiskSpace;
    status = message.GetRemainingDiskSpace(rRemainingDiskSpace);
    if (status != OKAY) {
      return "Error getting remainingDiskSpace from MessageState for MessageState test: " + ErrorMessage(status);
    }
    if (rRemainingDiskSpace != remainingDiskSpace) {
      return "Error getting remainingDiskSpace from MessageState for MessageState test: remainingDiskSpace is not 22";
    }
    Time rStreamReplayTime;
    status = message.GetStreamReplayTime(rStreamReplayTime);
    if (status != OKAY) {
      return "Error getting streamReplayTime from MessageState for MessageState test: " + ErrorMessage(status);
    }
    if (rStreamReplayTime != streamReplayTime) {
      return "Error getting streamReplayTime from MessageState for MessageState test: streamReplayTime is not { 23, 24 }";
    }
  }

  return "";
}

Status MessageState::GetAfterFeaturesOffset(uint32_t& offset) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  uint32_t numFeatures;
  memcpy(&numFeatures, m_buffer->data() + m_offset + MESSAGE_BASE_SIZE, sizeof(numFeatures));
  offset = m_offset + MESSAGE_BASE_SIZE + sizeof(uint32_t) + numFeatures * sizeof(uint16_t);
  // Skip padding if any
  if (numFeatures % 2 != 0) {
    offset += sizeof(uint16_t);
  }
  return OKAY;
}

Status MessageState::GetAfterCamerasOffset(uint32_t& offset) const
{
  uint32_t afterFeaturesOffset;
  Status status = GetAfterFeaturesOffset(afterFeaturesOffset);
  if (status != OKAY) {
    return status;
  }
  if (m_buffer->size() < afterFeaturesOffset + sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  uint32_t numCameras;
  memcpy(&numCameras, m_buffer->data() + afterFeaturesOffset, sizeof(numCameras));
  const size_t CAMERASIZE = 2 * sizeof(double) + 2 * sizeof(uint32_t) + 2 * sizeof(uint16_t);
  offset = afterFeaturesOffset + sizeof(uint32_t) + numCameras * CAMERASIZE;
  return OKAY;
}

Status MessageState::GetAfterTriggerConfigsOffset(uint32_t& offset) const
{
  uint32_t afterCamerasOffset;
  Status status = GetAfterCamerasOffset(afterCamerasOffset);
  if (status != OKAY) {
    return status;
  }
  if (m_buffer->size() < afterCamerasOffset + sizeof(uint32_t)) {
    return READ_PAST_END;
  }

  // Add the size of the storing, camerasStreaming, replaying, replayAtEnd, recordOnReset, triggerConfigs
  // to the offset.
  offset = afterCamerasOffset + 2 * sizeof(uint32_t) + 8;
  uint32_t numTriggers;
  memcpy(&numTriggers, m_buffer->data() + offset, sizeof(numTriggers));
  const size_t TRIGGERSIZE = sizeof(double) + 2 * sizeof(float) + sizeof(uint16_t) + 2 * sizeof(uint8_t);
  offset += sizeof(uint32_t) + numTriggers * TRIGGERSIZE;

  return OKAY;
}

MessageEvent::MessageEvent(StreamPacket& packet, Time timeCode, uint8_t priority, EventID type, std::string param)
  : Message(packet, 4 + sizeof(uint32_t) + PaddedSize(param), timeCode, EVENT)
{
  // See if our subobject failed. If so, we're done.
  if (m_constructorStatus != OKAY) {
    return;
  }

  // Pack our parameters.
  unsigned char* bufPtr = m_buffer->data() + m_offset + MESSAGE_BASE_SIZE;
  *bufPtr = priority; bufPtr++;
  // Only the first three bytes of the type are used.
  memcpy(bufPtr, &type, 3); bufPtr += 3;
  // Record the offset from the event base to the character array.
  uint32_t paramOffset = 8;
  memcpy(bufPtr, &paramOffset, sizeof(paramOffset)); bufPtr += sizeof(paramOffset);
  // Copy the parameter string into the buffer and pad it to a multiple of 4 bytes
  // unless there is no parameter.
  if (param.size() > 0) {
    memcpy(bufPtr, param.c_str(), param.size()); bufPtr += param.size();
    *bufPtr = 0; bufPtr++;  // Null-terminate the string.
    for (uint32_t i = 0; i < PaddingToAdd(param); i++) {
      *bufPtr = 0; bufPtr++;
    }
  }
}

MessageEvent::MessageEvent(Message& baseMessage)
  : Message(baseMessage)
{
  MessageID type;
  baseMessage.GetType(type);
  if (type != EVENT) {
    m_constructorStatus = BAD_PARAMETER;
  }
}

Status MessageEvent::GetPriority(uint8_t& priority) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + sizeof(uint8_t)) {
    return READ_PAST_END;
  }
  memcpy(&priority, m_buffer->data() + m_offset + MESSAGE_BASE_SIZE, sizeof(priority));
  return OKAY;
}

Status MessageEvent::GetType(EventID& type) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + sizeof(uint8_t) + 3) {
    return READ_PAST_END;
  }
  uint8_t val[] = { 0, 0, 0, 0 }; // Zero all bytes.
  memcpy(&val, m_buffer->data() + m_offset + MESSAGE_BASE_SIZE + sizeof(uint8_t), 3);
  memcpy(&type, &val, sizeof(type));
  return OKAY;
}

Status MessageEvent::GetParam(std::string& param) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + 4 + sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  uint32_t paramOffset;
  memcpy(&paramOffset, m_buffer->data() + m_offset + MESSAGE_BASE_SIZE + 4, sizeof(paramOffset));
  if (m_buffer->size() < m_offset + paramOffset) {
    return READ_PAST_END;
  }
  // Read the string from the buffer until we get to a null character.
  param.clear();
  for (uint32_t i = m_offset + MESSAGE_BASE_SIZE + paramOffset; i < m_buffer->size(); i++) {
    if (m_buffer->data()[i] == 0) {
      break;
    }
    param.push_back(m_buffer->data()[i]);
  }
  return OKAY;
}

std::string MessageEvent::Test()
{
  {
    // Construct a message and check its length, time and type.
    StreamPacket packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing stream packet for MessageEvent test: " + ErrorMessage(packet.GetConstructorStatus());
    }

    // Add a message.
    Time timeCode = { 1234, 5678 };
    uint8_t priority = 1;
    EventID type = CLOCK_SYNC;
    std::string param = "This is a test";
    MessageEvent message(packet, timeCode, priority, type, param);
    if (message.GetConstructorStatus() != OKAY) {
      return "Error constructing MessageEvent: " + ErrorMessage(message.GetConstructorStatus());
    }

    // Check the length of the packet including the message to make sure it matches expectation.
    uint32_t totalLength;
    Status status = packet.GetTotalLength(totalLength);
    if (status != OKAY) {
      return "Error checking message size for MessageEvent test: " + ErrorMessage(status);
    }
    if (totalLength != STREAM_PACKET_BASE_SIZE + MESSAGE_BASE_SIZE + 4 + sizeof(uint32_t) + param.size() + 1 + PaddingToAdd(param)) {
      return "Error constructing MessageEvent from buffer: packet length is not " +
        std::to_string(STREAM_PACKET_BASE_SIZE + MESSAGE_BASE_SIZE + 4 + sizeof(uint32_t) + param.size() + 1 + PaddingToAdd(param)) + " but " +
        std::to_string(totalLength);
    }

    // Check the time of the message.
    Time rTimeCode;
    status = message.GetTime(rTimeCode);
    if (status != OKAY) {
      return "Error getting time code from MessageEvent for MessageEvent test: " + ErrorMessage(status);
    }
    if (rTimeCode != timeCode) {
      return "Error getting time code from MessageEvent for MessageEvent test: time code is not " +
        std::to_string(timeCode.seconds) + "." + std::to_string(timeCode.microseconds);
    }

    // Check the values of the message
    uint8_t rPriority;
    status = message.GetPriority(rPriority);
    if (status != OKAY) {
      return "Error getting priority from MessageEvent for MessageEvent test: " + ErrorMessage(status);
    }
    if (rPriority != priority) {
      return "Error getting priority from MessageEvent for MessageEvent test: priority is not 1";
    }
    EventID rType;
    status = message.GetType(rType);
    if (status != OKAY) {
      return "Error getting type from MessageEvent for MessageEvent test: " + ErrorMessage(status);
    }
    if (rType != type) {
      return "Error getting type from MessageEvent for MessageEvent test: type is not CLOCK_SYNC";
    }
    std::string rParam;
    status = message.GetParam(rParam);
    if (status != OKAY) {
      return "Error getting param from MessageEvent for MessageEvent test: " + ErrorMessage(status);
    }
    if (rParam != param) {
      return "Error getting param from MessageEvent for MessageEvent test: param is not \"" + param
        + "\" but \"" + rParam + "\"";
    }

    // Now make an actual clock-sync event with no parameters and ensure that this also works.
    StreamPacket packet2;
    if (packet2.GetConstructorStatus() != OKAY) {
      return "Error constructing second stream packet for MessageEvent test: " + ErrorMessage(packet2.GetConstructorStatus());
    }
    priority = 0;
    param = "";
    type = CLOCK_SYNC;
    MessageEvent message2(packet2, timeCode, priority, type, param);
    if (message2.GetConstructorStatus() != OKAY) {
      return "Error constructing second MessageEvent: " + ErrorMessage(message2.GetConstructorStatus());
    }
    status = packet2.GetTotalLength(totalLength);
    if (status != OKAY) {
      return "Error checking message size for second MessageEvent test: " + ErrorMessage(status);
    }
    if (totalLength != STREAM_PACKET_BASE_SIZE + MESSAGE_BASE_SIZE + 4 + sizeof(uint32_t)) {
      return "Error constructing second MessageEvent from buffer: packet length is not " +
        std::to_string(STREAM_PACKET_BASE_SIZE + MESSAGE_BASE_SIZE + 4 + sizeof(uint32_t)) + " but " +
        std::to_string(totalLength);
    }
    status = message2.GetParam(rParam);
    if (status != OKAY) {
      return "Error getting param from second MessageEvent for second MessageEvent test: " + ErrorMessage(status);
    }
    if (param != rParam) {
      return "Parameter of second MessageEvent is not empty";
    }
  }
  return "";
}

MessageConsolidatedFrameData::MessageConsolidatedFrameData(StreamPacket& packet, Time timeCode,
  uint32_t cameraID, uint32_t cameraType, uint16_t sensorWidth, uint16_t sensorHeight,
  uint16_t left, uint16_t top, uint16_t right, uint16_t bottom,
  bool beginFrame, bool endFrame,
  uint8_t* data, uint16_t stride,
  float exposure, float gain,
  Time firstPixelTime, uint32_t frameTimeUSec)
  : Message(packet,
    sizeof(cameraID) + sizeof(cameraType) + sizeof(sensorWidth) + sizeof(sensorHeight) +
    sizeof(left) + sizeof(top) + sizeof(right) + sizeof(bottom) +
    sizeof(uint32_t /*flags*/) +
    sizeof(exposure) + sizeof(gain) +
    128 +
    PaddedSize(right - left + 1, bottom - top + 1),
    timeCode, CONSOLIDATED_FRAME_DATA)
{
  // See if our subobject failed. If so, we're done.
  if (m_constructorStatus != OKAY) {
    return;
  }

  // Construct the flags.
  uint32_t flags = (static_cast<uint32_t>(beginFrame) & 0x1) | ((static_cast<uint32_t>(endFrame) & 0x1) << 1);

  // Pack our parameters.
  unsigned char* bufPtr = m_buffer->data() + m_offset + MESSAGE_BASE_SIZE;
  memcpy(bufPtr, &cameraID, sizeof(cameraID)); bufPtr += sizeof(cameraID);
  memcpy(bufPtr, &cameraType, sizeof(cameraType)); bufPtr += sizeof(cameraType);
  memcpy(bufPtr, &sensorWidth, sizeof(sensorWidth)); bufPtr += sizeof(sensorWidth);
  memcpy(bufPtr, &sensorHeight, sizeof(sensorHeight)); bufPtr += sizeof(sensorHeight);
  memcpy(bufPtr, &left, sizeof(left)); bufPtr += sizeof(left);
  memcpy(bufPtr, &top, sizeof(top)); bufPtr += sizeof(top);
  memcpy(bufPtr, &right, sizeof(right)); bufPtr += sizeof(right);
  memcpy(bufPtr, &bottom, sizeof(bottom)); bufPtr += sizeof(bottom);
  memcpy(bufPtr, &flags, sizeof(flags)); bufPtr += sizeof(flags);
  memcpy(bufPtr, &exposure, sizeof(exposure)); bufPtr += sizeof(exposure);
  memcpy(bufPtr, &gain, sizeof(gain)); bufPtr += sizeof(gain);

  // Filled-in padding bytes, decreasing the 128 total bytes of padding.
  uint8_t* startPadding = bufPtr;
  bufPtr += 2 * sizeof(uint16_t); ///< Skipping unused frame number and line counter.
  memcpy(bufPtr, &firstPixelTime.seconds, sizeof(firstPixelTime.seconds)); bufPtr += sizeof(firstPixelTime.seconds);
  memcpy(bufPtr, &firstPixelTime.microseconds, sizeof(firstPixelTime.microseconds)); bufPtr += sizeof(firstPixelTime.microseconds);
  memcpy(bufPtr, &frameTimeUSec, sizeof(frameTimeUSec)); bufPtr += sizeof(frameTimeUSec);

  // Pack our padding, which will be all zeroes.
  static std::vector<uint8_t> padding(128 - (bufPtr - startPadding), 0);
  memcpy(bufPtr, padding.data(), padding.size()); bufPtr += padding.size();

  // Copy the data a row at a time, adding padding if needed to make an even number of pixels.
  size_t rowStride = stride * sizeof(uint16_t);
  size_t rowSize = sizeof(uint16_t) * (right - left + 1);
  for (uint16_t row = top; row <= bottom; row++) {
    memcpy(bufPtr, data + row * rowStride + left * sizeof(uint16_t), rowSize);
    // Add padding if needed to make an even number of pixels.
    // We use a trick here: rowSize % 4 will be 0 if we have an even number of pixels (2 bytes each),
    // and 2 if we have an odd number of pixels, so just adding that value to rowSize gives us the
    // correct amount to advance bufPtr to the next row.
    bufPtr += rowSize + (rowSize % 4);
  }
}

MessageConsolidatedFrameData::MessageConsolidatedFrameData(Message& baseMessage)
  : Message(baseMessage)
{
  // Check our type
  MessageID type;
  baseMessage.GetType(type);
  if (type != CONSOLIDATED_FRAME_DATA) {
    m_constructorStatus = BAD_PARAMETER;
  }

  // Verify that we are large enough to hold all of our parameters, including the frame data and any
  // per-line padding.
  uint16_t left, top, right, bottom;
  Status status = GetLeft(left);
  if (status != OKAY) {
    m_constructorStatus = status;
    return;
  }
  status = GetTop(top);
  if (status != OKAY) {
    m_constructorStatus = status;
    return;
  }
  status = GetRight(right);
  if (status != OKAY) {
    m_constructorStatus = status;
    return;
  }
  status = GetBottom(bottom);
  if (status != OKAY) {
    m_constructorStatus = status;
    return;
  }
  int width = right - left + 1;
  if (width % 2) { width++; } // Add padding if needed to make an even number of pixels.
  int height = bottom - top + 1;
  int pixelCount = width * height;
  uint8_t* dataPtr;
  status = GetDataPointer(dataPtr);
  if (status != OKAY) {
    m_constructorStatus = status;
    return;
  }
  if (m_buffer->size() < (dataPtr - m_buffer->data()) + pixelCount * sizeof(uint16_t)) {
    m_constructorStatus = READ_PAST_END;
    return;
  }
}

Status MessageConsolidatedFrameData::SetTime(Time timeCode)
{
  // Store the time from the message if a non-default timeCode is specified so that we can see how much it was
  // adjusted.  Also store the original size of the packet so we'll know what to offset from.
  Status status = OKAY;
  Time originalTime;
  if (timeCode != Time()) {
    status = GetTime(originalTime);
    if (status != OKAY) {
      return status;
    }
  }

  // Call the base-class method to do the copy and adjust the message time.
  status = Message::SetTime(timeCode);
  if (status != OKAY) {
    return status;
  }

  // If the timeCode is not default, and if the first-pixel time in the message is not default, then
  // we need to adjust the first-pixel time in the packet by the same offset as the time was adjusted.
  Time firstPixelTime;
  status = GetFirstPixelTime(firstPixelTime);
  if (status != OKAY) {
    return status;
  }
  if (timeCode != Time() && firstPixelTime != Time()) {
    // Compute the adjusted first-pixel time.  This has the same offset as the timeCode adjustment.
    // We check which is larger to avoid negative time values.
    Time adjustedTime;
    if (originalTime < timeCode) {
      // Time was moved forward.
      adjustedTime = firstPixelTime + (timeCode - originalTime);
    } else {
      // Time was moved backward.
      adjustedTime = firstPixelTime - (originalTime - timeCode);
    }

    // Get the start of the first-pixel time in the packet and copy the adjusted time into it.
    unsigned char* bufPtr = m_buffer->data() + m_offset + MESSAGE_BASE_SIZE
      + 2 * sizeof(uint32_t) + 6 * sizeof(uint16_t) + sizeof(uint32_t) + 2 * sizeof(float) + 2 * sizeof(uint16_t);
    memcpy(bufPtr, &adjustedTime.seconds, sizeof(adjustedTime.seconds)); bufPtr += sizeof(adjustedTime.seconds);
    memcpy(bufPtr, &adjustedTime.microseconds, sizeof(adjustedTime.microseconds)); bufPtr += sizeof(adjustedTime.microseconds);
  }

  return OKAY;
}

// Instantiate the template for Message and then implement the call.
template Status Message::CopyToStreamPacketTemplate<MessageConsolidatedFrameData>(StreamPacket& packet, Time timeCode) const;
Status MessageConsolidatedFrameData::CopyToStreamPacket(StreamPacket& packet, Time timeCode) const
{
  return CopyToStreamPacketTemplate<MessageConsolidatedFrameData>(packet, timeCode);
}


Status MessageConsolidatedFrameData::GetCameraID(uint32_t& cameraID) const
{
  uint32_t myOffset = m_offset + MESSAGE_BASE_SIZE;
  if (m_buffer->size() < m_offset + sizeof(cameraID)) {
    return READ_PAST_END;
  }
  memcpy(&cameraID, m_buffer->data() + myOffset, sizeof(cameraID));
  return OKAY;
}

Status MessageConsolidatedFrameData::GetCameraType(uint32_t& cameraType) const
{
  uint32_t myOffset = m_offset + MESSAGE_BASE_SIZE + 1 * sizeof(uint32_t);
  if (m_buffer->size() < myOffset + sizeof(cameraType)) {
    return READ_PAST_END;
  }
  memcpy(&cameraType, m_buffer->data() + myOffset, sizeof(cameraType));
  return OKAY;
}

Status MessageConsolidatedFrameData::GetSensorWidth(uint16_t& sensorWidth) const
{
  uint32_t myOffset = m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(uint32_t);

  if (m_buffer->size() < myOffset + sizeof(sensorWidth)) {
    return READ_PAST_END;
  }
  memcpy(&sensorWidth, m_buffer->data() + myOffset, sizeof(sensorWidth));
  return OKAY;
}

Status MessageConsolidatedFrameData::GetSensorHeight(uint16_t& sensorHeight) const
{
  uint32_t myOffset = m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(uint32_t) + sizeof(uint16_t);
  if (m_buffer->size() < myOffset + sizeof(sensorHeight)) {
    return READ_PAST_END;
  }
  memcpy(&sensorHeight, m_buffer->data() + myOffset, sizeof(sensorHeight));
  return OKAY;
}

Status MessageConsolidatedFrameData::GetLeft(uint16_t& left) const
{
  uint32_t myOffset = m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(uint32_t) + 2 * sizeof(uint16_t);
  if (m_buffer->size() < myOffset + sizeof(left)) {
    return READ_PAST_END;
  }
  memcpy(&left, m_buffer->data() + myOffset, sizeof(left));
  return OKAY;
}

Status MessageConsolidatedFrameData::GetTop(uint16_t& top) const
{
  uint32_t myOffset = m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(uint32_t) + 3 * sizeof(uint16_t);
  if (m_buffer->size() < myOffset + sizeof(top)) {
    return READ_PAST_END;
  }
  memcpy(&top, m_buffer->data() + myOffset, sizeof(top));
  return OKAY;
}

Status MessageConsolidatedFrameData::GetRight(uint16_t& right) const
{
  uint32_t myOffset = m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(uint32_t) + 4 * sizeof(uint16_t);
  if (m_buffer->size() < myOffset + sizeof(right)) {
    return READ_PAST_END;
  }
  memcpy(&right, m_buffer->data() + myOffset, sizeof(right));
  return OKAY;
}

Status MessageConsolidatedFrameData::GetBottom(uint16_t& bottom) const
{
  uint32_t myOffset = m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(uint32_t) + 5 * sizeof(uint16_t);
  if (m_buffer->size() < myOffset + sizeof(bottom)) {
    return READ_PAST_END;
  }
  memcpy(&bottom, m_buffer->data() + myOffset, sizeof(bottom));
  return OKAY;
}

Status MessageConsolidatedFrameData::GetBeginFrameFlag(bool& beginFrame) const
{
  uint32_t myOffset = m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(uint32_t) + 6 * sizeof(uint16_t);
  uint32_t flags;
  if (m_buffer->size() < myOffset + sizeof(flags)) {
    return READ_PAST_END;
  }
  memcpy(&flags, m_buffer->data() + myOffset, sizeof(flags));
  beginFrame = flags & 0x1;
  return OKAY;
}

Status MessageConsolidatedFrameData::GetEndFrameFlag(bool& endFrame) const
{
  uint32_t myOffset = m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(uint32_t) + 6 * sizeof(uint16_t);
  uint32_t flags;
  if (m_buffer->size() < myOffset + sizeof(flags)) {
    return READ_PAST_END;
  }
  memcpy(&flags, m_buffer->data() + myOffset, sizeof(flags));
  endFrame = (flags >> 1) & 0x1;
  return OKAY;
}

Status MessageConsolidatedFrameData::GetExposure(float& exposure) const
{
  uint32_t myOffset = m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(uint32_t) + 6 * sizeof(uint16_t) + sizeof(uint32_t);
  if (m_buffer->size() < myOffset + sizeof(exposure)) {
    return READ_PAST_END;
  }
  memcpy(&exposure, m_buffer->data() + myOffset, sizeof(exposure));
  return OKAY;
}

Status MessageConsolidatedFrameData::GetGain(float& gain) const
{
  uint32_t myOffset = m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(uint32_t) + 6 * sizeof(uint16_t) + sizeof(uint32_t) + sizeof(float);
  if (m_buffer->size() < myOffset + sizeof(gain)) {
    return READ_PAST_END;
  }
  memcpy(&gain, m_buffer->data() + myOffset, sizeof(gain));
  return OKAY;
}

Status MessageConsolidatedFrameData::GetFirstPixelTime(Time& firstPixelTime) const
{
  uint32_t myOffset = m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(uint32_t) + 6 * sizeof(uint16_t) + sizeof(uint32_t) + 2 * sizeof(float)
    + 2 * sizeof(uint16_t);
  if (m_buffer->size() < myOffset + sizeof(firstPixelTime.seconds) + sizeof(firstPixelTime.microseconds)) {
    return READ_PAST_END;
  }
  memcpy(&firstPixelTime.seconds, m_buffer->data() + myOffset, sizeof(firstPixelTime.seconds));
  myOffset += sizeof(firstPixelTime.seconds);
  memcpy(&firstPixelTime.microseconds, m_buffer->data() + myOffset, sizeof(firstPixelTime.microseconds));
  return OKAY;
}

Status MessageConsolidatedFrameData::GetFrameDurationUSec(uint32_t& frameDurationUSec) const
{
  uint32_t myOffset = m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(uint32_t) + 6 * sizeof(uint16_t) + sizeof(uint32_t) + 2 * sizeof(float)
    + 2 * sizeof(uint16_t) + 2 * sizeof(uint32_t);
  if (m_buffer->size() < myOffset + sizeof(frameDurationUSec)) {
    return READ_PAST_END;
  }
  memcpy(&frameDurationUSec, m_buffer->data() + myOffset, sizeof(frameDurationUSec));
  return OKAY;
}

Status MessageConsolidatedFrameData::GetDataPointer(uint8_t*& data, uint16_t row) const
{
  uint32_t myOffset = m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(uint32_t) + 6 * sizeof(uint16_t) + sizeof(uint32_t) + 2 * sizeof(float)
    + 2 * sizeof(uint16_t) + 2 * sizeof(uint32_t) + sizeof(uint32_t) + 112;
  uint16_t left, right;
  Status status = GetLeft(left);
  if (status != OKAY) {
    return status;
  }
  status = GetRight(right);
  if (status != OKAY) {
    return status;
  }
  int width = right - left + 1;
  if (width % 2) { width++; }
  myOffset += row * sizeof(uint16_t) * width;
  if (m_buffer->size() < myOffset) {
    return READ_PAST_END;
  }
  data = m_buffer->data() + myOffset;
  return OKAY;
}

std::string MessageConsolidatedFrameData::Test()
{
  {
    // Construct a message and check its length, time and type.  Make it an odd number of pixels wide to check padding.
    StreamPacket packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing stream packet for MessageConsolidatedFrameData test: " + ErrorMessage(packet.GetConstructorStatus());
    }

    // Add a message.
    Time timeCode = { 1234, 5678 };
    uint32_t cameraID = 0, cameraType = 1;
    uint16_t sensorWidth = 100, sensorHeight = 200;
    uint16_t left = 10, top = 20, right = 30, bottom = 39;
    float exposure = 1.0f, gain = 2.0f;
    Time firstPixelTime = { 2234, 5678 };
    uint32_t frameDurationUSec = 16666;
    std::vector<uint16_t> data16(sensorWidth * sensorHeight);
    for (int y = 0; y < sensorHeight; y++) {
      for (int x = 0; x < sensorWidth; x++) {
        data16[y * sensorWidth + x] = (x + y) % 65536;
      }
    }
    uint8_t* data = reinterpret_cast<uint8_t*>(data16.data());
    MessageConsolidatedFrameData message(packet, timeCode,
      cameraID, cameraType, sensorWidth, sensorHeight,
      left, top, right, bottom,
      true, false,
      data, sensorWidth,
      exposure, gain,
      firstPixelTime, frameDurationUSec);
    if (message.GetConstructorStatus() != OKAY) {
      return "Error constructing MessageConsolidatedFrameData: " + ErrorMessage(message.GetConstructorStatus());
    }

    // Check the length of the packet including the message to make sure it matches expectation.
    uint32_t totalLength;
    Status status = packet.GetTotalLength(totalLength);
    if (status != OKAY) {
      return "Error checking message size for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    uint32_t expectedLength = STREAM_PACKET_BASE_SIZE + MESSAGE_BASE_SIZE +
      2 * sizeof(uint32_t) + 6 * sizeof(uint16_t) + sizeof(uint32_t) + 2 * sizeof(float) + 128 +
      sizeof(uint16_t) * 22 * 20;
    if (totalLength != expectedLength) {
      return "Error constructing message from buffer for MessageConsolidatedFrameData test: packet length is not " +
        std::to_string(expectedLength) + " but " + std::to_string(totalLength);
    }

    // Check the time and type of the message.
    Time rTimeCode;
    status = message.GetTime(rTimeCode);
    if (status != OKAY) {
      return "Error getting time code from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rTimeCode != timeCode) {
      return "Error getting time code from message for MessageConsolidatedFrameData test: time code is not " +
        std::to_string(timeCode.seconds) + "." + std::to_string(timeCode.microseconds);
    }
    MessageID type;
    status = message.GetType(type);
    if (status != OKAY) {
      return "Error getting type from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (type != CONSOLIDATED_FRAME_DATA) {
      return "Error getting type from message for MessageConsolidatedFrameData test: type is not FRAME_BEGIN";
    }

    // Check the parameters of the message.
    uint32_t rCameraID;
    status = message.GetCameraID(rCameraID);
    if (status != OKAY) {
      return "Error getting camera ID from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rCameraID != cameraID) {
      return "Error getting camera ID from message for MessageConsolidatedFrameData test: camera ID is not " +
        std::to_string(cameraID);
    }
    uint32_t rCameraType;
    status = message.GetCameraType(rCameraType);
    if (status != OKAY) {
      return "Error getting camera type from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rCameraType != cameraType) {
      return "Error getting camera type from message for MessageConsolidatedFrameData test: camera type is not " +
        std::to_string(cameraType);
    }
    uint16_t rSensorWidth;
    status = message.GetSensorWidth(rSensorWidth);
    if (status != OKAY) {
      return "Error getting sensor width from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rSensorWidth != sensorWidth) {
      return "Error getting sensor width from message for MessageConsolidatedFrameData test: sensor width is not " +
        std::to_string(sensorWidth);
    }
    uint16_t rSensorHeight;
    status = message.GetSensorHeight(rSensorHeight);
    if (status != OKAY) {
      return "Error getting sensor height from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rSensorHeight != sensorHeight) {
      return "Error getting sensor height from message for MessageConsolidatedFrameData test: sensor height is not " +
        std::to_string(sensorHeight);
    }
    uint16_t rLeft;
    status = message.GetLeft(rLeft);
    if (status != OKAY) {
      return "Error getting left from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rLeft != left) {
      return "Error getting left from message for MessageConsolidatedFrameData test: left is not " +
        std::to_string(left);
    }
    uint16_t rTop;
    status = message.GetTop(rTop);
    if (status != OKAY) {
      return "Error getting top from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rTop != top) {
      return "Error getting top from message for MessageConsolidatedFrameData test: top is not " +
        std::to_string(top);
    }
    uint16_t rRight;
    status = message.GetRight(rRight);
    if (status != OKAY) {
      return "Error getting right from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rRight != right) {
      return "Error getting right from message for MessageConsolidatedFrameData test: right is not " +
        std::to_string(right);
    }
    uint16_t rBottom;
    status = message.GetBottom(rBottom);
    if (status != OKAY) {
      return "Error getting bottom from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rBottom != bottom) {
      return "Error getting bottom from message for MessageConsolidatedFrameData test: bottom is not " +
        std::to_string(bottom);
    }
    bool rBeginFrame;
    status = message.GetBeginFrameFlag(rBeginFrame);
    if (status != OKAY) {
      return "Error getting begin frame flag from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rBeginFrame != true) {
      return "Error getting begin frame flag from message for MessageConsolidatedFrameData test: begin frame flag is not true";
    }
    bool rEndFrame;
    status = message.GetEndFrameFlag(rEndFrame);
    if (status != OKAY) {
      return "Error getting end frame flag from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rEndFrame != false) {
      return "Error getting end frame flag from message for MessageConsolidatedFrameData test: end frame flag is not false";
    }
    float rExposure;
    status = message.GetExposure(rExposure);
    if (status != OKAY) {
      return "Error getting exposure from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rExposure != exposure) {
      return "Error getting exposure from message for MessageConsolidatedFrameData test: exposure is not " +
        std::to_string(exposure);
    }
    float rGain;
    status = message.GetGain(rGain);
    if (status != OKAY) {
      return "Error getting gain from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rGain != gain) {
      return "Error getting gain from message for MessageConsolidatedFrameData test: gain is not " +
        std::to_string(gain);
    }
    Time rFirstPixelTime;
    status = message.GetFirstPixelTime(rFirstPixelTime);
    if (status != OKAY) {
      return "Error getting first pixel time from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rFirstPixelTime != firstPixelTime) {
      return "Error getting first pixel time from message for MessageConsolidatedFrameData test: first pixel time is not " +
        std::to_string(firstPixelTime.seconds) + "." + std::to_string(firstPixelTime.microseconds);
    }
    uint32_t rFrameDurationUSec;
    status = message.GetFrameDurationUSec(rFrameDurationUSec);
    if (status != OKAY) {
      return "Error getting frame duration from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rFrameDurationUSec != frameDurationUSec) {
      return "Error getting frame duration from message for MessageConsolidatedFrameData test: frame duration is not " +
        std::to_string(frameDurationUSec);
    }
    uint8_t* rData;
    status = message.GetDataPointer(rData);
    if (status != OKAY) {
      return "Error getting data pointer from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    uint32_t expectedOffset = STREAM_PACKET_BASE_SIZE + MESSAGE_BASE_SIZE +
      2 * sizeof(uint32_t) + 6 * sizeof(uint16_t) + sizeof(uint32_t) + 2 * sizeof(float) + 128;
    if (rData != message.m_buffer->data() + expectedOffset) {
      return "Error getting data pointer from message for MessageConsolidatedFrameData test: data pointer is not " +
        std::to_string(expectedOffset) + " but " + std::to_string((uint32_t)(rData - message.m_buffer->data()));
    }
    uint8_t* secondRowData;
    status = message.GetDataPointer(secondRowData, 1);
    if (status != OKAY) {
      return "Error getting second row data pointer from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (secondRowData != rData + sizeof(uint16_t) * (right - left + 1 + 1)) {
      return "Error getting second row data pointer from message for MessageConsolidatedFrameData test: second row data pointer is not " +
        std::to_string((uint32_t)(rData - message.m_buffer->data()) + sizeof(uint16_t) * (right - left + 1)) +
        " but " + std::to_string((uint32_t)(secondRowData - message.m_buffer->data()));
    }
    for (int j = 0; j <= bottom - top; j++) {
      int y = j + top;
      Status status = message.GetDataPointer(rData, j);
      if (status != OKAY) {
        return "Error getting data pointer from message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
      }
      uint16_t* rData16 = reinterpret_cast<uint16_t*>(rData);
      for (int i = 0; i <= right - left; i++) {
        int x = i + left;
        if (rData16[i] != (x + y) % 65536) {
          return "Error getting data from message for MessageConsolidatedFrameData test: data is "
            + std::to_string(rData16[i]) + " not " +
            std::to_string((x + y) % 65536) + " at pixel " + std::to_string(x) + "," + std::to_string(y);
        }
      }
    }

    // Construct a Message based on the existing one in the StreamPacket and make sure we
    // Can read its parameters (just doing a spot check on the final parameters).
    MessageConsolidatedFrameData message2(static_cast<Message&>(message));
    if (message2.GetConstructorStatus() != OKAY) {
      return "Error constructing second MessageConsolidatedFrameData: " + ErrorMessage(message2.GetConstructorStatus());
    }
    status = message2.GetTime(rTimeCode);
    if (status != OKAY) {
      return "Error getting time code from second message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rTimeCode != timeCode) {
      return "Error getting time code from second message for MessageConsolidatedFrameData test: time code is not " +
        std::to_string(timeCode.seconds) + "." + std::to_string(timeCode.microseconds);
    }
    status = message2.GetType(type);
    if (status != OKAY) {
      return "Error getting type from second message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (type != CONSOLIDATED_FRAME_DATA) {
      return "Error getting type from second message for MessageConsolidatedFrameData test: type is not FRAME_BEGIN";
    }
    status = message2.GetGain(rGain);
    if (status != OKAY) {
      return "Error getting gain from second message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rGain != gain) {
      return "Error getting gain from second message for MessageConsolidatedFrameData test: gain is not " +
        std::to_string(gain);
    }
    status = message2.GetFirstPixelTime(rFirstPixelTime);
    if (status != OKAY) {
      return "Error getting first pixel time from second message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rFirstPixelTime != firstPixelTime) {
      return "Error getting first pixel time from second message for MessageConsolidatedFrameData test: first pixel time is not " +
        std::to_string(firstPixelTime.seconds) + "." + std::to_string(firstPixelTime.microseconds);
    }
    status = message2.GetFrameDurationUSec(rFrameDurationUSec);
    if (status != OKAY) {
      return "Error getting frame duration from second message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }
    if (rFrameDurationUSec != frameDurationUSec) {
      return "Error getting frame duration from second message for MessageConsolidatedFrameData test: frame duration is not " +
        std::to_string(frameDurationUSec);
    }
    uint8_t* rData2;
    status = message2.GetDataPointer(rData2);
    if (status != OKAY) {
      return "Error getting data pointer from second message for MessageConsolidatedFrameData test: " + ErrorMessage(status);
    }

    // Resize the buffer to be smaller than the message and ensure that we get an error.
    message.m_buffer->resize(rData2 - message.m_buffer->data());
    MessageConsolidatedFrameData message3(static_cast<Message&>(message));
    if (message3.GetConstructorStatus() != READ_PAST_END) {
      return "Error constructing third MessageConsolidatedFrameData: Allowed read past end.";
    }
  }

  // Test copying a message into a StreamPacket and make sure both times get adjusted forwards, or backwards, or not
  {
    StreamPacket packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing stream packet for MessageConsolidatedFrameData copy test: " + ErrorMessage(packet.GetConstructorStatus());
    }

    Time timeCode = { 10, 10 };
    uint32_t cameraID = 0, cameraType = 1;
    uint16_t sensorWidth = 100, sensorHeight = 200;
    uint16_t left = 10, top = 20, right = 30, bottom = 39;
    float exposure = 1.0f, gain = 2.0f;
    Time firstPixelTime = { 11, 11 };
    uint32_t frameDurationUSec = 16666;
    std::vector<uint16_t> data16(sensorWidth* sensorHeight);
    for (int y = 0; y < sensorHeight; y++) {
      for (int x = 0; x < sensorWidth; x++) {
        data16[y * sensorWidth + x] = (x + y) % 65536;
      }
    }
    uint8_t* data = reinterpret_cast<uint8_t*>(data16.data());
    MessageConsolidatedFrameData message(packet, timeCode,
      cameraID, cameraType, sensorWidth, sensorHeight,
      left, top, right, bottom,
      true, false,
      data, sensorWidth,
      exposure, gain,
      firstPixelTime, frameDurationUSec);
    if (message.GetConstructorStatus() != OKAY) {
      return "Error constructing MessageConsolidatedFrameData for copy test: " + ErrorMessage(message.GetConstructorStatus());
    }

    // Check making the time later.
    {
      Time newTime = { 15, 10 };
      StreamPacket packet2;
      Status status = message.CopyToStreamPacket(packet2, newTime);
      if (status != OKAY) {
        return "Error copying message to packet for MessageConsolidatedFrameData copy later test: " + ErrorMessage(status);
      }

      // Read the new message and convert into MessageConsolidatedFrameData
      std::shared_ptr<Message> message2;
      status = packet2.GetNextMessage(message2);
      if (status != OKAY) {
        return "Error getting message from packet for MessageConsolidatedFrameData copy message later test: " + ErrorMessage(status);
      }
      MessageConsolidatedFrameData message3(*message2);
      status = message3.GetConstructorStatus();
      if (status != OKAY) {
        return "Error converting to MessageConsolidatedFrameData for MessageConsolidatedFrameData copy message later test: " +
          ErrorMessage(status);
      }

      // Verify that the first-pixel time incremented by 5 seconds and no microseconds.
      Time expected = firstPixelTime + newTime - timeCode;
      Time found;
      status = message3.GetFirstPixelTime(found);
      if (status != OKAY) {
        return "Error getting first pixel time for MessageConsolidatedFrameData copy message later test: " + ErrorMessage(status);
      }
      if (expected != found) {
        return "Mismatched time for MessageConsolidatedFrameData copy message later test";
      }
    }

    // Check making the time earlier.
    {
      Time newTime = { 5, 10 };

      StreamPacket packet2;
      Status status = message.CopyToStreamPacket(packet2, newTime);
      if (status != OKAY) {
        return "Error copying message to packet for MessageConsolidatedFrameData copy earlier test: " + ErrorMessage(status);
      }

      // Read the new message and convert into MessageConsolidatedFrameData
      std::shared_ptr<Message> message2;
      status = packet2.GetNextMessage(message2);
      if (status != OKAY) {
        return "Error getting message from packet for MessageConsolidatedFrameData copy message earlier test: " + ErrorMessage(status);
      }
      MessageConsolidatedFrameData message3(*message2);
      status = message3.GetConstructorStatus();
      if (status != OKAY) {
        return "Error converting to MessageConsolidatedFrameData for MessageConsolidatedFrameData copy message earlier test: " +
          ErrorMessage(status);
      }

      // Verify that the first-pixel time decremented by 5 seconds and no microseconds.
      Time expected = firstPixelTime + newTime - timeCode;
      Time found;
      status = message3.GetFirstPixelTime(found);
      if (status != OKAY) {
        return "Error getting first pixel time for MessageConsolidatedFrameData copy message earlier test: " + ErrorMessage(status);
      }
      if (expected != found) {
        return "Mismatched time for MessageConsolidatedFrameData copy message earlier test";
      }
    }

    // Check not adjusting the time.
    {
      Time newTime; // Default does not change time.

      StreamPacket packet2;
      Status status = message.CopyToStreamPacket(packet2, newTime);
      if (status != OKAY) {
        return "Error copying message to packet for MessageConsolidatedFrameData copy same test: " + ErrorMessage(status);
      }

      // Read the new message and convert into MessageConsolidatedFrameData
      std::shared_ptr<Message> message2;
      status = packet2.GetNextMessage(message2);
      if (status != OKAY) {
        return "Error getting message from packet for MessageConsolidatedFrameData copy message same test: " + ErrorMessage(status);
      }
      MessageConsolidatedFrameData message3(*message2);
      status = message3.GetConstructorStatus();
      if (status != OKAY) {
        return "Error converting to MessageConsolidatedFrameData for MessageConsolidatedFrameData copy message same test: " +
          ErrorMessage(status);
      }

      // Verify that the first-pixel time is the same.
      Time expected = firstPixelTime;
      Time found;
      status = message3.GetFirstPixelTime(found);
      if (status != OKAY) {
        return "Error getting first pixel time for MessageConsolidatedFrameData copy message same test: " + ErrorMessage(status);
      }
      if (expected != found) {
        return "Mismatched time for MessageConsolidatedFrameData copy message same test";
      }
    }
  }

  return "";
}

MessageStoredStreamList::MessageStoredStreamList(StreamPacket& packet, Time timeCode, std::vector<uint32_t> IDs)
  : Message(packet, sizeof(uint32_t) + IDs.size() * sizeof(uint32_t), timeCode, STORED_STREAMS)
{
  // See if our subobject failed. If so, we're done.
  if (packet.GetConstructorStatus() != OKAY) {
    m_constructorStatus = packet.GetConstructorStatus();
    return;
  }

  // Pack our parameters.
  uint8_t* bufPtr = m_buffer->data() + m_offset + MESSAGE_BASE_SIZE;
  uint32_t numIDs = IDs.size();
  memcpy(bufPtr, &numIDs, sizeof(numIDs)); bufPtr += sizeof(numIDs);
  for (uint32_t i = 0; i < IDs.size(); i++) {
    memcpy(bufPtr, &IDs[i], sizeof(IDs[i]));
    bufPtr += sizeof(IDs[i]);
  }
}

MessageStoredStreamList::MessageStoredStreamList(Message& baseMessage)
  : Message(baseMessage)
{
  MessageID type;
  baseMessage.GetType(type);
  if (type != STORED_STREAMS) {
    m_constructorStatus = BAD_PARAMETER;
  }
}

Status MessageStoredStreamList::GetIDs(std::vector<uint32_t>& IDs) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + sizeof(uint32_t)) {
    return READ_PAST_END;
  }

  // Read the size of the message from the Message base class.
  uint32_t totalMessageSize;
  Status status = GetTotalSize(totalMessageSize);
  if (status != OKAY) {
    return status;
  }

  // Get the number of IDs from the buffer.
  uint32_t numIDs;
  memcpy(&numIDs, m_buffer->data() + m_offset + MESSAGE_BASE_SIZE, sizeof(numIDs));

  // Verify that the number of IDs is consistent with the size of the message.
  if (totalMessageSize != MESSAGE_BASE_SIZE + sizeof(numIDs) + numIDs * sizeof(uint32_t)) {
    return BAD_PARAMETER;
  }

  // Read the IDs from the buffer.
  IDs.resize(numIDs);
  memcpy(IDs.data(), m_buffer->data() + m_offset + MESSAGE_BASE_SIZE + sizeof(numIDs), numIDs * sizeof(uint32_t));
  return OKAY;
}

std::string MessageStoredStreamList::Test()
{
  {
    // Construct a message and check its length, time and type.
    StreamPacket packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing stream packet for MessageStoredStreamList test: " + ErrorMessage(packet.GetConstructorStatus());
    }

    // Add a message.
    Time timeCode = { 1234, 5678 };
    std::vector<uint32_t> IDs = { 1, 2, 3, 4, 5 };
    MessageStoredStreamList message(packet, timeCode, IDs);
    if (message.GetConstructorStatus() != OKAY) {
      return "Error constructing MessageStoredStreamList: " + ErrorMessage(message.GetConstructorStatus());
    }

    // Check the time and type of the message.
    Time rTimeCode;
    Status status = message.GetTime(rTimeCode);
    if (status != OKAY) {
      return "Error getting time code from MessageStoredStreamList for MessageStoredStreamList test: " + ErrorMessage(status);
    }
    if (rTimeCode != timeCode) {
      return "Error getting time code from MessageStoredStreamList for MessageStoredStreamList test: time code is not " +
        std::to_string(timeCode.seconds) + "." + std::to_string(timeCode.microseconds);
    }
    MessageID type;
    status = message.GetType(type);
    if (status != OKAY) {
      return "Error getting type from MessageStoredStreamList for MessageStoredStreamList test: " + ErrorMessage(status);
    }
    if (type != STORED_STREAMS) {
      return "Error getting type from MessageStoredStreamList";
    }

    // Check the values of the message
    std::vector<uint32_t> rIDs;
    status = message.GetIDs(rIDs);
    if (status != OKAY) {
      return "Error getting IDs from MessageStoredStreamList for MessageStoredStreamList test: " + ErrorMessage(status);
    }
    if (rIDs != IDs) {
      return "Error getting IDs from MessageStoredStreamList for MessageStoredStreamList test: IDs are not { 1, 2, 3, 4, 5 }";
    }
  }
  return "";
}

MessageTemperature::MessageTemperature(StreamPacket& packet, Time timeCode, uint16_t cameraID, uint16_t sensorID,
    float temperatureCelcius)
  : Message(packet, sizeof(cameraID) + sizeof(sensorID) + sizeof(temperatureCelcius), timeCode, TEMPERATURE)
{
// See if our subobject failed. If so, we're done.
  if (packet.GetConstructorStatus() != OKAY) {
    m_constructorStatus = packet.GetConstructorStatus();
    return;
  }

  // Pack our parameters.
  uint8_t* bufPtr = m_buffer->data() + m_offset + MESSAGE_BASE_SIZE;
  memcpy(bufPtr, &cameraID, sizeof(cameraID)); bufPtr += sizeof(cameraID);
  memcpy(bufPtr, &sensorID, sizeof(sensorID)); bufPtr += sizeof(sensorID);
  memcpy(bufPtr, &temperatureCelcius, sizeof(temperatureCelcius));
}

MessageTemperature::MessageTemperature(Message& baseMessage)
  : Message(baseMessage)
{
  MessageID type;
  baseMessage.GetType(type);
  if (type != TEMPERATURE) {
    m_constructorStatus = BAD_PARAMETER;
  }
}

Status MessageTemperature::GetCameraID(uint16_t& cameraID) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + sizeof(uint16_t)) {
    return READ_PAST_END;
  }
  memcpy(&cameraID, m_buffer->data() + m_offset + MESSAGE_BASE_SIZE, sizeof(cameraID));
  return OKAY;
}

Status MessageTemperature::GetSensorID(uint16_t& sensorID) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(uint16_t)) {
    return READ_PAST_END;
  }
  memcpy(&sensorID, m_buffer->data() + m_offset + MESSAGE_BASE_SIZE + sizeof(uint16_t), sizeof(sensorID));
  return OKAY;
}

Status MessageTemperature::GetTemperatureCelcius(float& temperatureCelcius) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(uint16_t) + sizeof(float)) {
    return READ_PAST_END;
  }
  memcpy(&temperatureCelcius, m_buffer->data() + m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(uint16_t), sizeof(temperatureCelcius));
  return OKAY;
}

std::string MessageTemperature::Test()
{
  {
    // Construct a message and check its length, time and type.
    StreamPacket packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing stream packet for MessageTemperature test: " + ErrorMessage(packet.GetConstructorStatus());
    }

    // Add a message.
    Time timeCode = { 1234, 5678 };
    uint16_t cameraID = 100;
    uint16_t sensorID = 200;
    float temperatureCelcius = 300.0;
    MessageTemperature message(packet, timeCode, cameraID, sensorID, temperatureCelcius);
    if (message.GetConstructorStatus() != OKAY) {
      return "Error constructing MessageTemperature: " + ErrorMessage(message.GetConstructorStatus());
    }

    // Check the length of the packet including the message to make sure it matches expectation.
    uint32_t totalLength;
    Status status = packet.GetTotalLength(totalLength);
    if (status != OKAY) {
      return "Error checking message size for MessageTemperature test: " + ErrorMessage(status);
    }
    if (totalLength != STREAM_PACKET_BASE_SIZE + MESSAGE_BASE_SIZE + sizeof(uint16_t) + sizeof(uint16_t) + sizeof(float)) {
      return "Error constructing message from buffer for MessageTemperature test: packet length is not " +
        std::to_string(STREAM_PACKET_BASE_SIZE + MESSAGE_BASE_SIZE) + " but " + std::to_string(totalLength);
    }

    // Check the time and type of the message.
    Time rTimeCode;
    status = message.GetTime(rTimeCode);
    if (status != OKAY) {
      return "Error getting time code from message for MessageTemperature test: " + ErrorMessage(status);
    }
    if (rTimeCode != timeCode) {
      return "Error getting time code from message for MessageTemperature test: time code is not " +
        std::to_string(timeCode.seconds) + "." + std::to_string(timeCode.microseconds);
    }
    MessageID type;
    status = message.GetType(type);
    if (status != OKAY) {
      return "Error getting type from message for MessageTemperature test: " + ErrorMessage(status);
    }
    if (type != TEMPERATURE) {
      return "Error getting type from message for MessageTemperature test: type is not TEMPERATURE";
    }

    // Check the parameters.
    uint16_t rCameraID, rSensorID;
    float rTemperatureCelcius;
    status = message.GetCameraID(rCameraID);
    if (status != OKAY) {
      return "Error getting camera ID from message for MessageTemperature test: " + ErrorMessage(status);
    }
    if (rCameraID != cameraID) {
      return "Error getting camera ID from message for MessageTemperature test: Camera ID is not " +
        std::to_string(cameraID);
    }
    status = message.GetSensorID(rSensorID);
    if (status != OKAY) {
      return "Error getting sensor ID from message for MessageTemperature test: " + ErrorMessage(status);
    }
    if (rSensorID != sensorID) {
      return "Error getting sensor ID from message for MessageTemperature test: Sensor ID is not " +
        std::to_string(sensorID);
    }
    status = message.GetTemperatureCelcius(rTemperatureCelcius);
    if (status != OKAY) {
      return "Error getting temperature from message for MessageTemperature test: " + ErrorMessage(status);
    }
    if (rTemperatureCelcius != temperatureCelcius) {
      return "Error getting temperature from message for MessageTemperature test: Temperature is not " +
        std::to_string(temperatureCelcius);
    }
  }
  return "";
}

MessagePose::MessagePose(StreamPacket& packet, Time timeCode,
    double latitude, double longitude, double altitude,
    std::array<float, 3> rot, std::array<float, 3> vel, std::array<float, 3> rotVel)
  : Message(packet, sizeof(longitude) + sizeof(latitude) + sizeof(altitude) +
    3 * sizeof(float) + 3 * sizeof(float) + 3 * sizeof(float), timeCode, POSE)
{
// See if our subobject failed. If so, we're done.
  if (packet.GetConstructorStatus() != OKAY) {
    m_constructorStatus = packet.GetConstructorStatus();
    return;
  }

  // Pack our parameters.
  uint8_t* bufPtr = m_buffer->data() + m_offset + MESSAGE_BASE_SIZE;
  memcpy(bufPtr, &longitude, sizeof(longitude)); bufPtr += sizeof(longitude);
  memcpy(bufPtr, &latitude, sizeof(latitude)); bufPtr += sizeof(latitude);
  memcpy(bufPtr, &altitude, sizeof(altitude)); bufPtr += sizeof(altitude);
  memcpy(bufPtr, rot.data(), 3 * sizeof(float)); bufPtr += 3 * sizeof(float);
  memcpy(bufPtr, vel.data(), 3 * sizeof(float)); bufPtr += 3 * sizeof(float);
  memcpy(bufPtr, rotVel.data(), 3 * sizeof(float)); bufPtr += 3 * sizeof(float);
}

MessagePose::MessagePose(Message& baseMessage)
  : Message(baseMessage)
{
  MessageID type;
  baseMessage.GetType(type);
  if (type != POSE) {
    m_constructorStatus = BAD_PARAMETER;
  }
}

Status MessagePose::GetLongitude(double& longitude) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + sizeof(longitude)) {
    return READ_PAST_END;
  }
  memcpy(&longitude, m_buffer->data() + m_offset + MESSAGE_BASE_SIZE, sizeof(longitude));
  return OKAY;
}

Status MessagePose::GetLatitude(double& latitude) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(latitude)) {
    return READ_PAST_END;
  }
  memcpy(&latitude, m_buffer->data() + m_offset + MESSAGE_BASE_SIZE + sizeof(latitude), sizeof(latitude));
  return OKAY;
}

Status MessagePose::GetAltitude(double& altitude) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + 3 * sizeof(altitude)) {
    return READ_PAST_END;
  }
  memcpy(&altitude, m_buffer->data() + m_offset + MESSAGE_BASE_SIZE + 2 * sizeof(altitude), sizeof(altitude));
  return OKAY;
}

Status MessagePose::GetRot(std::array<float, 3>& rot) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + 3 * sizeof(double) + 3 * sizeof(float)) {
    return READ_PAST_END;
  }
  memcpy(rot.data(), m_buffer->data() + m_offset + MESSAGE_BASE_SIZE + 3 * sizeof(double), 3 * sizeof(float));
  return OKAY;
}

Status MessagePose::GetVel(std::array<float, 3>& vel) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + 3 * sizeof(double) + 6 * sizeof(float)) {
    return READ_PAST_END;
  }
  memcpy(vel.data(), m_buffer->data() + m_offset + MESSAGE_BASE_SIZE + 3 * sizeof(double) + 3 * sizeof(float), 3 * sizeof(float));
  return OKAY;
}

Status MessagePose::GetRotVel(std::array<float, 3>& rotvel) const
{
  if (m_buffer->size() < m_offset + MESSAGE_BASE_SIZE + 3 * sizeof(double) + 9 * sizeof(float)) {
    return READ_PAST_END;
  }
  memcpy(rotvel.data(), m_buffer->data() + m_offset + MESSAGE_BASE_SIZE + 3 * sizeof(double) + 6 * sizeof(float), 3 * sizeof(float));
  return OKAY;
}

std::string MessagePose::Test()
{
  {
    // Construct a message and check its length, time and type.
    StreamPacket packet;
    if (packet.GetConstructorStatus() != OKAY) {
      return "Error constructing stream packet for MessagePose test: " + ErrorMessage(packet.GetConstructorStatus());
    }

    // Add a message.
    Time timeCode = { 1234, 5678 };
    double longitude = 100.0;
    double latitude = 200.0;
    double altitude = 300.0;
    std::array<float, 3> rot = { 1.0, 2.0, 3.0 };
    std::array<float, 3> vel = { 4.0, 5.0, 6.0 };
    std::array<float, 3> rotvel = { 7.0, 8.0, 9.0 };
    MessagePose message(packet, timeCode, latitude, longitude, altitude, rot, vel, rotvel);
    if (message.GetConstructorStatus() != OKAY) {
      return "Error constructing MessagePose: " + ErrorMessage(message.GetConstructorStatus());
    }

    // Check the length of the packet including the message to make sure it matches expectation.
    uint32_t totalLength;
    Status status = packet.GetTotalLength(totalLength);
    if (status != OKAY) {
      return "Error checking message size for MessagePose test: " + ErrorMessage(status);
    }
    if (totalLength != STREAM_PACKET_BASE_SIZE + MESSAGE_BASE_SIZE + 3 * sizeof(double) + 3 * 3 * sizeof(float)) {
      return "Error constructing message from buffer for MessagePose test: packet length is not " +
        std::to_string(STREAM_PACKET_BASE_SIZE + MESSAGE_BASE_SIZE + 3 * sizeof(double) + 3 * 3 * sizeof(float))
        + " but " + std::to_string(totalLength);
    }

    // Check the time and type of the message.
    Time rTimeCode;
    status = message.GetTime(rTimeCode);
    if (status != OKAY) {
      return "Error getting time code from message for MessagePose test: " + ErrorMessage(status);
    }
    if (rTimeCode != timeCode) {
      return "Error getting time code from message for MessagePose test: time code is not " +
        std::to_string(timeCode.seconds) + "." + std::to_string(timeCode.microseconds);
    }
    MessageID type;
    status = message.GetType(type);
    if (status != OKAY) {
      return "Error getting type from message for MessagePose test: " + ErrorMessage(status);
    }
    if (type != POSE) {
      return "Error getting type from message for MessagePose test: type is not POSE";
    }

    // Check the parameters.
    double rLongitude, rLatitude, rAltitude;
    std::array<float, 3> rRot, rVel, rRotVel;
    status = message.GetLongitude(rLongitude);
    if (status != OKAY) {
      return "Error getting longitude from message for MessagePose test: " + ErrorMessage(status);
    }
    if (rLongitude != longitude) {
      return "Error getting longitude from message for MessagePose test: longitude is not " +
        std::to_string(longitude);
    }
    status = message.GetLatitude(rLatitude);
    if (status != OKAY) {
      return "Error getting latitude from message for MessagePose test: " + ErrorMessage(status);
    }
    if (rLatitude != latitude) {
      return "Error getting latitude from message for MessagePose test: latitude is not " +
        std::to_string(latitude);
    }
    status = message.GetAltitude(rAltitude);
    if (status != OKAY) {
      return "Error getting altitude from message for MessagePose test: " + ErrorMessage(status);
    }
    if (rAltitude != altitude) {
      return "Error getting altitude from message for MessagePose test: altitude is not " +
        std::to_string(altitude);
    }
    status = message.GetRot(rRot);
    if (status != OKAY) {
      return "Error getting rotation from message for MessagePose test: " + ErrorMessage(status);
    }
    if (rRot != rot) {
      return "Error getting rotation from message for MessagePose test: rotation is not { 1.0, 2.0, 3.0 }";
    }
    status = message.GetVel(rVel);
    if (status != OKAY) {
      return "Error getting velocity from message for MessagePose test: " + ErrorMessage(status);
    }
    if (rVel != vel) {
      return "Error getting velocity from message for MessagePose test: velocity is not { 4.0, 5.0, 6.0 }";
    }
    status = message.GetRotVel(rRotVel);
    if (status != OKAY) {
      return "Error getting rotation velocity from message for MessagePose test: " + ErrorMessage(status);
    }
    if (rRotVel != rotvel) {
      return "Error getting rotation velocity from message for MessagePose test: rotation velocity is not { 7.0, 8.0, 9.0 }";
    }
  }
  return "";
}

class asdp::Socket {
public:
  SOCKET socket = BAD_SOCKET;    ///< The socket to use, initially not open.

  /// Address that is associated with the socket, used by SenderUDP to remember
  /// where to send to.
  struct sockaddr_in addr;

  /// @brief Default constructor
  Socket() {
    addr.sin_family = AF_INET;
    addr.sin_port = htons(0); // default port
    inet_pton(AF_INET, "0.0.0.0", &(addr.sin_addr)); // default IP address
  }

  /// @brief Destructor closes the socket if it is open.
  ~Socket() {
    if (socket != BAD_SOCKET) {
      closesocket(socket);
      socket = BAD_SOCKET;
    }
  }

  bool JoinMulticastGroup(const std::string& multicastName) {
    struct ip_mreq mreq;
    mreq.imr_multiaddr.s_addr = inet_addr(multicastName.c_str());
    mreq.imr_interface.s_addr = addr.sin_addr.s_addr;

    if (setsockopt(socket, IPPROTO_IP, IP_ADD_MEMBERSHIP, (char*)&mreq, sizeof(mreq)) < 0) {
      return false;
    }
    addr.sin_addr.s_addr = mreq.imr_multiaddr.s_addr;
    return true;
  }

  /// @brief Check to see if data is available to read on the socket.
  /// @param timeout_seconds The maximum time to wait for data to be available, in seconds.
  /// @param available Set to true if data is available to read, false if not.
  /// @return OKAY if successful, SOCKET_FAILURE if there was a socket error.
  Status IsDataAvailable(double timeout_seconds, bool& available) {
    // Make sure we have a valid socket.
    if (socket == BAD_SOCKET) {
      return SOCKET_FAILURE;
    }

    // Set up the timeout.
    struct timeval timeout;
    timeout.tv_sec = (uint32_t)timeout_seconds;
    timeout.tv_usec = (uint32_t)((timeout_seconds - (uint32_t)timeout_seconds) * 1000000);

    // Set up the file descriptor set.
    fd_set fds;
    FD_ZERO(&fds);
    FD_SET(socket, &fds);

    // Wait for the socket to be ready.
    int result = select(socket + 1, &fds, nullptr, nullptr, &timeout);
    if (result == SOCKET_ERROR) {
      return SOCKET_FAILURE;
    }

    // Check if the socket is ready.
    available = (result > 0);
    return OKAY;
  }

};

SenderUDP::SenderUDP(std::string host, uint16_t port, bool broadcast, std::string const& NICName,
  std::string multicastName)
  : SenderUDP(StreamEndpoint(host, port), broadcast, NICName, multicastName)
{
}

SenderUDP::SenderUDP(const StreamEndpoint& endpoint, bool broadcast, std::string const& NICName,
  std::string multicastName)
  : m_socket(std::make_shared<Socket>())
{
  // Problem if the endpoint has been set to all zeros.
  if (endpoint.IP == 0) {
    m_constructorStatus = BAD_PARAMETER;
    return;
  }

  // Set up to bind to a local socket that uses any available port on the interface that would be
  // used to send to the requested address.  The assumption is that we're on the same sublan as the
  // host we're sending to, so we can do a best match between all of our NIC addresses and the server
  // address to determine which one we should use.

  // Open the socket to use for sending UDP packets.
  m_socket->socket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
  if (m_socket->socket == BAD_SOCKET) {
    m_constructorStatus = BAD_PARAMETER;
    return;
  }

  // Set the socket output buffer to be large enough to hold many outgoing packets.
  int size = 65536 * 128;
  if (0 != setsockopt(m_socket->socket, SOL_SOCKET, SO_SNDBUF, (char*)&size, sizeof(size))) {
    m_constructorStatus = SOCKET_FAILURE;
    m_socket.reset();
    return;
  }

  // If we have specified a NIC name, bind to the address of that NIC using any available port.
  if (!NICName.empty()) {
    // Look up the IPV4 address of the host.
    struct addrinfo* result = nullptr;
    struct addrinfo hints;
    memset(&hints, 0, sizeof(hints));
    hints.ai_family = AF_INET;
    hints.ai_socktype = SOCK_DGRAM;
    hints.ai_flags |= AI_CANONNAME;
    const char* hostName = NICName.c_str();
    int status = getaddrinfo(hostName, nullptr, &hints, &result);
    if (status != 0) {
      return;
    }
    struct sockaddr_in* address = (struct sockaddr_in*)result->ai_addr;
    // Convert to host byte order
    uint32_t IP = ntohl(address->sin_addr.s_addr);
    freeaddrinfo(result);

    // Store the specified IP and port we want to use.
    // The address is already in network byte order, just convert the port.
    memset(&m_socket->addr, 0, sizeof(m_socket->addr));
    m_socket->addr.sin_family = AF_INET;
    m_socket->addr.sin_addr.s_addr = htonl(IP);
    m_socket->addr.sin_port = htons(0); // any available port
  }

  // If we're doing broadcast, set the socket to allow broadcast and set the
  // host name to the broadcast address for the NIC we are using.
  uint32_t addressToUse = htonl(endpoint.IP);
  if (broadcast) {
    addressToUse = htonl(MakeBroadcastAddress(endpoint.IP));
    int broadcastEnable = 1;
    if (0 != setsockopt(m_socket->socket, SOL_SOCKET, SO_BROADCAST, (char*)&broadcastEnable, sizeof(broadcastEnable))) {
      m_constructorStatus = SOCKET_FAILURE;
      m_socket.reset();
      return;
    }
  }

  // Store the specified IP and port we want to use.
  // The address is already in network byte order, just convert the port.
  memset(&m_socket->addr, 0, sizeof(m_socket->addr));
  m_socket->addr.sin_family = AF_INET;
  m_socket->addr.sin_addr.s_addr = addressToUse;
  m_socket->addr.sin_port = htons(endpoint.port);

  // If we have a multicast name, join the multicast group and overwrite the sending address.
  if (!multicastName.empty()) {
    if (!m_socket->JoinMulticastGroup(multicastName)) {
      m_constructorStatus = SOCKET_FAILURE;
      m_socket.reset();
      return;
    }
  }
}

Status SenderUDP::Send(const void* buffer, uint32_t length)
{
  // Check our parameters
  if (buffer == nullptr) {
    return BAD_PARAMETER;
  }

  // Make sure we have a valid socket.
  if ((m_socket == nullptr) || (m_socket->socket == BAD_SOCKET)) {
    return m_constructorStatus;
  }

  // Send the data.  Don't let SIGPIPE be generated if the other side is not receiving.
  int result = sendto(m_socket->socket, (const char*)buffer, length, MSG_NOSIGNAL,
    (const sockaddr *)&(m_socket->addr), sizeof(m_socket->addr));
  if (result == SOCKET_ERROR) {
    return SOCKET_FAILURE;
  }

  // Everything worked.
  return OKAY;
}

Status SenderUDP::SendCommandPacket(const CommandPacket& packet)
{
  // Find out how large the data in the packet is.
  uint32_t length;
  Status status = packet.GetTotalLength(length);
  if (status != OKAY) {
    return status;
  }

  // Send the data.
  return Send((const char*)packet.MyData(), length);
}

Status SenderUDP::SendStreamPacket(const StreamPacket& packet)
{
  // Find out how large the data in the packet is.
  uint32_t length;
  Status status = packet.GetTotalLength(length);
  if (status != OKAY) {
    return status;
  }

  // Send the data.
  return Send((const char*)packet.MyData(), length);
}

SenderFile::SenderFile(std::string fileName, bool doDirect)
  : m_file(-1)
{
  // Open the file using the low-level open() call so that we can request direct I/O
  // on Linux, which bypasses the system buffers and makes writes faster for sequential
  // writes on our SSD RAID system.  If this flag is not available, we define it here locally
  // to be zero so that it is ignored.
#ifndef O_DIRECT
  static uint32_t O_DIRECT = 0;
#endif
#ifndef O_BINARY
  static uint32_t O_BINARY = 0;
#endif
  int flags = O_WRONLY | O_CREAT | O_TRUNC | O_BINARY;
  if (doDirect) {
    flags |= O_DIRECT;
  }
  m_file = open(fileName.c_str(), flags, 0644);
  if (m_file < 0) {
    m_constructorStatus = BAD_PARAMETER;
    return;
  }
}

SenderFile::~SenderFile()
{
  if (m_file != -1) {
    close(m_file);
  }
}

Status SenderFile::Send(const void* buffer, uint32_t length)
{
  // Check our parameters
  if (buffer == nullptr) {
    return BAD_PARAMETER;
  }

  // Make sure we have a valid file.
  if (m_file == -1) {
    return m_constructorStatus;
  }

  // Send the data.
  int ret = write(m_file, reinterpret_cast<const char*>(buffer), length);
  if (ret != length) {
    close(m_file);
    m_file = -1;
    return FILE_FAILURE;
  }

  // Everything worked.
  return OKAY;
}

Status SenderFile::SendCommandPacket(const CommandPacket& packet)
{
  // Make sure we have a valid file.
  if (m_file == -1) {
    return m_constructorStatus;
  }

  // Find out how large the data in the packet is.
  uint32_t length;
  Status status = packet.GetTotalLength(length);
  if (status != OKAY) {
    return status;
  }

  return Send((const char*)packet.MyData(), length);
}

Status SenderFile::SendStreamPacket(const StreamPacket& packet)
{
  // Make sure we have a valid file.
  if (m_file == -1) {
    return m_constructorStatus;
  }

  // Find out how large the data in the packet is.
  uint32_t length;
  Status status = packet.GetTotalLength(length);
  if (status != OKAY) {
    return status;
  }

  // Send the data.
  if (packet.m_offset + length > packet.m_buffer->size()) {
    return READ_PAST_END;
  }
  return Send(packet.MyData(), length);
}

ReceiverUDP::ReceiverUDP(std::string host, uint16_t port, uint32_t maxLen, bool broadcast, std::string multicastName)
  : ReceiverUDP(StreamEndpoint(host, port), maxLen, broadcast, multicastName)
{
}

ReceiverUDP::ReceiverUDP(const StreamEndpoint& endpoint, uint32_t maxLen, bool broadcast, std::string multicastName)
  : Receiver(maxLen)
  , m_socket(std::make_shared<Socket>())
  , m_port(endpoint.port)
{
  // Open the socket to use for receiving UDP packets.
  m_socket->socket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
  if (m_socket->socket == BAD_SOCKET) {
    m_constructorStatus = BAD_PARAMETER;
    m_socket.reset();
    return;
  }

  // Set the socket input buffer to be large enough to hold many incoming packets.
  int size = 65536 * 128;
  if (0 != setsockopt(m_socket->socket, SOL_SOCKET, SO_RCVBUF, (char*)&size, sizeof(size))) {
    m_constructorStatus = SOCKET_FAILURE;
    m_socket.reset();
    return;
  }

  // If we're listening for broadcast, set the address to use for broadcast.
  StreamEndpoint myEndpoint = endpoint;
  if (broadcast) {
#ifndef ASDP_USE_WINSOCK_SOCKETS
    // On Windows, we cannot bind to the broadcast address, so we need to bind to the local address.
    // If we bind to this, it receives broadcast messages on Windows.
    // On Linux, we need to bind to the broadcast address to receive broadcast messages.
    myEndpoint.IP = MakeBroadcastAddress(myEndpoint.IP);
#endif
  }

  // Bind the socket to the specified NIC and port.
  // If we have a multicast name, join the multicast group and bind to that address (overwritten
  // by the call to JoinMulticastGroup).
  memset(&m_socket->addr, 0, sizeof(m_socket->addr));
  m_socket->addr.sin_family = AF_INET;
  m_socket->addr.sin_addr.s_addr = htonl(myEndpoint.IP);
  m_socket->addr.sin_port = htons(myEndpoint.port);
  if (!multicastName.empty()) {
    if (!m_socket->JoinMulticastGroup(multicastName)) {
      m_constructorStatus = SOCKET_FAILURE;
      m_socket.reset();
      return;
    }
  }
  // On Windows, we cannot bind to the multicast address, so we need to bind to the local address.
  // We override the overridden address to make this happen.
#ifdef ASDP_USE_WINSOCK_SOCKETS
  m_socket->addr.sin_addr.s_addr = htonl(myEndpoint.IP);
#endif
  if (0 != bind(m_socket->socket, (struct sockaddr*)&m_socket->addr, sizeof(m_socket->addr))) {
    m_constructorStatus = SOCKET_FAILURE;
    m_socket.reset();
    return;
  }

  // If we didn't specify a port, get the port we were assigned by the bind.
  if (m_port == 0) {
    struct sockaddr_in sin;
    socklen_t len = sizeof(sin);
    if (getsockname(m_socket->socket, (struct sockaddr *)&sin, &len) == -1) {
      m_constructorStatus = SOCKET_FAILURE;
      m_socket.reset();
      return;
    }
    m_port = ntohs(sin.sin_port);
  }
}

Status ReceiverUDP::IsPacketAvailable(double timeout_seconds, bool& available)
{
  // Make sure we have a valid socket.
  if ((m_socket == nullptr) || (m_socket->socket == BAD_SOCKET)) {
    return m_constructorStatus;
  }

  // Set up the timeout.
  struct timeval timeout;
  timeout.tv_sec = (uint32_t)timeout_seconds;
  timeout.tv_usec = (uint32_t)((timeout_seconds - (uint32_t)timeout_seconds) * 1000000);

  // Set up the file descriptor set.
  fd_set fds;
  FD_ZERO(&fds);
  FD_SET(m_socket->socket, &fds);

  // Wait for the socket to be ready.
  int result = select(m_socket->socket + 1, &fds, nullptr, nullptr, &timeout);
  if (result == SOCKET_ERROR) {
    return SOCKET_FAILURE;
  }

  // Check if the socket is ready.
  available = (result > 0);
  return OKAY;
}

Status ReceiverUDP::ReceiveBuffer(uint8_t* buffer, size_t& size)
{
  // Make sure we have a valid socket.
  if ((m_socket == nullptr) || (m_socket->socket == BAD_SOCKET)) {
    return m_constructorStatus;
  }

  // Ensure that our buffer pointer is valid.
  if (buffer == nullptr) {
    return BAD_PARAMETER;
  }

  // Receive the data. On Linux, we need to ask it to inform us if the buffer is too small.
  // On Windows, it returns an error if the buffer is too small.
#ifdef ASDP_USE_WINSOCK_SOCKETS
  int length = recv(m_socket->socket, reinterpret_cast<char*>(buffer), size, 0);
  if (length == SOCKET_ERROR) {
    // Windows will fall through to here if the buffer is too small.
    // There is no way to tell on Windows whether the buffer was too small or if there was some other error.
    return SOCKET_READ_FAILURE;
  }
#else
  struct iovec iov[1];
  struct msghdr msg;
  ssize_t n;

  // Set up message structure
  memset(&msg, 0, sizeof(msg));
  msg.msg_name = nullptr;
  msg.msg_namelen = 0;
  iov[0].iov_base = buffer;
  iov[0].iov_len = size;
  msg.msg_iov = iov;
  msg.msg_iovlen = 1;

  // Receive the data
  ssize_t length = recvmsg(m_socket->socket, &msg, 0);
  if (msg.msg_flags & MSG_TRUNC) {
    // Return the same error on Windows and Linux when the buffer is too small.
    return SOCKET_READ_FAILURE;
  }
  if (length < 0) {
    return SOCKET_READ_FAILURE;
  }
#endif

  // Record how many bytes we received.
  size = length;

  // Everything worked.
  return OKAY;
}

Status ReceiverUDP::ReceiveCommandPacket(double timeout_seconds, std::shared_ptr<CommandPacket>& packet)
{
  // See if we have a packet available.
  bool available;
  Status status = IsPacketAvailable(timeout_seconds, available);
  if (status != OKAY) {
    return status;
  }
  if (!available) {
    return TIMEOUT;
  }

  // Get the packet.
  std::shared_ptr<std::vector<uint8_t>> buffer = std::make_shared<std::vector<uint8_t>>(m_maxLen);
  size_t size = buffer->size();
  status = ReceiveBuffer(buffer->data(), size);
  buffer->resize(size);
  if (status != OKAY) {
    return status;
  }

  // Construct the packet using the buffer.
  packet.reset(new CommandPacket(buffer));
  if (packet->GetConstructorStatus() != OKAY) {
    return packet->GetConstructorStatus();
  }

  // Everything worked.
  return OKAY;
}

Status ReceiverUDP::ReceiveStreamPacket(double timeout_seconds, std::shared_ptr<StreamPacket>& packet,
  size_t& offset, std::shared_ptr< std::vector<uint8_t> > bufptr)
{
  // See if we have a packet available.

  bool available;
  Status status = IsPacketAvailable(timeout_seconds, available);
  if (status != OKAY) {
    return status;
  }
  if (!available) {
    return TIMEOUT;
  }

  // Create a buffer if needed and ensure that our buffer is large enough.
  // If we create a new buffer, then remember that we'll want to resize it later.
  std::shared_ptr<std::vector<uint8_t>> buffer = bufptr;
  bool doResize = false;
  if (buffer == nullptr) {
    buffer = std::make_shared<std::vector<uint8_t>>(m_maxLen);
    offset = 0;
    doResize = true;
  }
  size_t size = buffer->size() - offset;
  if (m_maxLen > size) {
    return BAD_PARAMETER;
  }

  // Get the packet into the existing buffer or a new buffer.
  status = ReceiveBuffer(buffer->data() + offset, size);
  if (status != OKAY) {
    return status;
  }

  // Construct the packet using the buffer.
  packet.reset(new StreamPacket(buffer, offset));
  if (packet->GetConstructorStatus() != OKAY) {
    return packet->GetConstructorStatus();
  }

  // Adjust the size of a new buffer and increment the offset.
  if (doResize) {
    buffer->resize(size + offset);
  }
  offset += size;

  // Everything worked.
  return OKAY;
}

std::string ReceiverUDP::Test()
{
  Status status;

  // Create a sender and receiver.
  ReceiverUDP receiver;
  if (receiver.GetConstructorStatus() != OKAY) {
    return "Error constructing ReceiverUDP: " + ErrorMessage(receiver.GetConstructorStatus());
  }
  uint16_t receiverPort;
  status = receiver.GetPort(receiverPort);
  if (status != OKAY) {
    return "Error getting port from ReceiverUDP: " + ErrorMessage(status);
  }
  // Explicitly bind the sender to the same NIC as the receiver so we test that code path.
  SenderUDP sender("localhost", receiverPort, false, "localhost");
  if (sender.GetConstructorStatus() != OKAY) {
    return "Error constructing SenderUDP: " + ErrorMessage(sender.GetConstructorStatus());
  }

  // Send a packet.
  std::vector<uint8_t> sendBuffer(1000, 0);
  status = sender.Send(sendBuffer.data(), sendBuffer.size());
  if (status != OKAY) {
    return "Error sending packet: " + ErrorMessage(status);
  }

  // Receive the packet into a buffer that it larger than the packet.
  bool available;
  status = receiver.IsPacketAvailable(0.5, available);
  if (status != OKAY) {
    return "Error checking for packet: " + ErrorMessage(status);
  }
  if (!available) {
    return "Error checking for packet: no packet available";
  }
  std::vector<uint8_t> receiveBuffer(2000, 0);
  size_t size = receiveBuffer.size();
  status = receiver.ReceiveBuffer(receiveBuffer.data(), size);
  receiveBuffer.resize(size);
  if (status != OKAY) {
    return "Error receiving packet: " + ErrorMessage(status);
  }
  if (receiveBuffer.size() != sendBuffer.size()) {
    return "Error receiving packet: buffer was not resized";
  }

  // Try sending and receiving into a buffer that is too small, which should fail.
  status = sender.Send(sendBuffer.data(), sendBuffer.size());
  if (status != OKAY) {
    return "Error sending second packet: " + ErrorMessage(status);
  }
  status = receiver.IsPacketAvailable(0.5, available);
  if (status != OKAY) {
    return "Error checking for second packet: " + ErrorMessage(status);
  }
  if (!available) {
    return "Error checking for second packet: no packet available";
  }
  receiveBuffer.resize(100, 0);
  size = receiveBuffer.size();
  status = receiver.ReceiveBuffer(receiveBuffer.data(), size);
  receiveBuffer.resize(size);
  if (status != SOCKET_READ_FAILURE) {
    return "Unexpected return value when receiving into a too-small buffer";
  }

  // Try sending and receiving a CommandPacket.
  CommandPacketReset sendCommandPacket;
  status = sendCommandPacket.GetConstructorStatus();
  if (status != OKAY) {
    return "Error constructing CommandPacketReset: " + ErrorMessage(status);
  }
  status = sender.SendCommandPacket(sendCommandPacket);
  if (status != OKAY) {
    return "Error sending CommandPacketReset: " + ErrorMessage(status);
  }
  std::shared_ptr<CommandPacket> receiveCommandPacket;
  status = receiver.ReceiveCommandPacket(0.5, receiveCommandPacket);
  if (status != OKAY) {
    return "Error receiving CommandPacketReset: " + ErrorMessage(status);
  }
  if (receiveCommandPacket == nullptr) {
    return "Empty CommandPacketReset packet";
  }
  OpCode opCode;
  status = receiveCommandPacket->GetOpCode(opCode);
  if (status != OKAY) {
    return "Error checking CommandPacketReset opcode: " + ErrorMessage(status);
  }
  if (opCode != RESET) {
    return "Error receiving CommandPacketReset: wrong type";
  }

  // Try sending and receiving a StreamPacket.
  StreamPacket sendStreamPacket;
  status = sendStreamPacket.GetConstructorStatus();
  if (status != OKAY) {
    return "Error constructing StreamPacket: " + ErrorMessage(status);
  }
  status = sender.SendStreamPacket(sendStreamPacket);
  if (status != OKAY) {
    return "Error sending StreamPacket: " + ErrorMessage(status);
  }
  std::shared_ptr<StreamPacket> receiveStreamPacket;
  size_t offset = 0;
  status = receiver.ReceiveStreamPacket(0.5, receiveStreamPacket, offset);
  if (status != OKAY) {
    return "Error receiving StreamPacket: " + ErrorMessage(status);
  }
  if (receiveStreamPacket == nullptr) {
    return "Empty StreamPacket packet";
  }
  if (offset != 2 * sizeof(uint32_t)) {
    return "Error receiving StreamPacket: offset is not as expected: " + std::to_string(offset);
  }

  // Try sending and receiving a StreamPacket using an existing buffer.
  status = sender.SendStreamPacket(sendStreamPacket);
  if (status != OKAY) {
    return "Error sending StreamPacket: " + ErrorMessage(status);
  }
  std::shared_ptr< std::vector<uint8_t> > buffer = 
    std::make_shared< std::vector<uint8_t> >(9000 + 5000);
  offset = 5000;
  status = receiver.ReceiveStreamPacket(0.5, receiveStreamPacket, offset, buffer);
  if (status != OKAY) {
    return "Error receiving StreamPacket into existing buffer: " + ErrorMessage(status);
  }
  if (receiveStreamPacket == nullptr) {
    return "Empty StreamPacket packet";
  }
  if (offset != 5000 + 2 * sizeof(uint32_t)) {
    return "Error receiving StreamPacket into existing buffer: offset is not as expected: " +
      std::to_string(offset);
  }

  // Set the sequence number on the offset packet, then re-send it and receive it again.
  uint32_t sequenceNumber = 1234;
  status = receiveStreamPacket->SetSequenceNumber(sequenceNumber);
  if (status != OKAY) {
    return "Error setting sequence number on StreamPacket: " + ErrorMessage(status);
  }
  status = sender.SendStreamPacket(*receiveStreamPacket);
  if (status != OKAY) {
    return "Error re-sending StreamPacket: " + ErrorMessage(status);
  }
  status = receiver.ReceiveStreamPacket(0.5, receiveStreamPacket, offset, buffer);
  if (status != OKAY) {
    return "Error re-receiving StreamPacket: " + ErrorMessage(status);
  }
  if (offset != 5000 + 4 * sizeof(uint32_t)) {
    return "Error re-receiving StreamPacket: offset is not as expected: " + std::to_string(offset);
  }
  if (receiveStreamPacket == nullptr) {
    return "Empty StreamPacket packet";
  }
  uint32_t rSequenceNumber;
  status = receiveStreamPacket->GetSequenceNumber(rSequenceNumber);
  if (status != OKAY) {
    return "Error getting sequence number from StreamPacket: " + ErrorMessage(status);
  }
  if (rSequenceNumber != sequenceNumber) {
    return "Error getting sequence number from StreamPacket: " + std::to_string(rSequenceNumber);
  }

  return "";
}

ReceiverFile::ReceiverFile(std::string fileName, uint32_t maxLen)
  : Receiver(maxLen)
{
  // Open the file.
  m_file = std::make_shared<std::ifstream>(fileName.c_str(), std::ios::binary);
  if (m_file == nullptr) {
    m_constructorStatus = BAD_PARAMETER;
    return;
  }
  if (!m_file->is_open()) {
    m_constructorStatus = FILE_FAILURE;
    m_file.reset();
    return;
  }
}

ReceiverFile::~ReceiverFile()
{
  if (m_file != nullptr) {
    m_file->close();
  }
}

Status ReceiverFile::IsPacketAvailable(double timeout_seconds, bool& available)
{
  // Not available unless proven otherwise.
  available = false;

  // Make sure we have a valid file.
  if (m_file == nullptr) {
    return m_constructorStatus;
  }
  if (m_file->eof()) {
    // We are at the end of the file, so we don't mark it as available but the check succeeds.
    return OKAY;
  }
  if (m_file->bad() || m_file->fail()) {
    return FILE_FAILURE;
  }

  // We are not at the end of the file.
  available = true;
  return OKAY;
}

Status ReceiverFile::ReceiveBuffer(uint8_t* buffer, size_t& size)
{
  // Make sure we have a valid file.
  if (m_file == nullptr) {
    return m_constructorStatus;
  }
  if (m_file->eof()) {
    return TIMEOUT;
  }
  if (m_file->bad() || m_file->fail()) {
    return FILE_FAILURE;
  }

  // Ensure that our buffer pointer is valid.
  if (buffer == nullptr) {
    return BAD_PARAMETER;
  }

  // Read the data.  If there is not enough data to fill the buffer,
  // the buffer will be resized to the amount of data read.
  m_file->read(reinterpret_cast<char*>(buffer), size);
  std::streamsize bytesActuallyRead = m_file->gcount();
  if (bytesActuallyRead < size) {
    size = bytesActuallyRead;
  }
  if (bytesActuallyRead == 0) {
    return FILE_FAILURE;
  }

  // Everything worked.
  return OKAY;
}

Status ReceiverFile::ReceiveCommandPacket(double timeout_seconds, std::shared_ptr<CommandPacket>& packet)
{
  // See if we have a packet available.
  bool available;
  Status status = IsPacketAvailable(timeout_seconds, available);
  if (status != OKAY) {
    return status;
  }
  if (!available) {
    return TIMEOUT;
  }

  // Get the packet header up through the field that records the length.
  if (m_maxLen < PACKET_HEADER_TOTAL_SIZE_OFFSET + sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  std::shared_ptr<std::vector<uint8_t>> buffer = std::make_shared<std::vector<uint8_t>>(m_maxLen);
  m_file->read(reinterpret_cast<char*>(buffer->data()), PACKET_HEADER_TOTAL_SIZE_OFFSET + sizeof(uint32_t));
  if (m_file->eof()) {
    return TIMEOUT;
  }
  if (m_file->bad() || m_file->fail()) {
    return FILE_FAILURE;
  }

  // Find the length of the packet.
  uint32_t length;
  memcpy(&length, buffer->data() + PACKET_HEADER_TOTAL_SIZE_OFFSET, sizeof(length));
  if (length > m_maxLen) {
    return READ_PAST_END;
  }

  // Read the rest of the packet.
  m_file->read(reinterpret_cast<char*>(buffer->data()) + PACKET_HEADER_TOTAL_SIZE_OFFSET + sizeof(uint32_t),
    length - PACKET_HEADER_TOTAL_SIZE_OFFSET - sizeof(uint32_t));
  if (m_file->eof()) {
    return TIMEOUT;
  }
  if (m_file->bad() || m_file->fail()) {
    return FILE_FAILURE;
  }

  // Construct the packet using the buffer.
  packet.reset(new CommandPacket(buffer));
  if (packet->GetConstructorStatus() != OKAY) {
    return packet->GetConstructorStatus();
  }

  // Everything worked.
  return OKAY;
}

Status ReceiverFile::ReceiveStreamPacket(double timeout_seconds, std::shared_ptr<StreamPacket>& packet,
  size_t& offset, std::shared_ptr< std::vector<uint8_t> > bufptr)
{
  // See if we have a packet available.
  bool available;
  Status status = IsPacketAvailable(timeout_seconds, available);
  if (status != OKAY) {
    return status;
  }
  if (!available) {
    return TIMEOUT;
  }

  // Create a buffer if needed and ensure that our buffer is large enough.
  // If we create a new buffer, then remember that we'll want to resize it later.
  std::shared_ptr<std::vector<uint8_t>> buffer = bufptr;
  bool doResize = false;
  if (buffer == nullptr) {
    buffer = std::make_shared<std::vector<uint8_t>>(m_maxLen);
    offset = 0;
    doResize = true;
  }
  size_t size = buffer->size() - offset;
  if (m_maxLen > size) {
    return BAD_PARAMETER;
  }

  // Get the packet header up through the field that records the length.
  if (m_maxLen < PACKET_HEADER_TOTAL_SIZE_OFFSET + sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  m_file->read(reinterpret_cast<char*>(buffer->data() + offset),
    PACKET_HEADER_TOTAL_SIZE_OFFSET + sizeof(uint32_t));
  if (m_file->eof()) {
    return TIMEOUT;
  }
  if (m_file->bad() || m_file->fail()) {
    return FILE_FAILURE;
  }

  // Find the length of the packet.
  uint32_t length;
  memcpy(&length, buffer->data() + offset + PACKET_HEADER_TOTAL_SIZE_OFFSET, sizeof(length));
  if (length > m_maxLen) {
    return READ_PAST_END;
  }

  // If the length of the packet is zero, then we've read past the end of the data in the file
  // and we're reading zero padding.  In this case, we gobble up the rest of the file and return
  // a timeout as will happen when there is no packet available.
  if (length == 0) {
    std::vector<uint8_t> padding(m_maxLen);
    while (m_file->read(reinterpret_cast<char*>(padding.data()), m_maxLen)) {
      if (m_file->eof()) {
        break;
      }
    }
    return TIMEOUT;
  }

  // Read the rest of the packet.
  m_file->read(reinterpret_cast<char*>(buffer->data()) + offset + PACKET_HEADER_TOTAL_SIZE_OFFSET + sizeof(uint32_t),
    length - PACKET_HEADER_TOTAL_SIZE_OFFSET - sizeof(uint32_t));
  if (m_file->eof()) {
    return TIMEOUT;
  }
  if (m_file->bad() || m_file->fail()) {
    return FILE_FAILURE;
  }

  // Construct the packet using the buffer.
  packet.reset(new StreamPacket(buffer));
  if (packet->GetConstructorStatus() != OKAY) {
    return packet->GetConstructorStatus();
  }

  // Adjust the size of a new buffer and increment the offset.
  if (doResize) {
    buffer->resize(length + offset);
  }
  offset += length;

  // Everything worked.
  return OKAY;
}

std::string ReceiverFile::Test()
{
  Status status;

  // Send a packet.
  std::vector<uint8_t> sendBuffer(1000, 0);
  {
    SenderFile sender("deleteme.bin");
    if (sender.GetConstructorStatus() != OKAY) {
      return "Error constructing SenderFile: " + ErrorMessage(sender.GetConstructorStatus());
    }
    status = sender.Send(sendBuffer.data(), sendBuffer.size());
    if (status != OKAY) {
      return "Error sending packet: " + ErrorMessage(status);
    }
  }

  // Receive the packet into a buffer that it larger than the packet.
  {
    ReceiverFile receiver("deleteme.bin");
    if (receiver.GetConstructorStatus() != OKAY) {
      return "Error constructing ReceiverFile: " + ErrorMessage(receiver.GetConstructorStatus());
    }
    bool available;
    status = receiver.IsPacketAvailable(0.5, available);
    if (status != OKAY) {
      return "Error checking for packet: " + ErrorMessage(status);
    }
    if (!available) {
      return "Error checking for packet: no packet available";
    }
    std::vector<uint8_t> receiveBuffer(2000, 0);
    size_t size = receiveBuffer.size();
    status = receiver.ReceiveBuffer(receiveBuffer.data(), size);
    receiveBuffer.resize(size);
    if (status != OKAY) {
      return "Error receiving packet: " + ErrorMessage(status);
    }
    if (receiveBuffer.size() != sendBuffer.size()) {
      return "Error receiving packet: buffer was not resized";
    }
  }

  // Delete the file.
  remove("deleteme.bin");

  // Try sending and receiving a CommandPacket.
  {
    SenderFile sender("deleteme.bin");
    if (sender.GetConstructorStatus() != OKAY) {
      return "Error constructing SenderFile for CommandPacket: " + ErrorMessage(sender.GetConstructorStatus());
    }

    CommandPacketReset sendCommandPacket;
    status = sendCommandPacket.GetConstructorStatus();
    if (status != OKAY) {
      return "Error constructing CommandPacketReset: " + ErrorMessage(status);
    }
    status = sender.SendCommandPacket(sendCommandPacket);
    if (status != OKAY) {
      return "Error sending CommandPacketReset: " + ErrorMessage(status);
    }
  }

  {
    ReceiverFile receiver("deleteme.bin");
    if (receiver.GetConstructorStatus() != OKAY) {
      return "Error constructing ReceiverFile: " + ErrorMessage(receiver.GetConstructorStatus());
    }
    std::shared_ptr<CommandPacket> receiveCommandPacket;

    status = receiver.ReceiveCommandPacket(0.5, receiveCommandPacket);
    if (status != OKAY) {
      return "Error receiving CommandPacketReset: " + ErrorMessage(status);
    }
    if (receiveCommandPacket == nullptr) {
      return "Empty CommandPacketReset packet";
    }
    OpCode opCode;
    status = receiveCommandPacket->GetOpCode(opCode);
    if (status != OKAY) {
      return "Error checking CommandPacketReset opcode: " + ErrorMessage(status);
    }
    if (opCode != RESET) {
      return "Error receiving CommandPacketReset: wrong type";
    }
  }
  remove("deleteme.bin");

  // Try sending and receiving a StreamPacket.
  {
    SenderFile sender("deleteme.bin");
    if (sender.GetConstructorStatus() != OKAY) {
      return "Error constructing SenderFile: " + ErrorMessage(sender.GetConstructorStatus());
    }

    StreamPacket sendStreamPacket;
    status = sendStreamPacket.GetConstructorStatus();
    if (status != OKAY) {
      return "Error constructing StreamPacket: " + ErrorMessage(status);
    }
    status = sender.SendStreamPacket(sendStreamPacket);
    if (status != OKAY) {
      return "Error sending StreamPacket: " + ErrorMessage(status);
    }
  }

  {
    ReceiverFile receiver("deleteme.bin");
    if (receiver.GetConstructorStatus() != OKAY) {
      return "Error constructing ReceiverFile: " + ErrorMessage(receiver.GetConstructorStatus());
    }

    std::shared_ptr<StreamPacket> receiveStreamPacket;
    size_t offset = 0;
    status = receiver.ReceiveStreamPacket(0.5, receiveStreamPacket, offset);
    if (status != OKAY) {
      return "Error receiving StreamPacket: " + ErrorMessage(status);
    }
    if (receiveStreamPacket == nullptr) {
      return "Empty StreamPacket packet";
    }
    if (offset != 2 * sizeof(uint32_t)) {
      return "Error receiving StreamPacket: offset is not as expected: " + std::to_string(offset);
    }
  }

  // Try receiving into an existing buffer
  {
    ReceiverFile receiver("deleteme.bin");
    if (receiver.GetConstructorStatus() != OKAY) {
      return "Error constructing ReceiverFile: " + ErrorMessage(receiver.GetConstructorStatus());
    }

    std::shared_ptr<StreamPacket> receiveStreamPacket;
    std::shared_ptr< std::vector<uint8_t> > buffer =
      std::make_shared< std::vector<uint8_t> >(9000 + 5000);
    size_t offset = 5000;
    status = receiver.ReceiveStreamPacket(0.5, receiveStreamPacket, offset, buffer);
    if (status != OKAY) {
      return "Error receiving StreamPacket: " + ErrorMessage(status);
    }
    if (receiveStreamPacket == nullptr) {
      return "Empty StreamPacket packet";
    }
    if (offset != 5000 + 2 * sizeof(uint32_t)) {
      return "Error receiving StreamPacket: offset is not as expected: " + std::to_string(offset);
    }
  }
  remove("deleteme.bin");

  return "";
}

SenderReceiverTCP::SenderReceiverTCP(std::string host, uint16_t port)
  : SenderReceiverTCP(StreamEndpoint(host, port))
{
}

SenderReceiverTCP::SenderReceiverTCP(const StreamEndpoint& endpoint)
  : Receiver(65535)
  , m_socket(std::make_shared<Socket>())
  , m_IP(0)
  , m_port(0)
{
  // Problem if the endpoint has been set to all zeros.
  if (endpoint.IP == 0) {
    Receiver::m_constructorStatus = BAD_PARAMETER;
    return;
  }

  // Open the socket to use for sending TCP packets.
  m_socket->socket = socket(AF_INET, SOCK_STREAM, 0);
  if (m_socket->socket == BAD_SOCKET) {
    Receiver::m_constructorStatus = BAD_PARAMETER;
    return;
  }

  // Record the IP address of the IP and port we are connecting to.
  // Convert the IP address and port to host byte order.
  m_IP = endpoint.IP;
  m_port = endpoint.port;

  // Connect the socket to the specified host and to the port.
  struct sockaddr_in addr;
  memset(&addr, 0, sizeof(addr));
  addr.sin_family = AF_INET;
  addr.sin_addr.s_addr = ntohl(m_IP);
  addr.sin_port = htons(m_port);
  if (0 != connect(m_socket->socket, (struct sockaddr*)&addr, sizeof(addr))) {
    Receiver::m_constructorStatus = SOCKET_FAILURE;
    m_socket.reset();
    return;
  }

  // Set the socket options.
  Receiver::m_constructorStatus = SetSocketOptions();
}

Status SenderReceiverTCP::SetSocketOptions()
{
  // Turn on TCP_NODELAY for the socket so it sends data immediately rather than waiting
  // to piggy-back on a response.
  int flag = 1;
  if (0 != setsockopt(m_socket->socket, IPPROTO_TCP, TCP_NODELAY, (char*)&flag, sizeof(flag))) {
    return SOCKET_FAILURE;
  }

  return OKAY;
}

SenderReceiverTCP::SenderReceiverTCP(std::shared_ptr<Socket> socket, uint32_t IP, uint16_t port)
  : Receiver()
  , m_socket(socket)
  , m_IP(IP)
  , m_port(port)
{
  // Make sure we have a valid socket.
  if ((m_socket == nullptr) || (m_socket->socket == BAD_SOCKET)) {
    Receiver::m_constructorStatus = BAD_PARAMETER;
    return;
  }

  // Set our options for the socket.
  Receiver::m_constructorStatus = SetSocketOptions();
}

Status SenderReceiverTCP::GetIP(uint32_t& IP) const
{
  // Make sure we have a valid socket.
  if ((m_socket == nullptr) || (m_socket->socket == BAD_SOCKET)) {
    return Receiver::m_constructorStatus;
  }

  // Return the IP address.
  IP = m_IP;
  return OKAY;
}

Status SenderReceiverTCP::GetPort(uint16_t& port) const
{
  // Make sure we have a valid socket.
  if ((m_socket == nullptr) || (m_socket->socket == BAD_SOCKET)) {
    return Receiver::m_constructorStatus;
  }

  // Return the port.
  port = m_port;
  return OKAY;
}

Status SenderReceiverTCP::Send(const void* buffer, uint32_t length)
{
  // Check our parameters
  if (buffer == nullptr) {
    return BAD_PARAMETER;
  }

  // Make sure we have a valid socket.
  if ((m_socket == nullptr) || (m_socket->socket == BAD_SOCKET)) {
    return Receiver::m_constructorStatus;
  }

  // Send the data.
  int result = send(m_socket->socket, (const char*)buffer, length, MSG_NOSIGNAL);
  if (result == SOCKET_ERROR) {
    return SOCKET_FAILURE;
  }

  // Everything worked.
  return OKAY;
}

Status SenderReceiverTCP::SendCommandPacket(const CommandPacket& packet)
{
  // Make sure we have a valid socket.
  if ((m_socket == nullptr) || (m_socket->socket == BAD_SOCKET)) {
    return Receiver::m_constructorStatus;
  }

  // Find out how large the data in the packet is.
  uint32_t length;
  Status status = packet.GetTotalLength(length);
  if (status != OKAY) {
    return status;
  }

  // Send the data.
  int result = send(m_socket->socket, (const char*)packet.MyData(), length, MSG_NOSIGNAL);
  if (result == SOCKET_ERROR) {
    return SOCKET_FAILURE;
  }

  // Everything worked.
  return OKAY;
}

Status SenderReceiverTCP::SendStreamPacket(const StreamPacket& packet)
{
  // Make sure we have a valid socket.
  if ((m_socket == nullptr) || (m_socket->socket == BAD_SOCKET)) {
    return Receiver::m_constructorStatus;
  }

  // Find out how large the data in the packet is.
  uint32_t length;
  Status status = packet.GetTotalLength(length);
  if (status != OKAY) {
    return status;
  }

  // Send the data.
  int result = send(m_socket->socket, (const char*)packet.MyData(), length, MSG_NOSIGNAL);
  if (result == SOCKET_ERROR) {
    return SOCKET_FAILURE;
  }

  // Everything worked.
  return OKAY;
}

Status SenderReceiverTCP::IsPacketAvailable(double timeout_seconds, bool& available)
{
  // Make sure we have a valid socket.
  if ((m_socket == nullptr) || (m_socket->socket == BAD_SOCKET)) {
    return Receiver::m_constructorStatus;
  }

  return m_socket->IsDataAvailable(timeout_seconds, available);
}

Status SenderReceiverTCP::ReceiveBuffer(uint8_t* buffer, size_t& size)
{
  // Make sure we have a valid socket.
  if ((m_socket == nullptr) || (m_socket->socket == BAD_SOCKET)) {
    return Receiver::m_constructorStatus;
  }

  // Ensure that our buffer pointer is valid.
  if (buffer == nullptr) {
    return BAD_PARAMETER;
  }

  // Receive the data.
  if (!RecvAll(m_socket->socket, buffer, size)) {
    return SOCKET_READ_FAILURE;
  }

  // Everything worked.
  return OKAY;
}

Status SenderReceiverTCP::ReceiveCommandPacket(double timeout_seconds, std::shared_ptr<CommandPacket>& packet)
{
  // See if we have a packet available.
  bool available;
  Status status = IsPacketAvailable(timeout_seconds, available);
  if (status != OKAY) {
    return status;
  }
  if (!available) {
    return TIMEOUT;
  }

  // Get the packet header up through the field that records the length.
  if (m_maxLen < PACKET_HEADER_TOTAL_SIZE_OFFSET + sizeof(uint32_t)) {
    return READ_PAST_END;
  }
  std::shared_ptr<std::vector<uint8_t>> buffer = std::make_shared<std::vector<uint8_t>>(m_maxLen);
  if (!RecvAll(m_socket->socket, buffer->data(), PACKET_HEADER_TOTAL_SIZE_OFFSET + sizeof(uint32_t))) {
    return SOCKET_READ_FAILURE;
  }

  // Find the length of the packet.
  uint32_t length;
  memcpy(&length, buffer->data() + PACKET_HEADER_TOTAL_SIZE_OFFSET, sizeof(length));
  if (length > m_maxLen) {
    return READ_PAST_END;
  }

  // Read the rest of the packet.
  if (!RecvAll(m_socket->socket, buffer->data() + PACKET_HEADER_TOTAL_SIZE_OFFSET + sizeof(uint32_t),
      length - PACKET_HEADER_TOTAL_SIZE_OFFSET - sizeof(uint32_t))) {
    return SOCKET_READ_FAILURE;
  }

  // Construct the packet using the buffer.
  packet.reset(new CommandPacket(buffer));
  if (packet->GetConstructorStatus() != OKAY) {
    return packet->GetConstructorStatus();
  }

  // Everything worked.
  return OKAY;
}

Status SenderReceiverTCP::ReceiveStreamPacket(double timeout_seconds, std::shared_ptr<StreamPacket>& packet,
  size_t& offset, std::shared_ptr< std::vector<uint8_t> > bufptr)
{
  // See if we have a packet available.
  bool available;
  Status status = IsPacketAvailable(timeout_seconds, available);
  if (status != OKAY) {
    return status;
  }
  if (!available) {
    return TIMEOUT;
  }

  // Create a buffer if needed and ensure that our buffer is large enough.
  // If we create a new buffer, then remember that we'll want to resize it later.
  std::shared_ptr<std::vector<uint8_t>> buffer = bufptr;
  bool doResize = false;
  if (buffer == nullptr) {
    buffer = std::make_shared<std::vector<uint8_t>>(m_maxLen);
    offset = 0;
    doResize = true;
  }
  size_t size = buffer->size() - offset;
  if (m_maxLen > size) {
    return BAD_PARAMETER;
  }

  // Get the packet header up through the field that records the length.
  if (m_maxLen < PACKET_HEADER_TOTAL_SIZE_OFFSET + sizeof(uint32_t)) {
    return WRITE_PAST_END;
  }
  if (!RecvAll(m_socket->socket, buffer->data(), PACKET_HEADER_TOTAL_SIZE_OFFSET + sizeof(uint32_t))) {
    return SOCKET_READ_FAILURE;
  }

  // Find the length of the packet.
  uint32_t length;
  memcpy(&length, buffer->data() + PACKET_HEADER_TOTAL_SIZE_OFFSET, sizeof(length));
  if (length > m_maxLen) {
    return WRITE_PAST_END;
  }

  // Read the rest of the packet.
  if (!RecvAll(m_socket->socket, buffer->data() + PACKET_HEADER_TOTAL_SIZE_OFFSET + sizeof(uint32_t),
    length - PACKET_HEADER_TOTAL_SIZE_OFFSET - sizeof(uint32_t))) {
    return SOCKET_READ_FAILURE;
  }

  // Construct the packet using the buffer.
  packet.reset(new StreamPacket(buffer));
  if (packet->GetConstructorStatus() != OKAY) {
    return packet->GetConstructorStatus();
  }

  // Adjust the size of a new buffer and increment the offset.
  if (doResize) {
    buffer->resize(length + offset);
  }
  offset += length;

  // Everything worked.
  return OKAY;
}

TCPListener::TCPListener(const StreamEndpoint& endpoint, uint32_t numListeners)
  : m_constructorStatus(OKAY)
  , m_socket(std::make_shared<Socket>())
  , m_IP(endpoint.IP)
  , m_port(endpoint.port)
{
  // Open the socket to use for receiving TCP connections.
  m_socket->socket = socket(AF_INET, SOCK_STREAM, 0);
  if (m_socket->socket == BAD_SOCKET) {
    m_constructorStatus = BAD_PARAMETER;
    m_socket.reset();
    return;
  }

  // Bind the socket to the specified NIC and port.
  struct sockaddr_in addr;
  memset(&addr, 0, sizeof(addr));
  addr.sin_family = AF_INET;
  addr.sin_addr.s_addr = htonl(endpoint.IP);
  addr.sin_port = htons(endpoint.port);
  if (0 != bind(m_socket->socket, (struct sockaddr*)&addr, sizeof(addr))) {
    m_constructorStatus = SOCKET_FAILURE;
    m_socket.reset();
    return;
  }

  // If we didn't specify a port, get the port we were assigned by the bind.
  if (m_port == 0) {
    struct sockaddr_in sin;
    socklen_t len = sizeof(sin);
    if (getsockname(m_socket->socket, (struct sockaddr*)&sin, &len) == -1) {
      m_constructorStatus = SOCKET_FAILURE;
      m_socket.reset();
      return;
    }
    m_port = ntohs(sin.sin_port);
  }

  // Listen on the socket for incoming connections.
  if (0 != listen(m_socket->socket, numListeners)) {
    m_constructorStatus = SOCKET_FAILURE;
    m_socket.reset();
    return;
  }
}

Status TCPListener::AcceptConnection(std::shared_ptr<SenderReceiverTCP>& newConnection, float timeoutSeconds)
{
  // Clear the connection in case of trouble or timeout below.
  newConnection.reset();

  // Make sure we have a valid socket.
  if ((m_socket == nullptr) || (m_socket->socket == BAD_SOCKET)) {
    return m_constructorStatus;
  }

  // Set up the timeout.
  struct timeval timeout;
  timeout.tv_sec = (uint32_t)timeoutSeconds;
  timeout.tv_usec = (uint32_t)((timeoutSeconds - (uint32_t)timeoutSeconds) * 1000000);

  // Set up the file descriptor set.
  fd_set fds;
  FD_ZERO(&fds);
  FD_SET(m_socket->socket, &fds);

  // Wait for the socket to be ready.
  int result = select(m_socket->socket + 1, &fds, nullptr, nullptr, &timeout);
  if (result == SOCKET_ERROR) {
    return SOCKET_FAILURE;
  }

  // Check if the socket is ready.
  if (result == 0) {
    return TIMEOUT;
  }

  // Accept the connection.
  struct sockaddr_in addr;
  socklen_t len = sizeof(addr);
  std::shared_ptr<Socket> socket = std::make_shared<Socket>();
  socket->socket = accept(m_socket->socket, (struct sockaddr*)&addr, &len);
  if (socket->socket == BAD_SOCKET) {
    return SOCKET_FAILURE;
  }

  // Create a new SenderReceiverTCP object for the new connection.
  newConnection.reset(new SenderReceiverTCP(socket, ntohl(addr.sin_addr.s_addr), ntohs(addr.sin_port)));
  if (newConnection->GetConstructorStatus() != OKAY) {
    return newConnection->GetConstructorStatus();
  }

  // Everything worked.
  return OKAY;
}

Status TCPListener::GetPort(uint16_t& port) const
{
  // Make sure we have a valid socket.
  if ((m_socket == nullptr) || (m_socket->socket == BAD_SOCKET)) {
    return m_constructorStatus;
  }

  // Return the port.
  port = m_port;
  return OKAY;
}

std::string TCPListener::Test()
{
  Status status;

  // Create a listener.
  TCPListener listener(StreamEndpoint("localhost", 0));
  if (listener.GetConstructorStatus() != OKAY) {
    return "Error constructing TCPListener: " + ErrorMessage(listener.GetConstructorStatus());
  }
  status = listener.GetConstructorStatus();
  if (status != OKAY) {
    return "Error constructing TCPListener: " + ErrorMessage(status);
  }

  // Find the port we are using.
  uint16_t port;
  status = listener.GetPort(port);
  if (status != OKAY) {
    return "Error getting port from TCPListener: " + ErrorMessage(status);
  }

  // Create a SenderReceiverTCP object to connect to the listener.
  std::shared_ptr<SenderReceiverTCP> senderReceiver = std::make_shared<SenderReceiverTCP>("localhost", port);
  if (senderReceiver->GetConstructorStatus() != OKAY) {
    return "Error constructing SenderReceiverTCP: " + ErrorMessage(senderReceiver->GetConstructorStatus());
  }

  // Make sure we can get the IP address and port we are using.
  uint32_t IP;
  status = senderReceiver->GetIP(IP);
  if (status != OKAY) {
    return "Error getting IP from SenderReceiverTCP: " + ErrorMessage(status);
  }
  if (IP == 0) {
    return "Error getting IP from SenderReceiverTCP: zero value";
  }
  status = senderReceiver->GetPort(port);
  if (status != OKAY) {
    return "Error getting port from SenderReceiverTCP: " + ErrorMessage(status);
  }
  if (port == 0) {
    return "Error getting port from SenderReceiverTCP: zero value";
  }

  // Wait for the connection to be accepted.
  std::shared_ptr<SenderReceiverTCP> newConnection;
  status = listener.AcceptConnection(newConnection, 0.5);
  if (status != OKAY) {
    return "Error accepting connection: " + ErrorMessage(status);
  }
  if (newConnection == nullptr) {
    return "Empty connection";
  }

  // Send a buffer that includes the version and type and verify that it
  // is received.  This tests buffer send/receive, and is what will be done
  // by clients and servers at the start of the stream.
  status = newConnection->Send(MAGIC_COOKIE, 4);
  if (status != OKAY) {
    return "Error sending magic cookie: " + ErrorMessage(status);
  }
  status = newConnection->Send(VERSION, 4);
  if (status != OKAY) {
    return "Error sending version: " + ErrorMessage(status);
  }
  std::vector<uint8_t> receiveBuffer(4, 0);
  size_t size = receiveBuffer.size();
  status = senderReceiver->ReceiveBuffer(receiveBuffer.data(), size);
  receiveBuffer.resize(size);
  if (status != OKAY) {
    return "Error receiving magic cookie: " + ErrorMessage(status);
  }
  if (memcmp(MAGIC_COOKIE, receiveBuffer.data(), 4)) {
    return "Error receiving magic cookie: wrong value";
  }
  size = receiveBuffer.size();
  status = senderReceiver->ReceiveBuffer(receiveBuffer.data(), size);
  receiveBuffer.resize(size);
  if (status != OKAY) {
    return "Error receiving version: " + ErrorMessage(status);
  }
  if (memcmp(VERSION, receiveBuffer.data(), 4)) {
    return "Error receiving version: wrong value";
  }

  // Send a CommandPacket and make sure it is received.
  CommandPacketReset sendCommandPacket;
  status = newConnection->SendCommandPacket(sendCommandPacket);
  if (status != OKAY) {
    return "Error sending CommandPacketReset: " + ErrorMessage(status);
  }
  std::shared_ptr<CommandPacket> receiveCommandPacket;
  status = senderReceiver->ReceiveCommandPacket(0.5, receiveCommandPacket);
  if (status != OKAY) {
    return "Error receiving CommandPacketReset: " + ErrorMessage(status);
  }
  if (receiveCommandPacket == nullptr) {
    return "Empty CommandPacketReset packet";
  }
  OpCode opCode;
  status = receiveCommandPacket->GetOpCode(opCode);
  if (status != OKAY) {
    return "Error checking CommandPacketReset opcode: " + ErrorMessage(status);
  }
  if (opCode != RESET) {
    return "Error receiving CommandPacketReset: wrong type";
  }

  // Send a StreamPacket and make sure it is received.
  StreamWriter streamWriter(senderReceiver);
  if (streamWriter.GetConstructorStatus() != OKAY) {
    return "Error constructing StreamWriter: " + ErrorMessage(streamWriter.GetConstructorStatus());
  }
  std::shared_ptr<StreamPacket> sendStreamPacket;
  status = streamWriter.GetCurrentPacket(sendStreamPacket);
  if (status != OKAY) {
    return "Error getting current packet: " + ErrorMessage(status);
  }
  {
    MessageEvent message(*sendStreamPacket, Time(), 1, CLOCK_SYNC, "");
    if (message.GetConstructorStatus() != OKAY) {
      return "Error constructing MessageEvent: " + ErrorMessage(message.GetConstructorStatus());
    }
  }
  status = streamWriter.Flush();
  if (status != OKAY) {
    return "Error flushing StreamWriter: " + ErrorMessage(status);
  }
  std::shared_ptr<StreamPacket> receiveStreamPacket;
  size_t offset = 0;
  status = newConnection->ReceiveStreamPacket(10.0, receiveStreamPacket, offset);
  if (status != OKAY) {
    return "Error receiving StreamPacket: " + ErrorMessage(status);
  }
  if (receiveStreamPacket == nullptr) {
    return "Empty StreamPacket packet";
  }
  if (offset != 8 * sizeof(uint32_t)) {
    return "Error receiving StreamPacket: offset is not as expected: " + std::to_string(offset);
  }

  // Send a StreamPacket and make sure it is received in an exiting buffer.
  status = streamWriter.GetCurrentPacket(sendStreamPacket);
  if (status != OKAY) {
    return "Error getting current packet: " + ErrorMessage(status);
  }
  {
    MessageEvent message(*sendStreamPacket, Time(), 1, CLOCK_SYNC, "");
    if (message.GetConstructorStatus() != OKAY) {
      return "Error constructing MessageEvent: " + ErrorMessage(message.GetConstructorStatus());
    }
  }
  status = streamWriter.Flush();
  if (status != OKAY) {
    return "Error flushing StreamWriter: " + ErrorMessage(status);
  }
  std::shared_ptr< std::vector<uint8_t> > buffer =
    std::make_shared< std::vector<uint8_t> >(9000 + 5000);
  offset = 5000;
  status = newConnection->ReceiveStreamPacket(10.0, receiveStreamPacket, offset, buffer);
  if (status != OKAY) {
    return "Error receiving StreamPacket: " + ErrorMessage(status);
  }
  if (receiveStreamPacket == nullptr) {
    return "Empty StreamPacket packet";
  }
  if (offset != 5000 + 8 * sizeof(uint32_t)) {
    return "Error receiving StreamPacket into existing buffer: offset is not as expected: " +
      std::to_string(offset);
  }

  // Make sure that GetNextMessage() works on this packet even though it is in an offset buffer.
  std::shared_ptr<Message> message;
  status = receiveStreamPacket->GetNextMessage(message);
  if (status != OKAY) {
    return "Error getting next message from existing-buffer StreamPacket: " + ErrorMessage(status);
  }
  if (message == nullptr) {
    return "Empty message from existing-buffer StreamPacket";
  }
  MessageID messageID;
  status = message->GetType(messageID);
  if (status != OKAY) {
    return "Error getting message ID from existing-buffer StreamPacket: " + ErrorMessage(status);
  }
  if (messageID != EVENT) {
    return "Error getting message ID from existing-buffer StreamPacket: wrong type";
  }
  EventID eventID;
  MessageEvent event(*message);
  status = event.GetType(eventID);
  if (status != OKAY) {
    return "Error getting event ID from existing-buffer StreamPacket: " + ErrorMessage(status);
  }
  if (eventID != CLOCK_SYNC) {
    return "Error getting event ID from existing-buffer StreamPacket: wrong type";
  }

  return "";
}

StreamWriter::StreamWriter(std::shared_ptr<Sender> sender,
    uint32_t maxPayloadSize)
  : m_constructorStatus(OKAY)
  , m_sender(sender)
  , m_maxPayloadSize(maxPayloadSize)
  , m_sequenceNumber(0)
{
// Make sure we have a valid sender.
  if (m_sender == nullptr) {
    m_constructorStatus = BAD_PARAMETER;
    return;
  }
  if (m_sender->GetConstructorStatus() != OKAY) {
    m_constructorStatus = m_sender->GetConstructorStatus();
    return;
  }

  // Make sure we have a valid maximum packet size.
  if (m_maxPayloadSize == 0) {
    m_constructorStatus = BAD_PARAMETER;
    return;
  }

  // Construct the current packet.
  m_currentPacket.reset(new StreamPacket(m_maxPayloadSize, m_sequenceNumber));
  if (m_currentPacket->GetConstructorStatus() != OKAY) {
    m_constructorStatus = m_currentPacket->GetConstructorStatus();
    return;
  }
}

StreamWriter::~StreamWriter()
{
  Flush();
}

Status StreamWriter::GetCurrentPacket(std::shared_ptr<StreamPacket>& packet) const
{
  if (m_currentPacket == nullptr) {
    if (m_constructorStatus != OKAY) {
      return m_constructorStatus;
    }
    return UNEXPECTED_INTERNAL_STATE;
  }
  packet = m_currentPacket;
  return OKAY;
}

Status StreamWriter::InsertPacket(StreamPacket& packet)
{
  // Flush any current packet.
  Status status = Flush();
  if (status != OKAY) {
    return status;
  }

  // Adjust the sequence number in the packet.
  status = packet.SetSequenceNumber(m_sequenceNumber++);
  if (status != OKAY) {
    return status;
  }

  // Insert the packet.
  status = m_sender->SendStreamPacket(packet);
  if (status != OKAY) {
    return status;
  }

  // Adjust the sequence number in the current packet.
  status = m_currentPacket->SetSequenceNumber(m_sequenceNumber);
  if (status != OKAY) {
    return status;
  }

  return OKAY;
}

Status StreamWriter::Flush()
{
  // Make sure we have a valid sender.
  if (m_sender == nullptr) {
    return UNEXPECTED_INTERNAL_STATE;
  }
  if (m_sender->GetConstructorStatus() != OKAY) {
    return m_sender->GetConstructorStatus();
  }

  // Make sure we have a valid maximum packet size.
  if (m_maxPayloadSize == 0) {
    return UNEXPECTED_INTERNAL_STATE;
  }

  // Make sure we have a valid current packet.
  if (m_currentPacket == nullptr) {
    if (m_constructorStatus != OKAY) {
      return m_constructorStatus;
    }
    return UNEXPECTED_INTERNAL_STATE;
  }

  // If we haven't written anything to the packet, don't send it.
  std::shared_ptr<Message> firstMessage;
  Status status = m_currentPacket->GetNextMessage(firstMessage);
  if (status != OKAY) {
    return status;
  }
  if (firstMessage == nullptr) {
    return OKAY;
  }

  // Send the packet.
  status = m_sender->SendStreamPacket(*m_currentPacket);
  if (status != OKAY) {
    return status;
  }

  // Construct a new packet with an incremented sequence number.
  m_sequenceNumber++;
  StreamPacket *packetPtr = new StreamPacket(m_maxPayloadSize, m_sequenceNumber);
  if (packetPtr->GetConstructorStatus() != OKAY) {
    return packetPtr->GetConstructorStatus();
  }
  m_currentPacket.reset(packetPtr);

  // Everything worked.
  return OKAY;
}

Status StreamWriter::GetConstructorStatus() const
{
  return m_constructorStatus;
}

std::string StreamWriter::Test()
{
  Status status;

  // Create a sender and receiver.
  ReceiverUDP receiver;
  if (receiver.GetConstructorStatus() != OKAY) {
    return "Error constructing ReceiverUDP: " + ErrorMessage(receiver.GetConstructorStatus());
  }
  uint16_t port;
  status = receiver.GetPort(port);
  if (status != OKAY) {
    return "Error getting port from ReceiverUDP: " + ErrorMessage(status);
  }
  std::shared_ptr<SenderUDP> sender = std::make_shared<SenderUDP>("localhost", port);
  if (sender->GetConstructorStatus() != OKAY) {
    return "Error constructing SenderUDP: " + ErrorMessage(sender->GetConstructorStatus());
  }

  // Create a Timer
  std::shared_ptr<Timer> timer;
  timer.reset(new Timer());

  // Create a StreamWriter.
  std::shared_ptr<StreamWriter> streamWriter = std::make_shared<StreamWriter>(sender);
  if (streamWriter->GetConstructorStatus() != OKAY) {
    return "Error constructing StreamWriter: " + ErrorMessage(streamWriter->GetConstructorStatus());
  }

  // Try sending ten packets to make sure this works repeatedly
  for (size_t i = 0; i < 10; i++) {

    // Pack a message into the StreamWriter.
    std::shared_ptr<StreamPacket> packet;
    status = streamWriter->GetCurrentPacket(packet);
    if (status != OKAY) {
      return "Error getting current packet: " + ErrorMessage(status);
    }
    Time timeCode;
    timer->GetCoreTime(timeCode);
    uint16_t cameraID = 1;
    uint16_t sensorID = 2;
    float temperature = 32.7;
    MessageTemperature message(*packet, timeCode, cameraID, sensorID, temperature);
    if (message.GetConstructorStatus() != OKAY) {
      return "Error constructing MessageFrameBegin: " + ErrorMessage(message.GetConstructorStatus());
    }

    // Send the packet.
    status = streamWriter->Flush();
    if (status != OKAY) {
      return "Error flushing StreamWriter: " + ErrorMessage(status);
    }

    // Make sure we received the packet.
    std::shared_ptr<StreamPacket> receiveStreamPacket;
    size_t offset = 0;
    status = receiver.ReceiveStreamPacket(0.5, receiveStreamPacket, offset);
    if (status != OKAY) {
      return "Error receiving StreamPacket: " + ErrorMessage(status);
    }
    if (receiveStreamPacket == nullptr) {
      return "Empty StreamPacket packet";
    }

    // Make sure the sequence number is correct.
    uint32_t sequenceNumber;
    status = receiveStreamPacket->GetSequenceNumber(sequenceNumber);
    if (status != OKAY) {
      return "Error getting sequence number: " + ErrorMessage(status);
    }
    if (sequenceNumber != i) {
      return "Unexpected sequence number: " + std::to_string(sequenceNumber);
    }
  }

  // Make sure we cannot receive another packet.
  std::shared_ptr<StreamPacket> receiveStreamPacket;
  size_t offset = 0;
  status = receiver.ReceiveStreamPacket(0.05, receiveStreamPacket, offset);
  if (status != TIMEOUT) {
    return "Received unexpected packet";
  }

  // Insert a packet and make sure it is received with the correct sequence number.
  StreamPacket packet(1000, 100);
  MessageTemperature message(packet, Time(), 1, 2, 32.7);
  status = streamWriter->InsertPacket(packet);
  if (status != OKAY) {
    return "Error inserting packet: " + ErrorMessage(status);
  }
  status = receiver.ReceiveStreamPacket(0.5, receiveStreamPacket, offset);
  if (status != OKAY) {
    return "Error receiving inserted StreamPacket: " + ErrorMessage(status);
  }
  if (receiveStreamPacket == nullptr) {
    return "Empty inserted StreamPacket packet";
  }
  uint32_t sequenceNumber;
  status = receiveStreamPacket->GetSequenceNumber(sequenceNumber);
  if (status != OKAY) {
    return "Error getting inserted sequence number: " + ErrorMessage(status);
  }
  if (sequenceNumber != 10) {
    return "Unexpected inserted sequence number: " + std::to_string(sequenceNumber);
  }

  // Verify that the current packet's sequence number is correct.
  std::shared_ptr<StreamPacket> currentPacket;
  status = streamWriter->GetCurrentPacket(currentPacket);
  if (status != OKAY) {
    return "Error getting current packet after insertion: " + ErrorMessage(status);
  }
  status = currentPacket->GetSequenceNumber(sequenceNumber);
  if (status != OKAY) {
    return "Error getting current packet sequence number after insertion: " + ErrorMessage(status);
  }
  if (sequenceNumber != 11) {
    return "Unexpected current packet sequence number after insertion: " + std::to_string(sequenceNumber);
  }

  // Make sure we can set the maximum packet size in the constructor.
  {
    uint32_t maxPayloadSize = 1500 - 28;
    StreamWriter streamWriter2(sender, maxPayloadSize);
    if (streamWriter2.GetConstructorStatus() != OKAY) {
      return "Error constructing large StreamWriter: " + ErrorMessage(streamWriter2.GetConstructorStatus());
    }
    std::shared_ptr<StreamPacket> packet;
    Status status = streamWriter2.GetCurrentPacket(packet);
    if (status != OKAY) {
      return "Error getting current packet for large StreamWriter: " + ErrorMessage(status);
    }
    if (packet->m_buffer->size() != maxPayloadSize) {
      return "Error constructing large StreamWriter: wrong maximum packet size";
    }
  }

  return "";
}

Core::Core(uint32_t maxPayloadSize)
  : m_constructorStatus(OKAY)
  , m_maxPayloadSize(maxPayloadSize)
{
  // Verify that the endianness on this architecture is little endian.
  std::vector<uint8_t> vals = { 1, 2, 3, 4 };
  uint32_t val = vals[0] + (vals[1] << 8) + (vals[2] << 16) + (vals[3] << 24);
  const uint8_t *ptr = reinterpret_cast<const uint8_t*>(&val);
  for (size_t i = 0; i < vals.size(); i++) {
    if (vals[i] != ptr[i]) {
      m_constructorStatus = INCORRECT_ENDIANNESS;
      return;
    }
  }

  // Verify that the size of a float is 4 bytes.
  if (sizeof(float) != 4) {
    m_constructorStatus = INCORRECT_FLOAT_SIZE;
    return;
  }

  // Construct our timer.
  m_timer.reset(new Timer());
}

Status Core::GetConstructorStatus() const
{
  return m_constructorStatus;
}

Status Core::GetMaxPayloadSize(size_t& value) const
{
  value = m_maxPayloadSize;
  return OKAY;
}

Status Core::GetTimer(std::shared_ptr<Timer>& timer) const
{
  timer = m_timer;
  return OKAY;
}

std::string Core::GetVersion()
{
  uint16_t major, minor, patch;
  UnpackVersion(VERSION, major, minor, patch);
  std::string buildType = BUILD_TYPE;
  return std::to_string(major) + "." + std::to_string(minor) + "." + std::to_string(patch) + "-" + buildType;
}

Core::~Core() {}

CoreServer::CoreServer(uint32_t serial, const std::string& NICName, uint16_t sendPort, uint16_t listenPort, uint32_t maxPayloadSize)
  : Core(maxPayloadSize)
  , m_discoverySender(std::make_shared<SenderUDP>(NICName, sendPort, true))
  , m_stopThread(false)
  , m_threadStatus(OKAY)
  , m_IP(0)
  , m_port(listenPort)
  , m_serial(serial)
{
  // Make sure we have a valid sender.
  if (m_discoverySender == nullptr) {
    m_constructorStatus = BAD_PARAMETER;
    return;
  }
  if (m_discoverySender->GetConstructorStatus() != OKAY) {
    m_constructorStatus = m_discoverySender->GetConstructorStatus();
    return;
  }
  StreamEndpoint endpoint(NICName, sendPort);
  m_IP = endpoint.IP;

  // Make a thread to send discovery packets on, sending them to the broadcast address.
  // It will also fill in new connections in m_newStreams.
  // Wait for the thread to start before returning.
  m_stopThread = false;
  m_threadStarted = false;
  m_discoveryThread = std::make_shared<std::thread>(&CoreServer::DiscoveryThread, this);
  while (!m_threadStarted) {
    std::this_thread::sleep_for(std::chrono::milliseconds(1));
  }
}

void CoreServer::DiscoveryThread()
{
  // Store a status to notify the caller if this thread fails.
  m_threadStatus = OKAY;

  // Mark the thread as started now that its status has been set.
  m_threadStarted = true;

  // Make a StreamWriter to send the discovery packets.
  if (m_discoverySender->GetConstructorStatus() != OKAY) {
    m_threadStatus = UNEXPECTED_INTERNAL_STATE;
    return;
  }
  StreamWriter streamWriter(m_discoverySender, m_maxPayloadSize);

  // Make a TCPListener to receive connections on.
  m_listener = std::make_shared<TCPListener>(StreamEndpoint(m_IP, m_port));
  if (m_listener->GetConstructorStatus() != OKAY) {
    m_threadStatus = m_listener->GetConstructorStatus();
    return;
  }

  // Twice a second, send Discovery packets to the broadcast address and listen
  // for new incoming connection requests.
  while (!m_stopThread) {
    // Pack a message into the StreamWriter.
    std::shared_ptr<StreamPacket> packet;
    Status status = streamWriter.GetCurrentPacket(packet);
    if (status != OKAY) {
      m_threadStatus = status;
      return;
    }
    Time timeCode;
    status = m_timer->GetCoreTime(timeCode);
    if (status != OKAY) {
      m_threadStatus = status;
      return;
    }
    MessageDiscovery message(*packet, timeCode, { m_IP, m_port }, m_serial);
    status = message.GetConstructorStatus();
    if (status != OKAY) {
      m_threadStatus = status;
      return;
    }
    status = streamWriter.Flush();
    if (status != OKAY) {
      m_threadStatus = status;
      return;
    }

    // See if we have a new connection.  Wait up to half a second to get
    // one, so that we only send Discovery packets that fast unless a new
    // connection is found.
    std::shared_ptr<SenderReceiverTCP> newConnection;
    status = m_listener->AcceptConnection(newConnection, 0.5);
    if ((status != OKAY) && (status != TIMEOUT)) {
      m_threadStatus = status;
      return;
    }
    if (newConnection != nullptr) {

      // Send the magic cookie and version to the client and wait for them
      // to do the same.
      status = newConnection->Send(MAGIC_COOKIE, 4);
      if (status != OKAY) {
        newConnection.reset();
      } else {
        status = newConnection->Send(VERSION, 4);
        if (status != OKAY) {
          newConnection.reset();
        } else {
          std::vector<uint8_t> receiveBuffer(4, 0);
          size_t size = receiveBuffer.size();
          status = newConnection->ReceiveBuffer(receiveBuffer.data(), size);
          receiveBuffer.resize(size);
          if (status != OKAY) {
            newConnection.reset();
          } else if (memcmp(MAGIC_COOKIE, receiveBuffer.data(), 4)) {
            newConnection.reset();
          } else {
            size = receiveBuffer.size();
            status = newConnection->ReceiveBuffer(receiveBuffer.data(), size);
            receiveBuffer.resize(size);
            if (status != OKAY) {
              newConnection.reset();
            } else if (receiveBuffer[0] != VERSION[0]) {
              // The major versions don't match, so we drop the connection.
              newConnection.reset();
            } else {
              // We have established a new connection, keep track of it.
              std::shared_ptr<ClientInfo> SI = std::make_shared<ClientInfo>();
              UnpackVersion(receiveBuffer.data(), SI->major, SI->minor, SI->patch);
              SI->stream = newConnection;
              std::lock_guard<std::recursive_mutex> lock(m_mutex);
              m_newStreams.push_back(SI);
            }
          }
        }
      }
    }

  }
  m_threadStatus = THREAD_COMPLETED;
}

Status CoreServer::GetNewTCPLinks(std::vector< std::shared_ptr<ClientInfo> >& newLinks)
{
  if (m_constructorStatus != OKAY) {
    return m_constructorStatus;
  }

  std::lock_guard<std::recursive_mutex> lock(m_mutex);
  std::vector< std::shared_ptr<ClientInfo> > ret;
  for (size_t i = 0; i < m_newStreams.size(); i++) {
    ret.push_back(m_newStreams[i]);
  }
  m_newStreams.clear();
  newLinks = ret;
  return OKAY;
}

Status CoreServer::GetDiscoveryThreadStatus(Status& threadStatus) const
{
  if (m_constructorStatus != OKAY) {
    return m_constructorStatus;
  }

  threadStatus = m_threadStatus;
  return OKAY;
}

CoreServer::~CoreServer()
{
  // Stop our discovery thread and wait for it to join.
  m_stopThread = true;
  if ((m_discoveryThread != nullptr) && m_discoveryThread->joinable()) {
    m_discoveryThread->join();
  }
}

CoreClient::CoreClient(std::string NICName, uint16_t listenPort, uint32_t maxPayloadSize)
  : Core(maxPayloadSize)
  , m_threadStatus(OKAY)
  , m_IP(0)
{
  // If the NICName is empty, do not start a discovery receiver or thread. In this case, the caller is
  // expected to provide the server URL directly.
  if (!NICName.empty()) {
    // Open a socket on our NICName to receive Discovery packets.
    // Listen for broadcasts on this subnet.
    m_discoveryReceiver = std::make_shared<ReceiverUDP>(NICName, listenPort, maxPayloadSize, true);
    if (m_discoveryReceiver->GetConstructorStatus() != OKAY) {
      m_constructorStatus = m_discoveryReceiver->GetConstructorStatus();
      return;
    }

    // Start the discovery thread to listen for servers and wait for it to start.
    m_stopThread = false;
    m_threadStarted = false;
    m_discoveryThread = std::make_shared<std::thread>(&CoreClient::DiscoveryThread, this);
    while (!m_threadStarted) {
      std::this_thread::sleep_for(std::chrono::milliseconds(1));
    }
  }
}

void CoreClient::DiscoveryThread()
{
  // Let the constructor know that the thread has started.
  m_threadStarted = true;

  /// Store a status to notify the caller if this thread fails.
  m_threadStatus = OKAY;

  // Listen for Discovery packets. When they arrive, make a description of
  // the server as a URL and add it and its other information to our list of servers
  // if it isn't already there.
  while (!m_stopThread) {
    std::shared_ptr<StreamPacket> packet;
    size_t offset = 0;
    Status status = m_discoveryReceiver->ReceiveStreamPacket(0.5, packet, offset);

    // If we timed out, just try again.
    if (status == TIMEOUT) {
      continue;
    }

    // If we got an error, stop the thread and record why.
    if (status != OKAY) {
      m_threadStatus = status;
      return;
    }

    std::shared_ptr<Message> message = nullptr;
    status = packet->GetNextMessage(message);
    if (status != OKAY) {
      m_threadStatus = status;
      return;
    }
    if (message == nullptr) {
      // We got a packet with no messages in it.  This is not an error.
      continue;
    }
    MessageDiscovery discovery(*message);

    // Get the IP address, port, and serial number from the message.
    StreamEndpoint endpoint;
    status = discovery.GetEndpoint(endpoint);
    if (status != OKAY) {
      m_threadStatus = status;
      return;
    }
    uint32_t IP = endpoint.IP;
    uint16_t port = endpoint.port;
    uint32_t serial;
    status = discovery.GetSerial(serial);
    if (status != OKAY) {
      m_threadStatus = status;
      return;
    }
    ServerInfo SI(IP, port, serial);

    // Lock the mutex so we can modify our list of servers.
    {
      std::lock_guard<std::mutex> lock(m_mutex);

      // See if we already have this server in our list.
      bool found = false;
      for (size_t i = 0; i < m_servers.size(); i++) {
        if (m_servers[i] == SI) {
          found = true;
          break;
        }
      }

      // If we don't have this server in our list, add it.
      if (!found) {
        m_servers.push_back(SI);
      }
    }
  }

  m_threadStatus = THREAD_COMPLETED;
}

Status CoreClient::GetDiscoveryThreadStatus(Status& threadStatus) const
{
  if (m_constructorStatus != OKAY) {
    return m_constructorStatus;
  }

  threadStatus = m_threadStatus;
  return OKAY;
}

Status CoreClient::IdentifiedServers(std::vector<std::string>& servers) const
{
  if (m_constructorStatus != OKAY) {
    return m_constructorStatus;
  }

  std::lock_guard<std::mutex> lock(m_mutex);
  std::vector<std::string> ret;
  for (size_t i = 0; i < m_servers.size(); i++) {
    ret.push_back(URLFromServerInfo(m_servers[i]));
  }
  servers = ret;
  return OKAY;
}

Status CoreClient::IdentifiedServers(std::map<uint32_t, std::string>& servers) const
{
  if (m_constructorStatus != OKAY) {
    return m_constructorStatus;
  }

  std::lock_guard<std::mutex> lock(m_mutex);
  std::map<uint32_t, std::string> ret;
  for (size_t i = 0; i < m_servers.size(); i++) {
    ret[m_servers[i].serial] = URLFromServerInfo(m_servers[i]);
  }
  servers = ret;
  return OKAY;
}

Status CoreClient::GetMyIP(uint32_t& IP) const
{
  if (m_constructorStatus != OKAY) {
    return m_constructorStatus;
  }

  if (m_stream == nullptr) {
    return NOT_CONNECTED;
  }

  IP = m_IP;
  return OKAY;
}

Status CoreClient::GetMainStreamReceiver(std::shared_ptr<Receiver>& receiver) const
{
  // Reset in case of failure.
  receiver.reset();
  if (m_stream == nullptr) {
    return NOT_CONNECTED;
  }
  receiver = m_stream;
  return OKAY;
}

std::string CoreClient::URLFromServerInfo(ServerInfo serverInfo)
{
  uint32_t IP = serverInfo.IP;
  uint16_t port = serverInfo.port;
  std::string IPString = std::to_string((IP >> 24) & 0xff) + "." + std::to_string((IP >> 16) & 0xff) + "."
    + std::to_string((IP >> 8) & 0xff) + "." + std::to_string(IP & 0xff);
  return "tcp://" + IPString + ":" + std::to_string(port);
}

Status CoreClient::ConnectToServer(std::string serverURL, uint16_t& major, uint16_t& minor, uint16_t& patch)
{
  if (m_constructorStatus != OKAY) {
    return m_constructorStatus;
  }

  std::lock_guard<std::mutex> lock(m_mutex);

  // Parse the URL.
  std::string IP;
  uint16_t port;
  Status status = ServerInfoFromURL(serverURL, IP, port);
  if (status != OKAY) {
    return status;
  }
  if (port == 0) {
    return BAD_PARAMETER;
  }

  // Connect to the server.
  m_stream = std::make_shared<SenderReceiverTCP>(IP, port);
  status = m_stream->GetConstructorStatus();
  if (status != OKAY) {
    m_stream.reset();
    return status;
  }

  // Send the magic cookie and version to the server and wait for it to do the same.
  status = m_stream->Send(MAGIC_COOKIE, 4);
  if (status != OKAY) {
    m_stream.reset();
    return status;
  }
  status = m_stream->Send(VERSION, 4);
  if (status != OKAY) {
    m_stream.reset();
    return status;
  }
  std::vector<uint8_t> receiveBuffer(4, 0);
  size_t size = receiveBuffer.size();
  status = m_stream->ReceiveBuffer(receiveBuffer.data(), size);
  receiveBuffer.resize(size);
  if (status != OKAY) {
    m_stream.reset();
    return status;
  }
  if (memcmp(MAGIC_COOKIE, receiveBuffer.data(), 4)) {
    m_stream.reset();
    return BAD_COOKIE;
  }
  size = receiveBuffer.size();
  status = m_stream->ReceiveBuffer(receiveBuffer.data(), size);
  receiveBuffer.resize(size);
  if (status != OKAY) {
    m_stream.reset();
    return status;
  }
  UnpackVersion(receiveBuffer.data(), major, minor, patch);

  // Make sure the major versions match.
  if (major != VERSION[0]) {
    m_stream.reset();
    return INCOMPATIBLE_API_VERSION;
  }

  // Record our IP address.
  status = m_stream->GetIP(m_IP);
  if (status != OKAY) {
    return status;
  }

  return OKAY;
}

Status CoreClient::DisconnectFromServer()
{
  if (m_constructorStatus != OKAY) {
    return m_constructorStatus;
  }

  std::lock_guard<std::mutex> lock(m_mutex);

  // Disconnect any stream we have.
  m_stream.reset();
  m_IP = 0;

  return OKAY;
}

Status CoreClient::SendCommandPacket(const CommandPacket& packet)
{
  if (m_constructorStatus != OKAY) {
    return m_constructorStatus;
  }
  if (m_stream == nullptr) {
    return NOT_CONNECTED;
  }

  std::lock_guard<std::mutex> lock(m_mutex);
  return m_stream->SendCommandPacket(packet);
}

CoreClient::~CoreClient()
{
  // Stop our discovery thread and wait for it to join.
  m_stopThread = true;
  if ((m_discoveryThread != nullptr) && m_discoveryThread->joinable()) {
    m_discoveryThread->join();
  }
}

Status JSONStringReceiver::Create(std::string URL, std::shared_ptr<JSONStringReceiver>& receiver)
{
  // In case we fail, reset the receiver.
  receiver.reset();

  // Parse the URL to determine the type of receiver to create.
  if (URL.substr(0, 7) == "file://") {
    // Pull the file name out of the URL and use it to create the object.
    std::string fileName = URL.substr(7);
    std::shared_ptr<JSONStringReceiver> receiverFile(new JSONStringReceiverFile(fileName));
    Status status = receiverFile->GetConstructorStatus();
    if (status != OKAY) {
      receiverFile.reset();
      return status;
    }
    receiver = receiverFile;
    return OKAY;

  } else if (URL.substr(0, 6) == "tcp://") {
    // Pull the IP and port out of the URL and use it to create the object.
    std::string IP;
    uint16_t port;
    Status s = ServerInfoFromURL(URL, IP, port);
    if (s != OKAY) {
      return s;
    }
    if (port == 0) { port = 10103; }
    StreamEndpoint endpoint(IP, port);
    std::shared_ptr<JSONStringReceiver> receiverTCP(new JSONStringReceiverTCP(endpoint));
    Status status = receiverTCP->GetConstructorStatus();
    if (status != OKAY) {
      receiverTCP.reset();
      return status;
    }
    receiver = receiverTCP;
    return OKAY;
  }
  
  // Unknown URL type.
  return BAD_PARAMETER;
}

std::string JSONStringReceiver::Test()
{
  Status s;

  // Make a JSONStringSenderTCP to send data to JSONStringReceiverTCPs and verify that we can
  // send messages.
  {
    std::shared_ptr<JSONStringSender> sender;
    s = JSONStringSender::Create("tcp://localhost:10103", sender);
    if (s != OKAY) {
      return "Error creating JSONStringSenderTCP: " + ErrorMessage(s);
    }
    std::shared_ptr<JSONStringReceiver> receiver;
    s = JSONStringReceiver::Create("tcp://localhost:10103", receiver);
    if (s != OKAY) {
      return "Error creating JSONStringReceiverTCP: " + ErrorMessage(s);
    }
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    std::string sendString = "{ \"test\": 123 }";
    for (size_t i = 0; i < 10; i++) {
      s = sender->Send(sendString);
      if (s != OKAY) {
        return "Error sending JSON string via JSONStringSenderTCP: " + ErrorMessage(s);
      }
      std::string receiveString;
      s = receiver->Receive(2.0, receiveString);
      if (s != OKAY) {
        return "Error receiving JSON string via JSONStringReceiverTCP: " + ErrorMessage(s);
      }
      if (receiveString != sendString) {
        return "Received JSON string does not match sent string via JSONStringReceiverTCP";
      }
    }

    // Check for timeout when no message is available.
    std::string shouldBeEmpty;
    s = receiver->Receive(0.1, shouldBeEmpty);
    if (s != TIMEOUT) {
      return "Expected timeout when receiving with no messages available via JSONStringReceiverTCP";
    }

    // Attach a second JSONStringReceiverTCP to the same port and verify that it can also receive messages.
    std::shared_ptr<JSONStringReceiver> receiver2;
    s = JSONStringReceiver::Create("tcp://localhost:10103", receiver2);
    if (s != OKAY) {
      return "Error creating second JSONStringReceiverTCP: " + ErrorMessage(s);
    }
    std::this_thread::sleep_for(std::chrono::milliseconds(1000)); // Give time for the second receiver to connect.
    for (size_t i = 0; i < 10; i++) {
      s = sender->Send(sendString);
      if (s != OKAY) {
        return "Error sending JSON string via JSONStringSenderTCP to two receivers: " + ErrorMessage(s);
      }
      bool worked = false;
      int retries = 0;
      std::string receiveString;
      while (!worked && retries++ < 10) {
        s = receiver->Receive(2.0, receiveString);
        if (s == TIMEOUT) {
          continue;
        }
        if (s != OKAY) {
          return "Error receiving JSON string via first JSONStringReceiverTCP: " + ErrorMessage(s);
        }
        worked = true;
      }
      if (receiveString != sendString) {
        return "Received JSON string does not match sent string via first JSONStringReceiverTCP";
      }
      worked = false;
      retries = 0;
      while (!worked && retries++ < 10) {
        s = receiver2->Receive(2.0, receiveString);
        if (s == TIMEOUT) {
          continue;
        }
        if (s != OKAY) {
          return "Error receiving JSON string via second JSONStringReceiverTCP: " + ErrorMessage(s);
        }
        worked = true;
      }
      if (receiveString != sendString) {
        return "Received JSON string does not match sent string via second JSONStringReceiverTCP";
      }
    }
  }

  // Save JSON strings to a file using JSONStringSenderFile and verify that we can read them back using
  // a JSONStringReceiverFile.
  {
    // Create a temporary file name.
    std::string tempFileName = "deleteme_test_file.json";

    // Create a JSONStringSenderFile to write to the file.
    std::shared_ptr<JSONStringSender> sender;
    s = JSONStringSender::Create("file://" + tempFileName, sender);
    if (s != OKAY) {
      return "Error creating JSONStringSenderFile: " + ErrorMessage(s);
    }

    // Send some JSON strings to the file.
    std::vector<std::string> jsonStringsToSend = {
      "{ \"test\": 1 }",
      "{ \"test\": 2 }",
      "{ \"test\": 3 }"
    };
    for (const auto& jsonString : jsonStringsToSend) {
      s = sender->Send(jsonString);
      if (s != OKAY) {
        return "Error sending JSON string via JSONStringSenderFile: " + ErrorMessage(s);
      }
    }

    // Close the file so it is flushed to disk.
    sender.reset();

    // Create a JSONStringReceiverFile to read from the file.
    std::shared_ptr<JSONStringReceiver> receiver;
    s = JSONStringReceiver::Create("file://" + tempFileName, receiver);
    if (s != OKAY) {
      return "Error creating JSONStringReceiverFile: " + ErrorMessage(s);
    }

    // Receive the JSON strings from the file and verify they match what was sent.
    for (const auto& expectedJsonString : jsonStringsToSend) {
      std::string receivedJsonString;
      s = receiver->Receive(1.0, receivedJsonString);
      if (s != OKAY) {
        return "Error receiving JSON string via JSONStringReceiverFile: " + ErrorMessage(s);
      }
      if (receivedJsonString != expectedJsonString) {
        return "Received JSON string does not match sent string via JSONStringReceiverFile";
      }
    }

    // Verify that if we try to get another it times out.
    std::string shouldBeEmpty;
    s = receiver->Receive(0.5, shouldBeEmpty);
    if (s != TIMEOUT) {
      return "Expected timeout when receiving past end of JSONStringReceiverFile";
    }

    // Clean up the temporary file.
    std::remove(tempFileName.c_str());
  }

  return "";
}

JSONStringReceiverTCP::JSONStringReceiverTCP(StreamEndpoint endpoint)
  : m_constructorStatus(OKAY)
  , m_endOfStream(false)
{
  // Problem if the endpoint has been set to all zeros.
  if (endpoint.IP == 0) {
    m_constructorStatus = BAD_PARAMETER;
    return;
  }

  // Create and connect the socket
  m_socket = std::make_shared<Socket>();
  m_socket->socket = socket(AF_INET, SOCK_STREAM, 0);
  if (m_socket->socket == BAD_SOCKET) {
    m_constructorStatus = BAD_PARAMETER;
    return;
  }
  struct sockaddr_in addr;
  memset(&addr, 0, sizeof(addr));
  addr.sin_family = AF_INET;
  addr.sin_addr.s_addr = ntohl(endpoint.IP);
  addr.sin_port = htons(endpoint.port);
  if (0 != connect(m_socket->socket, (struct sockaddr*)&addr, sizeof(addr))) {
    m_constructorStatus = SOCKET_FAILURE;
    m_socket.reset();
    return;
  }

  // Turn on TCP_NODELAY for the socket so it sends data immediately rather than waiting
  // to piggy-back on a response.
  int flag = 1;
  if (0 != setsockopt(m_socket->socket, IPPROTO_TCP, TCP_NODELAY, (char*)&flag, sizeof(flag))) {
    m_constructorStatus = SOCKET_FAILURE;
    m_socket.reset();
    return;
  }

  // Read and verify the header, timing out after half a second if we don't get it.
  // We also read the carriage return/newline character at the end of the header and
  // then discard it.
  std::string header;
  header.resize(ANALYSIS_STREAM_HEADER.length() + 1);
  bool available;
  Status status = m_socket->IsDataAvailable(0.5, available);
  if (status != OKAY) {
    m_constructorStatus = status;
    m_socket.reset();
    return;
  }
  if (!available) {
    m_constructorStatus = TIMEOUT;
    m_socket.reset();
    return;
  }
  int length = recv(m_socket->socket, &header[0], ANALYSIS_STREAM_HEADER.length()+1, 0);
  if (length != static_cast<int>(ANALYSIS_STREAM_HEADER.length()+1)) {
    m_constructorStatus = SOCKET_FAILURE;
    m_socket.reset();
    return;
  }
  header.resize(ANALYSIS_STREAM_HEADER.length());

  // Check the header.
  if (header != ANALYSIS_STREAM_HEADER) {
    m_constructorStatus = INCOMPATIBLE_API_VERSION;
    m_socket.reset();
    return;
  }
}

Status JSONStringReceiverTCP::GetConstructorStatus()
{
  return m_constructorStatus;
}

JSONStringReceiverTCP::~JSONStringReceiverTCP()
{
  // Close the socket.
  if (m_socket != nullptr) {
    closesocket(m_socket->socket);
    m_socket.reset();
  }
}

Status JSONStringReceiverTCP::Receive(double timeout_seconds, std::string& result)
{
  // In case of failure, clear the output string.
  result.clear();

  if (m_constructorStatus != OKAY) {
    return m_constructorStatus;
  }

  // See if we're at the end of the stream already.
  if (m_endOfStream) {
    return TIMEOUT;
  }

  // Make sure the socket is valid.
  if (m_socket == nullptr) {
    return UNEXPECTED_INTERNAL_STATE;
  }

  // See if our buffer has a complete line in it. If so, pull it out (without the , at the front and newline at the end).
  // if not, read more data from the socket until we get one or time out.
  size_t lineEnd = m_buffer.find('\n');
  if (lineEnd == std::string::npos) {
    // See if data is available.
    bool available;
    Status status = m_socket->IsDataAvailable(timeout_seconds, available);
    if (status != OKAY) {
      return status;
    }
    if (!available) {
      return TIMEOUT;
    }

    // Read data from the socket.
    char readBuffer[2048];
    int length = recv(m_socket->socket, readBuffer, sizeof(readBuffer), 0);
    if (length < 0) {
      return SOCKET_FAILURE;
    }
    if (length == 0) {
      // End of the stream before we got the closing bracket, mark as end of stream.
      m_endOfStream = true;
      return UNEXPECTED_INTERNAL_STATE;
    }

    // Append the data to our buffer.
    m_buffer.append(readBuffer, length);
  }

  // If we read the last line, indicate end of stream.
  if (m_buffer[0] == ']') {
    m_endOfStream = true;
    return TIMEOUT;
  }

  // See if we have a complete line now. If so, pull it out (without the , at the front and newline at the end).
  // Then remove it from the buffer.
  lineEnd = m_buffer.find('\n');
  if (lineEnd != std::string::npos) {
    if (m_buffer[0] != ',') {
      return UNEXPECTED_INTERNAL_STATE;
    }
    result = m_buffer.substr(1, lineEnd - 1);
    m_buffer = m_buffer.substr(lineEnd + 1);
    return OKAY;
  }

  return TIMEOUT;
}

JSONStringReceiverFile::JSONStringReceiverFile(std::string filePath)
  : m_constructorStatus(OKAY)
  , m_endOfFile(false)
{
  // Ensure that we can open the file.
  m_file.open(filePath,  std::ios::in);
  if (!m_file.is_open()) {
    m_constructorStatus = BAD_PARAMETER;
    return;
  }

  // Read and verify the header.
  std::string header;
  std::getline(m_file, header);
  if (header != ANALYSIS_STREAM_HEADER) {
    m_constructorStatus = INCOMPATIBLE_API_VERSION;
    m_file.close();
    return;
  }
}

Status JSONStringReceiverFile::GetConstructorStatus()
{
  return m_constructorStatus;
}

JSONStringReceiverFile::~JSONStringReceiverFile()
{
  // Close the file.
  if (m_file.is_open()) {
    m_file.close();
  }
}

Status JSONStringReceiverFile::Receive(double timeout_seconds, std::string& result)
{
  // In case of failure, clear the output string.
  result.clear();

  if (m_endOfFile) {
    return TIMEOUT;
  }

  if (m_constructorStatus != OKAY) {
    return m_constructorStatus;
  }

  // Make sure the file is open.
  if (!m_file.is_open()) {
    return UNEXPECTED_INTERNAL_STATE;
  }

  // Read the next line from the file.
  if (!std::getline(m_file, result)) {
    result.clear();

    // We got to the end of the file before we got to the closing bracket.
    return UNEXPECTED_INTERNAL_STATE;
  }

  // If we read the last line, indicate end of stream.
  if (result == "]") {
    m_endOfFile = true;
    result.clear();
    return TIMEOUT;
  }

  // Remove any leading commas and return the result.
  while ((!result.empty()) && ((result)[0] == ',')) {
    result = result.substr(1);
  }
  return OKAY;
}

Status JSONStringSender::Create(std::string URL, std::shared_ptr<JSONStringSender>& sender)
{
  // In case we fail, reset the sender.
  sender.reset();

  // Parse the URL to determine the type of sender to create.
  if (URL.substr(0, 7) == "file://") {
    // Pull the file name out of the URL and use it to create the object.
    std::string fileName = URL.substr(7);
    std::shared_ptr<JSONStringSender> senderFile(new JSONStringSenderFile(fileName));
    Status status = senderFile->GetConstructorStatus();
    if (status != OKAY) {
      senderFile.reset();
      return status;
    }
    sender = senderFile;
    return OKAY;

  } else if (URL.substr(0, 6) == "tcp://") {
    // Pull the IP and port out of the URL and use it to create the object.
    std::string IP;
    uint16_t port;
    Status s = ServerInfoFromURL(URL, IP, port);
    if (s != OKAY) {
      return s;
    }
    if (port == 0) { port = 10103; }
    StreamEndpoint endpoint(IP, port);
    std::shared_ptr<JSONStringSender> senderTCP(new JSONStringSenderTCP(endpoint));
    Status status = senderTCP->GetConstructorStatus();
    if (status != OKAY) {
      senderTCP.reset();
      return status;
    }
    sender = senderTCP;
    return OKAY;
  }

  // Unknown URL type.
  return BAD_PARAMETER;
}

std::string JSONStringSender::Test()
{
  // The test program is the same for both of these classes, since we use them to
  // talk to one another.
  return JSONStringReceiver::Test();
}

JSONStringSenderTCP::JSONStringSenderTCP(StreamEndpoint endpoint)
  : m_constructorStatus(OKAY)
  , m_stopThread(false)
{
  m_constructorStatus = OKAY;
  // Problem if the endpoint has been set to all zeros.
  if (endpoint.IP == 0) {
    m_constructorStatus = BAD_PARAMETER;
    return;
  }

  // Create the socket and set it for listening.
  m_listen_socket = std::make_shared<Socket>();
  m_listen_socket->socket = socket(AF_INET, SOCK_STREAM, 0);
  if (m_listen_socket->socket == BAD_SOCKET) {
    m_constructorStatus = BAD_PARAMETER;
    return;
  }
  struct sockaddr_in addr;
  memset(&addr, 0, sizeof(addr));
  addr.sin_family = AF_INET;
  addr.sin_addr.s_addr = ntohl(endpoint.IP);
  addr.sin_port = htons(endpoint.port);
  if (0 != bind(m_listen_socket->socket, (struct sockaddr*)&addr, sizeof(addr))) {
    m_constructorStatus = SOCKET_FAILURE;
    closesocket(m_listen_socket->socket);
    m_listen_socket.reset();
    return;
  }

  // Start the thread to accept connections and add their sockets to the list.
  // Wait until the thread is started before returning.
  m_stopThread = false;
  m_threadStarted = false;
  m_listenThread = std::make_shared<std::thread>(&JSONStringSenderTCP::ListenThread, this);
  while (!m_threadStarted) {
    std::this_thread::sleep_for(std::chrono::milliseconds(1));
  }
}

Status JSONStringSenderTCP::GetConstructorStatus()
{
  return m_constructorStatus;
}

JSONStringSenderTCP::~JSONStringSenderTCP()
{
  // Stop the listen thread and wait for it to join.  Once this is done, we no longer
  // need to use the mutex.
  m_stopThread = true;
  if ((m_listenThread != nullptr) && m_listenThread->joinable()) {
    m_listenThread->join();
  }

  // Close the listening socket.
  if (m_listen_socket != nullptr) {
    closesocket(m_listen_socket->socket);
    m_listen_socket.reset();
  }

  // Close any other sockets after sending the end-of-stream line.
  for (auto& socket : m_client_sockets) {
    if (socket != nullptr) {
      // Send the closing bracket to indicate end of stream.
      std::string endLine = "]\n";
      send(socket->socket, endLine.c_str(), static_cast<int>(endLine.length()), MSG_NOSIGNAL);
      // Close the socket.
      closesocket(socket->socket);
      socket.reset();
    }
  }
}

Status JSONStringSenderTCP::Send(const std::string& jsonString)
{
  if (m_constructorStatus != OKAY) {
    return m_constructorStatus;
  }

  // Make a string that has all instances of newlines and carriage returns replaced with spaces
  // so that we guarantee that we can read a line at a time and get one object at a time.
  std::string sanitizedString = jsonString;
  for (size_t i = 0; i < sanitizedString.size(); i++) {
    if ((sanitizedString[i] == '\n') || (sanitizedString[i] == '\r')) {
      sanitizedString[i] = ' ';
    }
  }

  // Make the line to send.
  std::string lineToSend = "," + sanitizedString + "\n";

  // Send the line to all connected clients while holding the mutex so the list doesn't change out
  // from under us.
  std::lock_guard<std::mutex> lock(m_mutex);
  for (auto& socket : m_client_sockets) {
    if (socket != nullptr) {
      int length = send(socket->socket, lineToSend.c_str(), static_cast<int>(lineToSend.length()), MSG_NOSIGNAL);
      if (length != static_cast<int>(lineToSend.length())) {
        // Problem sending to this socket, close it.
        closesocket(socket->socket);
        socket.reset();
      }
    }
  }
  return OKAY;
}

void JSONStringSenderTCP::ListenThread()
{
  // Set the listen socket to listen.
  if (0 != listen(m_listen_socket->socket, 1)) {
    m_threadStarted = true;
    return;
  }
  m_threadStarted = true;

  while (!m_stopThread) {

    // See if the listening socket is ready to accept a connection.  Wait up to 100 ms.
    bool available;
    Status status = m_listen_socket->IsDataAvailable(0.1, available);
    if (status != OKAY) {
      m_constructorStatus = status;
      return;
    }

    if (available) {

      // Accept a new connection.
      struct sockaddr_in client_addr;
      socklen_t client_len = sizeof(client_addr);
      std::shared_ptr<Socket> socket = std::make_shared<Socket>();
      socket->socket = accept(m_listen_socket->socket, (struct sockaddr*)&client_addr, &client_len);
      if (socket->socket == BAD_SOCKET) {
        continue;
      }

      // Turn on TCP_NODELAY for the socket so it sends data immediately rather than waiting
      // to piggy-back on a response.
      int flag = 1;
      if (0 != setsockopt(socket->socket, IPPROTO_TCP, TCP_NODELAY, (char*)&flag, sizeof(flag))) {
        continue;
      }

      // Write the header to the socket with a carriage return at its end.
      std::string msg = ANALYSIS_STREAM_HEADER + "\n";
      int length = send(socket->socket, msg.c_str(), static_cast<int>(msg.length()), MSG_NOSIGNAL);
      if (length != static_cast<int>(msg.length())) {
        continue;
      }

      // Add this to our list of active client sockets.
      std::lock_guard<std::mutex> lock(m_mutex);
      m_client_sockets.push_back(socket);
    }
  }
}

JSONStringSenderFile::JSONStringSenderFile(std::string filePath)
  : m_constructorStatus(OKAY)
{
  // Ensure that we can open the file.
  m_file.open(filePath, std::ios::out);
  if (!m_file.is_open()) {
    m_constructorStatus = BAD_PARAMETER;
    return;
  }

  // Add the header to the file.
  m_file << ANALYSIS_STREAM_HEADER + "\n";
}

Status JSONStringSenderFile::GetConstructorStatus()
{
  return m_constructorStatus;
}

JSONStringSenderFile::~JSONStringSenderFile()
{
  // Write the last line and Close the file.
  if (m_file.is_open()) {
    m_file << "]\n";
    m_file.close();
  }
}

Status JSONStringSenderFile::Send(const std::string& jsonString)
{
  if (m_constructorStatus != OKAY) {
    return m_constructorStatus;
  }

  // Make sure the file is open.
  if (!m_file.is_open()) {
    return UNEXPECTED_INTERNAL_STATE;
  }

  // Make a string that has all instances of newlines and carriage returns replaced with spaces
  // so that we guarantee that we can read a line at a time and get one object at a time.
  std::string sanitizedString = jsonString;
  for (size_t i = 0; i < sanitizedString.size(); i++) {
    if ((sanitizedString[i] == '\n') || (sanitizedString[i] == '\r')) {
      sanitizedString[i] = ' ';
    }
  }

  // Write the JSON string to the file with a comma in front of it and end the line.
  m_file << "," << jsonString << "\n";
  return OKAY;
}

std::string CoreClient::Test()
{
  /// Test URLFromServerInfo on an IP gotten from localhost
  SenderUDP sender("localhost", 10102);
  StreamEndpoint endpoint("localhost", 10102);
  if (sender.GetConstructorStatus() != OKAY) {
    return "Error constructing SenderUDP: " + ErrorMessage(sender.GetConstructorStatus());
  }
  uint32_t IP = endpoint.IP;
  uint16_t port = 10102;
  uint32_t serial = 123456789;
  ServerInfo serverInfo(IP, port, serial);
  std::string URL = URLFromServerInfo(serverInfo);
  if (URL != "tcp://127.0.0.1:10102") {
    return "Error creating URL: " + URL;
  }

  // Test ServerInfoFromURL on the URL we just created.
  std::string IPString;
  uint16_t port2;
  Status status = ServerInfoFromURL(URL, IPString, port2);
  if (status != OKAY) {
    return "Error parsing URL: " + ErrorMessage(status);
  }
  if (IPString != "127.0.0.1") {
    return "Error parsing URL: " + IPString;
  }
  if (port2 != port) {
    return "Error parsing URL: " + std::to_string(port2);
  }

  // Start a CoreServer on Localhost.
  CoreServer coreServer(serial, "localhost");
  if (coreServer.GetConstructorStatus() != OKAY) {
    return "Error constructing CoreServer: " + ErrorMessage(coreServer.GetConstructorStatus());
  }
  Status threadStatus;
  status = coreServer.GetDiscoveryThreadStatus(threadStatus);
  if (status != OKAY) {
    return "Error getting server discovery thread status: " + ErrorMessage(status);
  }

  // Start a CoreClient on Localhost.
  CoreClient coreClient("localhost");
  if (coreClient.GetConstructorStatus() != OKAY) {
    return "Error constructing CoreClient: " + ErrorMessage(coreClient.GetConstructorStatus());
  }
  status = coreClient.GetDiscoveryThreadStatus(threadStatus);
  if (status != OKAY) {
    return "Error getting client discovery thread status: " + ErrorMessage(status);
  }

  // Listen for a server on the CoreClient, waiting 2 seconds to find one.
  std::this_thread::sleep_for(std::chrono::milliseconds(2000));
  std::vector<std::string> servers;
  status = coreClient.IdentifiedServers(servers);
  if (status != OKAY) {
    return "Error getting identified servers: " + ErrorMessage(status);
  }
  if (servers.size() != 1) {
    return "Error getting identified servers, found " + std::to_string(servers.size()) +
        " (wait a minute between tests to let sockets close)";
  }

  // Use the map-based lookup and make sure it works.
  std::map<uint32_t, std::string> serverMap;
  status = coreClient.IdentifiedServers(serverMap);
  if (status != OKAY) {
    return "Error getting identified servers map: " + ErrorMessage(status);
  }
  if (serverMap.size() != 1) {
    return "Error getting identified servers map, found " + std::to_string(serverMap.size()) +
        " (wait a minute between tests to let sockets close)";
  }
  if (serverMap.begin()->first != serial) {
    return "Error getting identified servers map, wrong serial number: " + std::to_string(serverMap.begin()->first);
  }

  // Try sending a CommandPacketReset from the CoreClient to the CoreServer, which
  // should fail because it is not yet connected.
  CommandPacketReset commandPacketReset;
  status = coreClient.SendCommandPacket(commandPacketReset);
  if (status != NOT_CONNECTED) {
    return "Able to send CommandPacketReset when not connected.";
  }

  // Connect the CoreClient to the server.
  uint16_t major, minor, patch;
  status = coreClient.ConnectToServer(servers[0], major, minor, patch);
  if (status != OKAY) {
    return "Error connecting to server: " + ErrorMessage(status);
  }

  // Get a list of new connections to the server, which should have one entry
  // after waiting a quarter second.
  std::this_thread::sleep_for(std::chrono::milliseconds(250));
  std::vector< std::shared_ptr<CoreServer::ClientInfo> > newLinks;
  status = coreServer.GetNewTCPLinks(newLinks);
  if (status != OKAY) {
    return "Error getting new TCP links: " + ErrorMessage(status);
  }
  if (newLinks.size() != 1) {
    return "Error getting new TCP links: " + std::to_string(newLinks.size());
  }

  // Send a CommandPacketReset from the CoreClient to the CoreServer.
  status = coreClient.SendCommandPacket(commandPacketReset);
  if (status != OKAY) {
    return "Error sending CommandPacketReset: " + ErrorMessage(status);
  }

  // Receive the CommandPacketReset on the CoreServer.
  std::shared_ptr<CommandPacket> receiveCommandPacket;
  status = newLinks[0]->stream->ReceiveCommandPacket(0.5, receiveCommandPacket);
  if (status != OKAY) {
    return "Error receiving CommandPacketReset: " + ErrorMessage(status);
  }
  if (receiveCommandPacket == nullptr) {
    return "Empty CommandPacketReset packet";
  }
  OpCode opCode;
  status = receiveCommandPacket->GetOpCode(opCode);
  if (status != OKAY) {
    return "Error checking CommandPacketReset opcode: " + ErrorMessage(status);
  }
  if (opCode != RESET) {
    return "Error receiving CommandPacketReset: wrong type";
  }

  // Get the IP address from the CoreClient.
  uint32_t IP2;
  status = coreClient.GetMyIP(IP2);
  if (status != OKAY) {
    return "Error getting IP: " + ErrorMessage(status);
  }
  if (IP2 != IP) {
    return "Error getting IP: " + std::to_string(IP2);
  }

  // Send a Message from the server to the client and make sure it is received.
  StreamWriter streamWriter(newLinks[0]->stream);
  std::shared_ptr<StreamPacket> packet;
  status = streamWriter.GetCurrentPacket(packet);
  if (status != OKAY) {
    return "Error getting current packet: " + ErrorMessage(status);
  }
  MessageEvent message(*packet, Time(), 1, CLOCK_SYNC, "");
  if (message.GetConstructorStatus() != OKAY) {
    return "Error constructing MessageEvent: " + ErrorMessage(message.GetConstructorStatus());
  }
  status = streamWriter.Flush();
  if (status != OKAY) {
    return "Error flushing StreamWriter: " + ErrorMessage(status);
  }
  std::shared_ptr<StreamPacket> receiveStreamPacket;
  std::shared_ptr<Receiver> receiver;
  status = coreClient.GetMainStreamReceiver(receiver);
  if (status != OKAY) {
    return "Error getting main stream receiver: " + ErrorMessage(status);
  }
  size_t offset = 0;
  status = receiver->ReceiveStreamPacket(0.5, receiveStreamPacket, offset);
  if (status != OKAY) {
    return "Error receiving StreamPacket: " + ErrorMessage(status);
  }
  if (receiveStreamPacket == nullptr) {
    return "Empty StreamPacket packet";
  }
  uint32_t sequenceNumber;
  status = receiveStreamPacket->GetSequenceNumber(sequenceNumber);
  if (status != OKAY) {
    return "Error getting sequence number: " + ErrorMessage(status);
  }
  if (sequenceNumber != 0) {
    return "Unexpected sequence number: " + std::to_string(sequenceNumber);
  }
  std::shared_ptr<Message> rMessage;
  status = receiveStreamPacket->GetNextMessage(rMessage);
  if (status != OKAY) {
    return "Error getting message: " + ErrorMessage(status);
  }
  MessageID id;
  status = rMessage->GetType(id);
  if (status != OKAY) {
    return "Error getting opcode: " + ErrorMessage(status);
  }
  if (id != EVENT) {
    return "Unexpected message type: " + std::to_string(id);
  }

  // Disconnect from the server
  status = coreClient.DisconnectFromServer();
  if (status != OKAY) {
    return "Error disconnecting from server: " + ErrorMessage(status);
  }
  status = coreClient.GetMyIP(IP2);
  if (status != NOT_CONNECTED) {
    return "Error getting IP after disconnect: " + ErrorMessage(status);
  }

  return "";
}

CoreServerBase::CoreServerBase(uint32_t serialNumber, const std::string& NICName,
  uint16_t sendPort, uint16_t listenPort, uint32_t maxPayloadSize,
  int verbosity)
  : CoreServer(serialNumber, NICName, sendPort, listenPort, maxPayloadSize)
  , m_verbosity(verbosity)
  , m_numTemperaturesPerCamera(0)
  , m_numSystemTemperatures(0)
  , m_storing(0)
  , m_camerasStreaming(0)
  , m_replaying(0)
  , m_replayAtEnd(0)
  , m_recordOnReset(0)
  , m_totalDiskSpace(0)
  , m_remainingDiskSpace(0)
  , m_streamReplayTime({ 0, 0 })
{
}

void CoreServerBase::sendInvalidCommandMessage(OpCode opCode, ClientState& client)
{
  if (m_verbosity >= 1) {
    std::cout << "Invalid opcode received: " << opCode << std::endl;
  }

  std::shared_ptr<StreamWriter> writer = client.m_writer;
  uint8_t priority = 0;
  EventID type = INVALID_OPERATION;
  if (client.m_eventVerbosity < priority) {
    return;
  }
  std::shared_ptr<StreamPacket> packet;
  Status status = writer->GetCurrentPacket(packet);
  if (status != OKAY) {
    m_error = "Error getting current packet from StreamWriter: " + ErrorMessage(status);
    return;
  }
  Time timeCode;
  m_timer->GetCoreTime(timeCode);
  MessageEvent message(*packet, timeCode, priority, type, std::to_string(opCode));
  if (message.GetConstructorStatus() != OKAY) {
    m_error = "Error constructing MessageEvent: " + ErrorMessage(message.GetConstructorStatus());
    return;
  }

  // Send the packet immediately.
  status = writer->Flush();
  if (status != OKAY) {
    // The client has probably disconnected. We'll find out about this the next time through
    // the run() loop, so we don't need to do anything about it here.
    //m_error = "Error flushing StreamWriter: " + ErrorMessage(status);
    return;
  }
}

void CoreServerBase::sendUnrecognizedOpcodeMessage(OpCode opCode, ClientState& client)
{
  if (m_verbosity >= 1) {
    std::cout << "Unrecognized opcode received: " << opCode << std::endl;
  }

  std::shared_ptr<StreamWriter> writer = client.m_writer;
  uint8_t priority = 0;
  EventID type = UNRECOGNIZED_OPCODE;
  if (client.m_eventVerbosity < priority) {
    return;
  }
  std::shared_ptr<StreamPacket> packet;
  Status status = writer->GetCurrentPacket(packet);
  if (status != OKAY) {
    m_error = "Error getting current packet from StreamWriter: " + ErrorMessage(status);
    return;
  }
  Time timeCode;
  m_timer->GetCoreTime(timeCode);
  MessageEvent message(*packet, timeCode, priority, type, std::to_string(opCode));
  if (message.GetConstructorStatus() != OKAY) {
    m_error = "Error constructing MessageEvent: " + ErrorMessage(message.GetConstructorStatus());
    return;
  }

  // Send the packet immediately.
  status = writer->Flush();
  if (status != OKAY) {
    // The client has probably disconnected. We'll find out about this the next time through
    // the run() loop, so we don't need to do anything about it here.
    //m_error = "Error flushing StreamWriter: " + ErrorMessage(status);
    return;
  }
}

Status CoreServerBase::SendStateMessage(ClientState& client)
{
  if (m_verbosity >= 10) {
    std::cout << "  Sending state message" << std::endl;
  }

  std::shared_ptr<StreamWriter> writer = client.m_writer;
  std::shared_ptr<StreamPacket> packet;
  Status status = writer->GetCurrentPacket(packet);
  if (status != OKAY) {
    m_error = "Error getting current packet from StreamWriter: " + ErrorMessage(status);
    return status;
  }
  Time timeCode;
  m_timer->GetCoreTime(timeCode);
  MessageState message(*packet, timeCode,
    m_features, m_cameras,
    m_numTemperaturesPerCamera, m_numSystemTemperatures,
    m_storing, m_camerasStreaming, m_replaying, m_replayAtEnd,
    m_recordOnReset,
    m_triggers,
    m_totalDiskSpace, m_remainingDiskSpace,
    m_streamReplayTime);
  if (message.GetConstructorStatus() != OKAY) {
    // Retry after flushing the buffer.
    status = writer->Flush();
    if (status != OKAY) {
      // The client has probably disconnected. We'll find out about this the next time through
      // the run() loop, so we don't need to do anything about it here.
      //m_error = "Error flushing StreamWriter: " + ErrorMessage(status);
      return status;
    }
    status = writer->GetCurrentPacket(packet);
    if (status != OKAY) {
      m_error = "Error getting current packet from StreamWriter: " + ErrorMessage(status);
      return status;
    }
    message = MessageState(*packet, timeCode,
           m_features, m_cameras,
           m_numTemperaturesPerCamera, m_numSystemTemperatures,
           m_storing, m_camerasStreaming, m_replaying, m_replayAtEnd,
           m_recordOnReset,
           m_triggers,
           m_totalDiskSpace, m_remainingDiskSpace,
           m_streamReplayTime);
    status = message.GetConstructorStatus();
    if (status != OKAY) {
      m_error = "Error constructing MessageEvent: " + ErrorMessage(message.GetConstructorStatus());
      return status;
    }
  }

  // Send the packet immediately.
  status = writer->Flush();
  if (status != OKAY) {
    // The client has probably disconnected. We'll find out about this the next time through
    // the run() loop, so we don't need to do anything about it here.
    //m_error = "Error flushing StreamWriter: " + ErrorMessage(status);
    return status;
  }

  return OKAY;
}

Status CoreServerBase::SendClockSyncMessage(ClientState& client)
{
  if (m_verbosity >= 100) {
    std::cout << "        Sending clock sync" << std::endl;
  }

  std::shared_ptr<StreamWriter> writer = client.m_writer;
  std::shared_ptr<StreamPacket> packet;
  Status status = writer->GetCurrentPacket(packet);
  if (status != OKAY) {
    m_error = "Error getting current packet from StreamWriter: " + ErrorMessage(status);
    return status;
  }
  uint8_t priority = 0;
  EventID type = CLOCK_SYNC;
  if (client.m_eventVerbosity < priority) {
    return OKAY;
  }
  Time timeCode;
  m_timer->GetCoreTime(timeCode);
  MessageEvent message(*packet, timeCode, priority, type, "");
  if (message.GetConstructorStatus() != OKAY) {
    // Retry after flushing the buffer.
    status = writer->Flush();
    if (status != OKAY) {
      // The client has probably disconnected. We'll find out about this the next time through
      // the run() loop, so we don't need to do anything about it here.
      //m_error = "Error flushing StreamWriter: " + ErrorMessage(status);
      return status;
    }
    status = writer->GetCurrentPacket(packet);
    if (status != OKAY) {
      m_error = "Error getting current packet from StreamWriter: " + ErrorMessage(status);
      return status;
    }
    message = MessageEvent(*packet, timeCode, priority, type, "");
    status = message.GetConstructorStatus();
    if (status != OKAY) {
      m_error = "Error constructing MessageEvent: " + ErrorMessage(message.GetConstructorStatus());
      return status;
    }
  }

  // Send the packet immediately.
  status = writer->Flush();
  if (status != OKAY) {
    // The client has probably disconnected. We'll find out about this the next time through
    // the run() loop, so we don't need to do anything about it here.
    //m_error = "Error flushing StreamWriter: " + ErrorMessage(status);
    return status;
  }

  return OKAY;
}

std::string CoreServerBase::run()
{
  Status status;

  // Loop forever checking periodic tasks, getting Commands from the client
  // and acting on them.
  while (true) {

    // If the discovery thread fails, we should stop.
    Status discoveryStatus;
    status = GetDiscoveryThreadStatus(discoveryStatus);
    if (status != OKAY) {
      return "Failed to get discovery thread status: " + ErrorMessage(status);
    }
    if (discoveryStatus != OKAY) {
      return "Discovery thread failed: " + ErrorMessage(discoveryStatus);
    }

    // Add any new clients to our active list.
    std::vector<std::shared_ptr<ClientInfo>> newClients;
    status = GetNewTCPLinks(newClients);
    if (status != OKAY) {
      return "Failed to get new TCP links: " + ErrorMessage(status);
    }
    if (newClients.size() > 0)
    {
      std::lock_guard<std::recursive_mutex> lock(m_mutex);
      for (auto newClient : newClients) {
        if (m_verbosity >= 1) {
          std::cout << "Got new client, total of " << m_clients.size() + 1 << ", version "
            << newClient->major << "." << newClient->minor << "." << newClient->patch << std::endl;
        }

        // Construct a StreamWriter for the client and then fill in its state.
        std::shared_ptr<StreamWriter> writer(new StreamWriter(newClient->stream));
        if (writer->GetConstructorStatus() != OKAY) {
          return "Failed to construct StreamWriter: " + ErrorMessage(writer->GetConstructorStatus());
        }
        ClientState client(newClient, writer);
        m_clients.push_back(client);
        clientAdded(m_clients.back());
      }
    }

    // Run through each active client and see if we get a command from it.
    // If we get a failure on a client, remove it from the list.
    std::vector<ClientState> badClients;
    for (auto &client : m_clients) {

      // See if it is time to send a clock sync packet to this client and do so if it is.
      Time now;
      status = m_timer->GetCoreTime(now);
      if (status != OKAY) {
        return "Failed to get core time: " + ErrorMessage(status);
      }
      if (client.m_lastClockSent + client.m_clockPeriod < now) {
        status = SendClockSyncMessage(client);
        if (status != OKAY) {
          // The client is dead, remove it from the list(s).
          badClients.push_back(client);
          continue;
        }
        client.m_lastClockSent = now;
      }

      // See if it is time to send a state packet to this client and do so if it is.
      status = m_timer->GetCoreTime(now);
      if (status != OKAY) {
        return "Failed to get core time: " + ErrorMessage(status);
      }
      if (client.m_lastStateSent + client.m_statePeriod < now) {
        status = SendStateMessage(client);
        if (status != OKAY) {
          // The client is dead, remove it from the list(s).
          badClients.push_back(client);
          continue;
        }
        client.m_lastStateSent = now;
      }

      // Check for a command, busy waiting.
      std::shared_ptr<CommandPacket> command;
      status = client.m_client->stream->ReceiveCommandPacket(0.0, command);
      if (status == TIMEOUT) {
        // Skip this client.
        continue;
      }
      if (status != OKAY) {
        // The client is dead, remove it from the list(s).
        badClients.push_back(client);
        continue;
      }

      // Act on the command.
      OpCode opCode;
      status = command->GetOpCode(opCode);
      if (status != OKAY) {
        return "Failed to get op code: " + ErrorMessage(status);
      }
      if (m_verbosity >= 2) {
        std::cout << " Received command " << OpCodeName(opCode) << std::endl;
      }
      switch (opCode) {
      case RESET:
      {
        CommandPacketReset resetCommand(*command);
        status = resetCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct reset command: " + ErrorMessage(status);
        }
        doReset(resetCommand, client);
      }
      break;
      case START_RECORDING:
      {
        CommandPacketStartRecording startRecordingCommand(*command);
        status = startRecordingCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct start recording command: " + ErrorMessage(status);
        }
        doStartRecording(startRecordingCommand, client);
      }
      break;
      case STOP_RECORDING:
      {
        CommandPacketStopRecording stopRecordingCommand(*command);
        status = stopRecordingCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct stop recording command: " + ErrorMessage(status);
        }
        doStopRecording(stopRecordingCommand, client);
      }
      break;
      case SET_START_UP_RECORDING_STATE:
      {
        CommandPacketSetStartUpRecordingState setStartUpRecordingStateCommand(*command);
        status = setStartUpRecordingStateCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct set start up recording state command: " + ErrorMessage(status);
        }
        doSetStartUpRecordingState(setStartUpRecordingStateCommand, client);
      }
      break;
      case START_REPLAY:
      {
        CommandPacketStartReplay startReplayCommand(*command);
        status = startReplayCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct start replay command: " + ErrorMessage(status);
        }
        doStartReplay(startReplayCommand, client);
      }
      break;
      case PAUSE_REPLAY:
      {
        CommandPacketPauseReplay pauseReplayCommand(*command);
        status = pauseReplayCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct pause replay command: " + ErrorMessage(status);
        }
        doPauseReplay(pauseReplayCommand, client);
      }
      break;
      case RESUME_REPLAY:
      {
        CommandPacketResumeReplay resumeReplayCommand(*command);
        status = resumeReplayCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct resume replay command: " + ErrorMessage(status);
        }
        doResumeReplay(resumeReplayCommand, client);
      }
      break;
      case STOP_REPLAY:
      {
        CommandPacketStopReplay stopReplayCommand(*command);
        status = stopReplayCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct stop replay command: " + ErrorMessage(status);
        }
        doStopReplay(stopReplayCommand, client);
      }
      break;
      case SET_STREAM_STATE_PERIOD:
      {
        CommandPacketSetStreamStatePeriod streamStateCommand(*command);
        status = streamStateCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct stream state command: " + ErrorMessage(status);
        }
        doSetStreamStatePeriod(streamStateCommand, client);
      }
      break;
      case SET_NUC_FLAG_STATE:
      {
        CommandPacketSetNUCFlagState nucFlagCommand(*command);
        status = nucFlagCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct NUC flag command: " + ErrorMessage(status);
        }
        doSetNUCFlagState(nucFlagCommand, client);
      }
      break;
      case START_ON_CAMERA_NUC:
      {
        CommandPacketStartOnCameraNUC startOnCameraNUCCommand(*command);
        status = startOnCameraNUCCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct start on camera NUC command: " + ErrorMessage(status);
        }
        doStartOnCameraNUC(startOnCameraNUCCommand, client);
      }
      break;
      case CONFIGURE_TRIGGER:
      {
        CommandPacketConfigureTrigger configureTriggerCommand(*command);
        status = configureTriggerCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct configure trigger command: " + ErrorMessage(status);
        }
        doConfigureTrigger(configureTriggerCommand, client);
      }
      break;
      case SOFTWARE_TRIGGER:
      {
        CommandPacketSoftwareTrigger softwareTriggerCommand(*command);
        status = softwareTriggerCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct software trigger command: " + ErrorMessage(status);
        }
        doSoftwareTrigger(softwareTriggerCommand, client);
      }
      break;
      case SET_EVENT_VERBOSITY:
      {
        CommandPacketSetEventVerbosity streamEventsCommand(*command);
        status = streamEventsCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct stream events command: " + ErrorMessage(status);
        }
        doSetEventVerbosity(streamEventsCommand, client);
      }
      break;
      case STREAM_SUBREGION:
      {
        CommandPacketStreamSubregion streamSubregionCommand(*command);
        status = streamSubregionCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct stream subregion command: " + ErrorMessage(status);
        }
        doStreamSubregion(streamSubregionCommand, client);
      }
      break;
      case CANCEL_SUBREGION:
      {
        CommandPacketCancelSubregion cancelSubregionCommand(*command);
        status = cancelSubregionCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct cancel subregion command: " + ErrorMessage(status);
        }
        doCancelSubregion(cancelSubregionCommand, client);
      }
      break;
      case ERASE_ALL_STORED_STREAMS:
      {
        CommandPacketEraseAllStoredStreams eraseAllStoredStreamsCommand(*command);
        status = eraseAllStoredStreamsCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct erase all stored streams command: " + ErrorMessage(status);
        }
        doEraseAllStoredStreams(eraseAllStoredStreamsCommand, client);
      }
      break;
      case LIST_STORED_STREAMS:
      {
        CommandPacketListStoredStreams ListStoredStreamsCommand(*command);
        status = ListStoredStreamsCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct list stored streams command: " + ErrorMessage(status);
        }
        doListStoredStreams(ListStoredStreamsCommand, client);
      }
      break;
      case ERASE_STORED_STREAM:
      {
        CommandPacketEraseStoredStream eraseStoredStreamCommand(*command);
        status = eraseStoredStreamCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct erase stored stream command: " + ErrorMessage(status);
        }
        doEraseStoredStream(eraseStoredStreamCommand, client);
      }
      break;
      case STREAM_TEMPERATURES:
      {
        CommandPacketStreamTemperatures streamTemperaturesCommand(*command);
        status = streamTemperaturesCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct stream temperatures command: " + ErrorMessage(status);
        }
        doStreamTemperatures(streamTemperaturesCommand, client);
      }
      break;
      case CANCEL_TEMPERATURES:
      {
        CommandPacketCancelTemperatures cancelTemperaturesCommand(*command);
        status = cancelTemperaturesCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct cancel temperatures command: " + ErrorMessage(status);
        }
        doCancelTemperatures(cancelTemperaturesCommand, client);
      }
      break;
      case STREAM_POSES:
      {
        CommandPacketStreamPoses streamPosesCommand(*command);
        status = streamPosesCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct stream poses command: " + ErrorMessage(status);
        }
        doStreamPoses(streamPosesCommand, client);
      }
      break;
      case CANCEL_POSES:
      {
        CommandPacketCancelPoses cancelPosesCommand(*command);
        status = cancelPosesCommand.GetConstructorStatus();
        if (status != OKAY) {
          return "Failed to construct cancel poses command: " + ErrorMessage(status);
        }
        doCancelPoses(cancelPosesCommand, client);
      }
      break;
      default:
        // Tell the client that we don't recognize this opcode (they may be a later version)
        sendUnrecognizedOpcodeMessage(opCode, client);
      }
    }

    // Remove all bad clients from our vector of clients.
    for (auto badClient : badClients) {
      if (m_verbosity >= 1) {
        std::cout << "Closing client..." << std::endl;
      }
      auto it = std::find(m_clients.begin(), m_clients.end(), badClient);
      if (it != m_clients.end()) {
        clientBeingRemoved(*it);
        m_clients.erase(it);
      }
      if (m_verbosity >= 1) {
        std::cout << "...done closing client" << std::endl;
      }
    }

    // Run the per-loop call that derived objects use to do their thing.
    doEveryLoop();

    // If we have an error, return it.
    if (!m_error.empty()) {
      return m_error;
    }
  }
}

void CoreServerBase::doSetEventVerbosity(const CommandPacketSetEventVerbosity& command, ClientState& client)
{
  uint8_t verbosity;
  Status status = command.GetVerbosity(verbosity);
  if (status != OKAY) {
    m_error = "Failed to get verbosity: " + ErrorMessage(status);
    return;
  }

  client.m_eventVerbosity = verbosity;
}

void CoreServerBase::doSetStreamStatePeriod(const CommandPacketSetStreamStatePeriod& command, ClientState& client)
{
  float period;
  Status status = command.GetInterval(period);
  if (status != OKAY) {
    m_error = "Failed to get period: " + ErrorMessage(status);
    return;
  }

  client.m_statePeriod = period;
}

void CoreServerBase::doStreamTemperatures(const CommandPacketStreamTemperatures& command, ClientState& client)
{
  // If we don't have the temperature feature, this command is in error.
  if (find(m_features.begin(), m_features.end(), TEMPERATURE_API_AVAILABLE) == m_features.end()) {
    sendInvalidCommandMessage(STREAM_TEMPERATURES, client);
    return;
  }

  client.m_streamingTemperatures = true;
}

void CoreServerBase::doCancelTemperatures(const CommandPacketCancelTemperatures& command, ClientState& client)
{
  // If we don't have the temperature feature, this command is in error.
  if (find(m_features.begin(), m_features.end(), TEMPERATURE_API_AVAILABLE) == m_features.end()) {
    sendInvalidCommandMessage(STREAM_TEMPERATURES, client);
    return;
  }

  client.m_streamingTemperatures = false;
}

void CoreServerBase::doStreamPoses(const CommandPacketStreamPoses& command, ClientState& client)
{
  // If we don't have the pose features, this command is in error.
  if ((find(m_features.begin(), m_features.end(), POSE_API_ORIENTATION_AVAILABLE) == m_features.end()
      && find(m_features.begin(), m_features.end(), POSE_API_POSITION_AVAILABLE) == m_features.end())) {
    sendInvalidCommandMessage(STREAM_POSES, client);
    return;
  }

  client.m_streamingPoses = true;
}

void CoreServerBase::doCancelPoses(const CommandPacketCancelPoses& command, ClientState& client)
{
  // If we don't have the pose features, this command is in error.
  if ((find(m_features.begin(), m_features.end(), POSE_API_ORIENTATION_AVAILABLE) == m_features.end()
    && find(m_features.begin(), m_features.end(), POSE_API_POSITION_AVAILABLE) == m_features.end())) {
    sendInvalidCommandMessage(STREAM_POSES, client);
    return;
  }

  client.m_streamingPoses = false;
}

std::string asdp::Test()
{
  std::string ret;

  //-------------------------------------------------------------------
  // Test the error message function by checking some of its values and then
  // a value that is never set by the code to be sure it is unrecognized.
  if (ErrorMessage(OKAY) != "No error") {
    return "Error message for OKAY is incorrect: " + ErrorMessage(OKAY);
  }
  if (ErrorMessage(TIMEOUT) != "Timeout") {
    return "Error message for TIMEOUT is incorrect: " + ErrorMessage(TIMEOUT);
  }
  if (ErrorMessage(BAD_PARAMETER) != "Bad parameter") {
    return "Error message for BAD_PARAMETER is incorrect: " + ErrorMessage(BAD_PARAMETER);
  }
  if (ErrorMessage(HIGHEST_WARNING) != "Unrecognized error code: 1000") {
    return "Error message for HIGHEST_WARNING is incorrect: " + ErrorMessage(HIGHEST_WARNING);
  }

  //-------------------------------------------------------------------
  // Tests for helper functions.
  {
    uint32_t subnetMask = FindSubnetMask("127.0.0.1");
    if (subnetMask != 0xffffffff) {
      return "Error finding subnet mask: " + std::to_string(subnetMask);
    }
    uint32_t localHostIP = (127 << 24) + 1;
    uint32_t broadcastAddress = MakeBroadcastAddress(localHostIP);
    if (broadcastAddress != localHostIP) {
      return "Error making broadcast address: " + std::to_string(broadcastAddress)
        + " not " + std::to_string(localHostIP);
    }

    uint32_t IP = GetLocalIPForRemote(localHostIP);
    if (IP != localHostIP) {
      return "Error getting local IP for remote: " + std::to_string(IP)
        + " not " + std::to_string(localHostIP);
    }
  }

  //-------------------------------------------------------------------
  // Tests for StreamEndpoint.
  ret = StreamEndpoint::Test();
  if (ret.size() > 0) {
    return "Error testing StreamEndpoint: " + ret;
  }

  //-------------------------------------------------------------------
  // Tests for Timer.
  ret = Timer::Test();
  if (ret.size() > 0) {
    return "Error testing Timer: " + ret;
  }

  //-------------------------------------------------------------------
  // Tests for BasicPacket and its derived classes.
  ret = BasicPacket::Test();
  if (ret.size() > 0) {
    return "Error testing BasicPacket: " + ret;
  }
  ret = StreamPacket::Test();
  if (ret.size() > 0) {
    return "Error testing StreamPacket: " + ret;
  }
  ret = CommandPacket::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacket: " + ret;
  }
  ret = CommandPacketReset::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketReset: " + ret;
  }
  ret = CommandPacketStartRecording::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketStartRecording: " + ret;
  }
  ret = CommandPacketStopRecording::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketStopRecording: " + ret;
  }
  ret = CommandPacketStartReplay::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketStartReplay: " + ret;
  }
  ret = CommandPacketPauseReplay::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketPauseReplay: " + ret;
  }
  ret = CommandPacketResumeReplay::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketResumeReplay: " + ret;
  }
  ret = CommandPacketStopReplay::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketStopReplay: " + ret;
  }
  ret = CommandPacketSetStreamStatePeriod::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketStreamEvents: " + ret;
  }
  ret = CommandPacketSetNUCFlagState::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketSetNUCFlagState: " + ret;
  }
  ret = CommandPacketStartOnCameraNUC::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketStartOnCameraNUC: " + ret;
  }
  ret = CommandPacketSetStartUpRecordingState::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketSetStartUpRecordingState: " + ret;
  }
  ret = CommandPacketConfigureTrigger::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketConfigureTrigger: " + ret;
  }
  ret = CommandPacketSoftwareTrigger::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketSoftwareTrigger: " + ret;
  }
  ret = CommandPacketStreamSubregion::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketStreamSubregion: " + ret;
  }
  ret = CommandPacketCancelSubregion::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketCancelSubregion: " + ret;
  }
  ret = CommandPacketEraseAllStoredStreams::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketEraseAllStoredStreams: " + ret;
  }
  ret = CommandPacketListStoredStreams::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketEraseAllStoredStreams: " + ret;
  }
  ret = CommandPacketEraseStoredStream::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketEraseStoredStream: " + ret;
  }
  ret = CommandPacketStreamTemperatures::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketStreamTemperatures: " + ret;
  }
  ret = CommandPacketCancelTemperatures::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketCancelTemperatures: " + ret;
  }
  ret = CommandPacketStreamPoses::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketStreamPoses: " + ret;
  }
  ret = CommandPacketCancelPoses::Test();
  if (ret.size() > 0) {
    return "Error testing CommandPacketCancelPoses: " + ret;
  }

  //-------------------------------------------------------------------
  // Tests for Message and its derived classes.
  ret = Message::Test();
  if (ret.size() > 0) {
    return "Error testing Message: " + ret;
  }
  ret = MessageDiscovery::Test();
  if (ret.size() > 0) {
    return "Error testing MessageDiscovery: " + ret;
  }
  ret = MessageState::Test();
  if (ret.size() > 0) {
    return "Error testing MessageState: " + ret;
  }
  ret = MessageEvent::Test();
  if (ret.size() > 0) {
    return "Error testing MessageEvent: " + ret;
  }
  ret = MessageConsolidatedFrameData::Test();
  if (ret.size() > 0) {
    return "Error testing MessageConsolidatedFrameData: " + ret;
  }
  ret = MessageStoredStreamList::Test();
  if (ret.size() > 0) {
    return "Error testing MessageStoredStreamList: " + ret;
  }
  ret = MessageTemperature::Test();
  if (ret.size() > 0) {
    return "Error testing MessageTemperature: " + ret;
  }
  ret = MessagePose::Test();
  if (ret.size() > 0) {
    return "Error testing MessagePose: " + ret;
  }

  //-------------------------------------------------------------------
  // Tests for Sender and Receiver subclasses.
  ret = ReceiverUDP::Test();
  if (ret.size() > 0) {
    return "Error testing Socket send/receive: " + ret;
  }
  ret = ReceiverFile::Test();
  if (ret.size() > 0) {
    return "Error testing File send/receive: " + ret;
  }
  ret = TCPListener::Test();
  if (ret.size() > 0) {
    return "Error testing TCP send/receive: " + ret;
  }

  //-------------------------------------------------------------------
  // Tests for StreamWriter and its derived classes.
  ret = StreamWriter::Test();
  if (ret.size() > 0) {
    return "Error testing StreamWriter: " + ret;
  }

  //-------------------------------------------------------------------
  // Test for JSON string sender and receiver.
  // We only need to test the receiver side of the JSON classes because the sender just
  // calls the receiver test.
  ret = asdp::JSONStringReceiver::Test();
  if (ret.size() > 0) {
    return "Error testing JSONStringReceiver/Sender: " + ret;
  }

  //-------------------------------------------------------------------
  // Tests for Core and its derived classes.
  ret = CoreClient::Test();
  if (ret.size() > 0) {
    return "Error testing Core classes: " + ret;
  }

  return "";
}

std::string asdp::SpinFreeQueue_Test()
{
  //-------------------------------------------------------------------
  // Single-threaded tests of basic queue function.
  {
    asdp::SpinFreeQueue<int> queue;
    if (queue.size() != 0) {
      return "Queue size is not zero: " + std::to_string(queue.size());
    }
    if (queue.size() != 0) {
      return "Queue is not empty";
    }
    queue.enqueue(1);
    if (queue.size() != 1) {
      return "Queue size is not one: " + std::to_string(queue.size());
    }
    int value;
    queue.dequeue(value, std::chrono::milliseconds(0));
    if (value != 1) {
      return "Popped value is not 1: " + std::to_string(value);
    }
    if (queue.size() != 0) {
      return "Queue size is not zero: " + std::to_string(queue.size());
    }
  }

  //-------------------------------------------------------------------
  // Multi-threaded tests of basic queue function along with waiting for
  // the queue to be empty enough for another enqueue to be done.
  {
    SpinFreeQueue<int> queue;
    std::atomic<bool> broken(false);
    std::thread producer([&queue, &broken]() {
      for (int i = 0; i < 1000; i++) {
        if (queue.awaitEmpty(0, std::chrono::milliseconds(1000))) {
          queue.enqueue(i);
        } else {
          broken = true;
          return;
        }
      }
    });
    std::thread consumer([&queue, &broken]() {
      for (int i = 0; i < 1000; i++) {
        int value;
        queue.dequeue(value, std::chrono::milliseconds(1000));
        if (value != i) {
          broken = true;
          return;
        }
      }
    });
    producer.join();
    consumer.join();
    if (broken) {
      return "Multithreaded queue/dequeue failed";
    }
  }

  return "";
}

static void TimerTestThread(SpinFreeAccurateTimer<int>& timer, std::shared_ptr< SpinFreeQueue<int> > queue,
  std::shared_ptr<std::string> ret)
{
  int element = 0;
  auto start = std::chrono::steady_clock::now();
  timer.AddEntry(start + std::chrono::milliseconds(400), element, queue);
  timer.AddEntry(start + std::chrono::milliseconds(100), element, queue);
  timer.AddEntry(start + std::chrono::milliseconds(200), element, queue);
  timer.AddEntry(start + std::chrono::milliseconds(300), element, queue);
  std::chrono::steady_clock::duration diff;
  for (size_t i = 0; i < 4; i++) {
    int value;
    if (!queue->dequeue(value, std::chrono::milliseconds(1000))) {
      *ret = "Could not dequeue value";
      return;
    }
    auto end = std::chrono::steady_clock::now();
    diff = end - start;
    if ((diff < std::chrono::milliseconds(100 * (i + 1))) ||
        (diff > std::chrono::milliseconds(100 * (i + 1)) + std::chrono::microseconds(200))) {
      *ret = "Time out of range for delay " + std::to_string(100 * (i+1));
      return;
    }
  }
  if (diff > std::chrono::milliseconds(401)) {
    *ret = "Time delay too large";
    return;
  }
  *ret = "";
  return;
}

std::string asdp::SpinFreeAccurateTimer_Test()
{
  //-------------------------------------------------------------------
  // Single-threaded tests of basic timer function.
  {
    asdp::SpinFreeAccurateTimer<int> timer;
    int element = 0;
    std::shared_ptr< SpinFreeQueue<int> > queue(new SpinFreeQueue<int>());
    auto start = std::chrono::steady_clock::now();
    timer.AddEntry(start + std::chrono::milliseconds(400), element, queue);
    timer.AddEntry(start + std::chrono::milliseconds(100), element, queue);
    timer.AddEntry(start + std::chrono::milliseconds(200), element, queue);
    timer.AddEntry(start + std::chrono::milliseconds(300), element, queue);
    std::chrono::steady_clock::duration diff;
    for (size_t i = 0; i < 4; i++) {
      int value;
      if (!queue->dequeue(value, std::chrono::milliseconds(1000))) {
        return "Queue did not empty in time";
      }
      auto end = std::chrono::steady_clock::now();
      diff = end - start;
      if ((diff < std::chrono::milliseconds(100 * (i + 1))) ||
        (diff > std::chrono::milliseconds(100 * (i + 1)) + std::chrono::microseconds(200))) {
        return "Timer fired at the wrong time: " + std::to_string(std::chrono::duration_cast<std::chrono::microseconds>(diff).count() / 1e3);
      }
    }
    if (diff > std::chrono::milliseconds(401)) {
      return "Timer fired too late: " + std::to_string(std::chrono::duration_cast<std::chrono::milliseconds>(diff).count());
    }
  }

  //-------------------------------------------------------------------
  // Multi-threaded tests of basic timer function.
  {
    SpinFreeAccurateTimer<int> timer;
    std::vector< std::shared_ptr< SpinFreeQueue<int> > > queues;
    std::vector< std::shared_ptr<std::string> > rets;
    std::vector< std::thread > threads;
    for (size_t i = 0; i < 10; i++) {
      std::shared_ptr<SpinFreeQueue<int> > queue(new SpinFreeQueue<int>);
      std::shared_ptr<std::string> ret = std::make_shared<std::string>();
      queues.push_back(queue);
      rets.push_back(ret);
      threads.push_back(std::thread(TimerTestThread, std::ref(timer), queue, ret));
    }
    for (auto& thread : threads) {
      thread.join();
    }
    for (auto ret : rets) {
      if (!ret->empty()) {
        return "Timer test thread failed: " + *ret;
      }
    }
  }

  return "";
}