jaus++/2.0/src/jaus/mobility/sensors/queryglobalpose.cpp

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#include "jaus/mobility/sensors/queryglobalpose.h"
#include "jaus/core/scaledinteger.h"
#include <cxutils/math/cxmath.h>

using namespace JAUS;


QueryGlobalPose::QueryGlobalPose(const Address& dest, const Address& src) : Message(QUERY_GLOBAL_POSE, dest, src)
{
    mPresenceVector = 0;
}


QueryGlobalPose::QueryGlobalPose(const QueryGlobalPose& message) : Message(QUERY_GLOBAL_POSE)
{
    *this = message;
}


QueryGlobalPose::~QueryGlobalPose()
{
}


int QueryGlobalPose::WriteMessageBody(Packet& packet) const
{
    int expected = USHORT_SIZE;
    int written = 0;

    written += packet.Write(mPresenceVector);

    return expected == written ? written : -1;
}


int QueryGlobalPose::ReadMessageBody(const Packet& packet)
{
    int expected = USHORT_SIZE;
    int read = 0;

    read += packet.Read(mPresenceVector);

    return expected == read ? read : -1;
}


void QueryGlobalPose::ClearMessageBody()
{
    mPresenceVector = 0;
}


int QueryGlobalPose::RunTestCase() const
{
    int result = 0;

    Packet packet;

    QueryGlobalPose msg1, msg2;
    msg1.SetPresenceVector(0xFFFF & GetPresenceVectorMask());

    if(msg1.WriteMessageBody(packet) != -1 &&
        msg2.ReadMessageBody(packet) != -1)
    {
        if(msg1.GetPresenceVector() == msg2.GetPresenceVector())
        {
            result = 1;
        }
    }

    return result;
}


QueryGlobalPose& QueryGlobalPose::operator=(const QueryGlobalPose& message)
{
    if(this != &message)
    {
        CopyHeaderData(&message);
        mPresenceVector = message.mPresenceVector;
    }
    return *this;
}


/*  End of File */