jaus++/2.0/src/jaus/mobility/drivers/queryvelocitycommand.cpp

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#include "jaus/mobility/drivers/queryvelocitycommand.h"
#include "jaus/core/scaledinteger.h"
#include <cxutils/math/cxmath.h>

using namespace JAUS;


QueryVelocityCommand::QueryVelocityCommand(const Address& dest, const Address& src) : Message(SET_VELOCITY_COMMAND, dest, src)
{
    mPresenceVector = 0;
    mCommandType = SetCurrentCommand;
}


QueryVelocityCommand::QueryVelocityCommand(const QueryVelocityCommand& message) : Message(SET_VELOCITY_COMMAND)
{
    *this = message;
}


QueryVelocityCommand::~QueryVelocityCommand()
{
}


int QueryVelocityCommand::WriteMessageBody(Packet& packet) const
{
    int expected = BYTE_SIZE;
    int written = 0;

    written += packet.Write(mPresenceVector);

    expected += BYTE_SIZE;
    written += packet.Write((Byte)mCommandType);

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


int QueryVelocityCommand::ReadMessageBody(const Packet& packet)
{
    int expected = BYTE_SIZE;
    int read = 0;

    read += packet.Read(mPresenceVector);

    expected += BYTE_SIZE;
    read += packet.Read((Byte &)mCommandType);

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


void QueryVelocityCommand::ClearMessageBody()
{
    mPresenceVector = 0;
    mCommandType = SetCurrentCommand;
}


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

    Packet packet;
    QueryVelocityCommand msg1, msg2;
    msg1.SetCommandType(SetDefaultCommand);
    msg1.SetPresenceVector(0xFF & GetPresenceVectorMask());

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

    return result;
}


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


/*  End of File */