JAUS++: jaus++/2.0/src/jaus/mobility/list/reportelement.cpp Source File

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00040 #include "jaus/mobility/list/reportelement.h"
00041 #include "jaus/mobility/drivers/setglobalwaypoint.h"
00042 
00043 using namespace JAUS;
00044 
00053 ReportElement::ReportElement(const Address& dest, const Address& src) : Message(REPORT_ELEMENT, dest, src)
00054 {
00055 }
00056 
00057 
00063 ReportElement::ReportElement(const ReportElement& message) : Message(REPORT_ELEMENT)
00064 {
00065     mElement.Clear();
00066     *this = message;
00067 }
00068 
00069 
00075 ReportElement::~ReportElement()
00076 {
00077 }
00078 
00079 
00089 bool ReportElement::SetElement(const JAUS::Element &element)
00090 {
00091     mElement = element;
00092     return true;
00093 }
00094 
00095 
00107 int ReportElement::WriteMessageBody(Packet& packet) const
00108 {
00109     int expected = USHORT_SIZE * 4;
00110     int written = 0;
00111 
00112     if(mElement.mpElement)
00113     {
00114         Packet* payload = ((Packet *)(&(mElement.mPayload)));
00115         payload->Clear();
00116         payload->Write(mElement.mpElement->GetMessageCode());
00117         mElement.mpElement->WriteMessageBody(*payload);            
00118         expected += mElement.mPayload.Size();
00119 
00120         written += packet.Write(mElement.mID);
00121         written += packet.Write(mElement.mPrevID);
00122         written += packet.Write(mElement.mNextID);
00123         written += packet.Write((UShort)(mElement.mPayload.Size()));      // Count field (USHORT).
00124         written += packet.Write(mElement.mPayload);
00125     }
00126 
00127     return expected == written ? written : -1;
00128 }
00129 
00130 
00142 int ReportElement::ReadMessageBody(const Packet& packet)
00143 {
00144     int expected = USHORT_SIZE * 4;
00145     int read = 0;
00146 
00147     UShort payloadSize = 0;
00148 
00149     read += packet.Read(mElement.mID);
00150     read += packet.Read(mElement.mPrevID);
00151     read += packet.Read(mElement.mNextID);
00152     read += packet.Read(payloadSize);
00153     expected += payloadSize;
00154     read += packet.Read(mElement.mPayload, payloadSize);
00155 
00156     return expected == read ? read : -1;
00157 }
00158 
00159 
00165 void ReportElement::ClearMessageBody()
00166 {
00167     mElement.Clear();
00168 }
00169 
00170 
00176 bool ReportElement::IsLargeDataSet(const unsigned int maxPayloadSize) const
00177 {
00178     int expected = USHORT_SIZE * 4;
00179 
00180     if(mElement.mpElement)
00181     {
00182         Packet* payload = ((Packet *)(&(mElement.mPayload)));
00183         payload->Clear();
00184         payload->Write(mElement.mpElement->GetMessageCode());
00185         mElement.mpElement->WriteMessageBody(*payload);            
00186         expected += mElement.mPayload.Size();
00187     }  
00188 
00189     return expected > (int)maxPayloadSize ? true : false;
00190 }
00191 
00192 
00200 int ReportElement::RunTestCase() const
00201 {
00202     int result = 0;
00203 
00204     Packet packet;
00205 
00206     ReportElement msg1, msg2;
00207     SetGlobalWaypoint msg3, msg4;
00208 
00209     Element element;
00210     msg3.SetLatitude(12.4);
00211     msg3.SetLongitude(34.3);
00212     msg3.SetAltitude(45.2);
00213     element.mID = 12;
00214     element.mNextID = 13;
00215     element.mPrevID = 11;
00216     element.mpElement = (Message*) msg3.Clone();
00217 
00218     msg1.SetElement(element);
00219 
00220     if((msg1.WriteMessageBody(packet) != -1) &&
00221         (msg2.ReadMessageBody(packet) != -1))
00222     {
00223         UShort msgcode;
00224         CxUtils::Packet packet;
00225 
00226         msg2.GetElement().mPayload.Read(msgcode);
00227         msg2.GetElement().mPayload.Read(packet, msg2.GetElement().mPayload.Size() - USHORT_SIZE, USHORT_SIZE);
00228 
00229         msg4.ReadMessageBody(packet);
00230 
00231         if((msg3.GetLatitude() - msg4.GetLatitude() < 0.0001) &&
00232            (msg3.GetLongitude() - msg4.GetLongitude() < 0.0001) &&
00233            (msg3.GetAltitude() - msg4.GetAltitude() < 0.0001))
00234         {
00235             result = 1;
00236         }
00237     }
00238 
00239     return result;
00240 }
00241 
00242 
00248 ReportElement& ReportElement::operator=(const ReportElement& message)
00249 {
00250     if(this != &message)
00251     {
00252         CopyHeaderData(&message);
00253         mElement = message.mElement;
00254     }
00255     return *this;
00256 }
00257 
00258 
00259 /*  End of File */