jaus++/2.0/src/jaus/extras/rangesensor/reportrangesensorconfiguration.cpp
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00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 00018 00019 00020 00021 00022 00023 00024 00025 00026 00027 00028 00029 00030 00031 00032 00033 00034 00035 00036 00037 00038 00039 00040 #include "jaus/extras/rangesensor/reportrangesensorconfiguration.h" 00041 00042 using namespace JAUS; 00043 00055 int ReportRangeSensorConfiguration::WriteMessageBody(Packet& packet) const 00056 { 00057 int total = 0; 00058 int expected = BYTE_SIZE; 00059 00060 RangeSensorConfig::List::const_iterator config; 00061 00062 total += packet.Write((Byte)mConfiguration.size()); 00063 00064 for(config = mConfiguration.begin(); 00065 config != mConfiguration.end(); 00066 config++) 00067 { 00068 expected += BYTE_SIZE*2 + UINT_SIZE + LONG_FLOAT_SIZE*4 + (UInt)config->mName.size(); 00069 total += packet.WriteByte(config->mID); 00070 total += packet.Write( (UInt)config->mName.size() ); 00071 total += packet.Write( config->mName); 00072 total += packet.Write( config->mMaxRange ); 00073 total += packet.Write( config->mMinRange ); 00074 total += packet.Write( config->mAngleIncrement ); 00075 total += packet.Write( config->mScanAngle ); 00076 total += packet.WriteByte((Byte)config->mUnitType); 00077 } 00078 00079 return total == expected ? total : -1; 00080 } 00081 00082 00094 int ReportRangeSensorConfiguration::ReadMessageBody(const Packet& packet) 00095 { 00096 int total = 0; 00097 int expected = BYTE_SIZE; 00098 Byte size = 0; 00099 00100 total += packet.Read(size); 00101 00102 for(Byte i = 0; i < size; i++) 00103 { 00104 Byte bval = 0; 00105 UInt uval = 0; 00106 RangeSensorConfig config; 00107 00108 expected += BYTE_SIZE*2 + UINT_SIZE + LONG_FLOAT_SIZE*4; 00109 total += packet.Read(bval); 00110 config.mID = bval; 00111 total += packet.Read(uval); 00112 if(uval > 0) 00113 { 00114 total += packet.Read(config.mName, uval); 00115 expected += uval; 00116 } 00117 total += packet.Read(config.mMaxRange); 00118 total += packet.Read(config.mMinRange); 00119 total += packet.Read(config.mAngleIncrement); 00120 total += packet.Read(config.mScanAngle); 00121 /* 00122 total += packet.Read(uval); 00123 config.mMaxRange = uval/1000.0; 00124 total += packet.Read(uval); 00125 config.mMinRange = uval/1000.0; 00126 total += packet.Read(uval); 00127 config.mAngleIncrement = uval/1000.0; 00128 total += packet.Read(uval); 00129 config.mScanAngle = uval/1000.0; 00130 */ 00131 total += packet.Read(bval); 00132 config.mUnitType = (RangeSensorConfig::UnitType)bval; 00133 00134 mConfiguration.push_back(config); 00135 } 00136 00137 return total == expected ? total : -1; 00138 } 00139 00140 00147 bool ReportRangeSensorConfiguration::IsLargeDataSet(const unsigned int maxPayloadSize) const 00148 { 00149 unsigned int expected = BYTE_SIZE; 00150 00151 RangeSensorConfig::List::const_iterator config; 00152 00153 for(config = mConfiguration.begin(); 00154 config != mConfiguration.end(); 00155 config++) 00156 { 00157 expected += BYTE_SIZE*2 + UINT_SIZE*4; 00158 } 00159 00160 return expected > maxPayloadSize ? true : false; 00161 } 00162 00163 00164 /* End of File */
