jaus++/2.0/src/jaus/mobility/drivers/settravelspeed.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/mobility/drivers/settravelspeed.h" 00041 #include "jaus/core/scaledinteger.h" 00042 #include <cxutils/math/cxmath.h> 00043 #include <iomanip> 00044 00045 const double JAUS::SetTravelSpeed::Limits::MinSpeed = 0.0; 00046 const double JAUS::SetTravelSpeed::Limits::MaxSpeed = 327.67; 00047 00048 using namespace JAUS; 00049 00050 00059 SetTravelSpeed::SetTravelSpeed(const Address& dest, const Address& src) : Message(SET_TRAVEL_SPEED, dest, src) 00060 { 00061 mSpeed = 0; 00062 } 00063 00064 00070 SetTravelSpeed::SetTravelSpeed(const SetTravelSpeed& message) : Message(SET_TRAVEL_SPEED) 00071 { 00072 *this = message; 00073 } 00074 00075 00081 SetTravelSpeed::~SetTravelSpeed() 00082 { 00083 } 00084 00085 00095 bool SetTravelSpeed::SetSpeed(const double value) 00096 { 00097 if(value >= Limits::MinSpeed && value <= Limits::MaxSpeed) 00098 { 00099 mSpeed = value; 00100 return true; 00101 } 00102 return false; 00103 } 00104 00105 00117 int SetTravelSpeed::WriteMessageBody(Packet& packet) const 00118 { 00119 int expected = USHORT_SIZE; 00120 int written = 0; 00121 00122 written += ScaledInteger::Write(packet, mSpeed, Limits::MaxSpeed, Limits::MinSpeed, ScaledInteger::UShort); 00123 00124 return expected == written ? written : -1; 00125 } 00126 00127 00139 int SetTravelSpeed::ReadMessageBody(const Packet& packet) 00140 { 00141 int expected = USHORT_SIZE; 00142 int read = 0; 00143 00144 read += ScaledInteger::Read(packet, mSpeed, Limits::MaxSpeed, Limits::MinSpeed, ScaledInteger::UShort); 00145 00146 return expected == read ? read : -1; 00147 } 00148 00149 00155 void SetTravelSpeed::ClearMessageBody() 00156 { 00157 mSpeed = 0; 00158 } 00159 00160 00166 void SetTravelSpeed::PrintMessageBody() const 00167 { 00168 std::cout << "Meter/Sec: [" << std::fixed << std::setprecision(2) << mSpeed << "]" << std::endl; 00169 } 00170 00171 00179 int SetTravelSpeed::RunTestCase() const 00180 { 00181 int result = 0; 00182 00183 Packet packet; 00184 SetTravelSpeed msg1, msg2; 00185 msg1.SetSpeed(30); 00186 00187 if(msg1.WriteMessageBody(packet)) 00188 { 00189 msg2.ClearMessage(); 00190 if(msg2.ReadMessageBody(packet)) 00191 { 00192 if(msg1.GetSpeed()- msg2.GetSpeed() <= 0.001) 00193 { 00194 result = 1; 00195 } 00196 } 00197 } 00198 00199 return result; 00200 } 00201 00202 00208 SetTravelSpeed& SetTravelSpeed::operator=(const SetTravelSpeed& message) 00209 { 00210 if(this != &message) 00211 { 00212 CopyHeaderData(&message); 00213 mSpeed = message.mSpeed; 00214 } 00215 return *this; 00216 } 00217 00218 00219 /* End of File */
