CigiRateCtrlV2.cpp

Go to the documentation of this file.

#define _EXPORT_CCL_

#include "CigiRateCtrlV2.h"
#include "CigiSwapping.h"
#include "CigiExceptions.h"

#include <memory.h>


#ifdef CIGI_LITTLE_ENDIAN
   #define CIGI_SCOPY2 CigiSwap2
   #define CIGI_SCOPY4 CigiSwap4
   #define CIGI_SCOPY8 CigiSwap8
#else
   #define CIGI_SCOPY2 CigiCopy2
   #define CIGI_SCOPY4 CigiCopy4
   #define CIGI_SCOPY8 CigiCopy8
#endif




// ====================================================================
// Construction/Destruction
// ====================================================================


// ================================================
// CigiRateCtrlV2
// vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
CigiRateCtrlV2::CigiRateCtrlV2()
{

   PacketID = CIGI_RATE_CTRL_PACKET_ID_V2;
   PacketSize = CIGI_RATE_CTRL_PACKET_SIZE_V2;
   Version = 2;
   MinorVersion = 0;

   EntityID = 0;
   ArtPartIDV1 = 0;
   ArtPartIDV3 = 0;
   ApplyToArtPart = false;
   CoordSys = Local;
   XRate = 0.0;
   YRate = 0.0;
   ZRate = 0.0;
   RollRate = 0.0;
   PitchRate = 0.0;
   YawRate = 0.0;

}

// ================================================
// ~CigiRateCtrlV2
// vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
CigiRateCtrlV2::~CigiRateCtrlV2()
{

}

// ====================================================================
// Pack and Unpack
// ====================================================================

// ================================================
// Pack
// vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
int CigiRateCtrlV2::Pack(CigiBasePacket * Base, Cigi_uint8 * Buff, void *Spec) const
{
   double DBuf[6];

   Cigi_uint8 *tBuf = (Cigi_uint8 *)DBuf;

   PackPointer CDta;

   CigiBaseRateCtrl * Data = ( CigiBaseRateCtrl *)Base;

   CDta.d = DBuf;

   *CDta.c++ = PacketID;
   *CDta.c++ = PacketSize;

   CIGI_SCOPY2(CDta.s++, &Data->EntityID);
   *CDta.c++ = Data->ArtPartIDV1;

   *CDta.c++ = 0;
   *CDta.s++ = 0;

   CIGI_SCOPY4(CDta.f++, &Data->XRate);
   CIGI_SCOPY4(CDta.f++, &Data->YRate);
   CIGI_SCOPY4(CDta.f++, &Data->ZRate);
   CIGI_SCOPY4(CDta.f++, &Data->RollRate);
   CIGI_SCOPY4(CDta.f++, &Data->PitchRate);
   CIGI_SCOPY4(CDta.f++, &Data->YawRate);

   memcpy(Buff,tBuf,CIGI_RATE_CTRL_PACKET_SIZE_V2);

   return(PacketSize);

}

// ================================================
// Unpack
// vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
int CigiRateCtrlV2::Unpack(Cigi_uint8 * Buff, bool Swap, void *Spec)
{
   double DBuf[6];

   Cigi_uint8 *tBuf = (Cigi_uint8 *)DBuf;

   union ArtPartConv
   {
      Cigi_uint8 uc;
      Cigi_int8 c;
   } ArtC;

   PackPointer CDta;

   memcpy(tBuf,Buff,CIGI_RATE_CTRL_PACKET_SIZE_V2);

   CDta.d = DBuf;

   CDta.c += 2;  // Step over packet id and size

   CIGI_SCOPY2(&EntityID, CDta.s++);
   ArtPartIDV1 = *CDta.c++;

   CDta.c += 3;

   CIGI_SCOPY4(&XRate, CDta.f++);
   CIGI_SCOPY4(&YRate, CDta.f++);
   CIGI_SCOPY4(&ZRate, CDta.f++);
   CIGI_SCOPY4(&RollRate, CDta.f++);
   CIGI_SCOPY4(&PitchRate, CDta.f++);
   CIGI_SCOPY4(&YawRate, CDta.f++);

   if(ArtPartIDV1 == -1)
   {

      ApplyToArtPart = false;

      ArtPartIDV3 = 0;

   }
   else
   {

      ApplyToArtPart = true;

      ArtC.c = ArtPartIDV1;
      ArtPartIDV3 = ArtC.uc;
      

   }

   CoordSys = Local;

   return(PacketSize);

}



// ====================================================================
// Accessors
// ====================================================================


// ================================================
// SetArtPartID
// vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
int CigiRateCtrlV2::SetArtPartID(const Cigi_int8 ArtPartIDIn, bool bndchk)
{
   union ArtPartConv
   {
      Cigi_uint8 uc;
      Cigi_int8 c;
   } ArtC;

   ArtPartIDV1 = ArtPartIDIn;

   if(ArtPartIDV1 == -1)
   {

      ApplyToArtPart = false;

      ArtPartIDV3 = 0;

   }
   else
   {

      ApplyToArtPart = true;

      ArtC.c = ArtPartIDV1;
      ArtPartIDV3 = ArtC.uc;
      

   }

   return(CIGI_SUCCESS);
}

---