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/** <pre>
* The SDK is used to create and format CIGI compliant messages.
* Copyright (c) 2001-2005 The Boeing Company
*
* This library is free software; you can redistribute it and/or modify it
* under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation; either version 2.1 of the License, or (at
* your option) any later version.
*
* This library is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser Public License for more
* details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
* FILENAME: CigiRateCtrlV1.cpp
* LANGUAGE: C++
* CLASS: UNCLASSIFIED
* PROJECT: Common Image Generator Interface (CIGI) SDK
*
* PROGRAM DESCRIPTION:
* ...
*
* MODIFICATION NOTES:
* DATE NAME SCR NUMBER
* DESCRIPTION OF CHANGE........................
*
* 09/17/2003 Greg Basler CIGI_CR_DR_1
* Initial Release.
*
* 01/21/2005 Greg Basler Version 1.5
* Defined _EXPORT_CCL_ for exporting the class in a Windows DLL.
*
* 01/21/2005 Greg Basler Version 1.5
* Removed the inline defnitions for the PackedPointer union.
*
* 04/14/2006 Greg Basler Version 1.7.0
* Modified the class constructor to initialize the MinorVersion and
* CoordSys member variables.
*
* 04/14/2006 Greg Basler Version 1.7.0
* Modified the Unpack method to set the CoordSys member variable.
*
* 06/23/2006 Greg Basler Version 1.7.1
* Changed native char and unsigned char types to CIGI types Cigi_int8 and
* Cigi_uint8.
* </pre>
* Author: The Boeing Company
*
*/
#define _EXPORT_CCL_
#include "CigiRateCtrlV1.h"
#include "CigiSwapping.h"
#include "CigiExceptions.h"
#include <string.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
// ====================================================================
// ================================================
// CigiRateCtrlV1
// vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
CigiRateCtrlV1::CigiRateCtrlV1()
{
PacketID = CIGI_RATE_CTRL_PACKET_ID_V1;
PacketSize = CIGI_RATE_CTRL_PACKET_SIZE_V1;
Version = 1;
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;
}
// ================================================
// ~CigiRateCtrlV1
// vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
CigiRateCtrlV1::~CigiRateCtrlV1()
{
}
// ====================================================================
// Pack and Unpack
// ====================================================================
// ================================================
// Pack
// vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
int CigiRateCtrlV1::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_V1);
return(PacketSize);
}
// ================================================
// Unpack
// vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
int CigiRateCtrlV1::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_V1);
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 CigiRateCtrlV1::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);
}
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