setCameraPoseMessage.c

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 *  This file is part of OpenJAUS.  OpenJAUS is distributed under the BSD 
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// File Name: setCameraPoseMessage.c
//
// Written By: Danny Kent (jaus AT dannykent DOT com), Tom Galluzzo (galluzzo AT gmail DOT com)
//
// Version: 3.3.0a
//
// Date: 08/07/08
//
// Description: This file defines the functionality of a SetCameraPoseMessage

#include <stdlib.h>
#include <string.h>
#include "jaus.h"

static const int commandCode = JAUS_SET_CAMERA_POSE;
static const int maxDataSizeBytes = 15;

static JausBoolean headerFromBuffer(SetCameraPoseMessage message, unsigned char *buffer, unsigned int bufferSizeBytes);
static JausBoolean headerToBuffer(SetCameraPoseMessage message, unsigned char *buffer, unsigned int bufferSizeBytes);

static JausBoolean dataFromBuffer(SetCameraPoseMessage message, unsigned char *buffer, unsigned int bufferSizeBytes);
static int dataToBuffer(SetCameraPoseMessage message, unsigned char *buffer, unsigned int bufferSizeBytes);
static void dataInitialize(SetCameraPoseMessage message);
static void dataDestroy(SetCameraPoseMessage message);
static unsigned int dataSize(SetCameraPoseMessage message);

// ************************************************************************************************************** //
//                                    USER CONFIGURED FUNCTIONS
// ************************************************************************************************************** //

// Initializes the message-specific fields
static void dataInitialize(SetCameraPoseMessage message)
{
	// Set initial values of message fields
	message->presenceVector = newJausByte(JAUS_BYTE_PRESENCE_VECTOR_ALL_ON);
	message->cameraID = newJausByte(0);
	message->xLinearMode = POSITION_MODE;
	message->yLinearMode = POSITION_MODE;
	message->zLinearMode = POSITION_MODE;
	message->xAngularMode = POSITION_MODE;
	message->yAngularMode = POSITION_MODE;
	message->zAngularMode = POSITION_MODE;
	message->xLinearPositionOrRatePercent = newJausDouble(0); // Scaled Short (-100, 100)
	message->yLinearPositionOrRatePercent = newJausDouble(0); // Scaled Short (-100, 100)
	message->zLinearPositionOrRatePercent = newJausDouble(0); // Scaled Short (-100, 100)
	message->xAngularPositionOrRatePercent = newJausDouble(0); // Scaled Short (-100, 100)
	message->yAngularPositionOrRatePercent = newJausDouble(0); // Scaled Short (-100, 100)
	message->zAngularPositionOrRatePercent = newJausDouble(0); // Scaled Short (-100, 100)
}

// Destructs the message-specific fields
static void dataDestroy(SetCameraPoseMessage message)
{
	// Free message fields
}

// Return boolean of success
static JausBoolean dataFromBuffer(SetCameraPoseMessage message, unsigned char *buffer, unsigned int bufferSizeBytes)
{
	int index = 0;
	JausShort tempShort = 0;
	JausByte tempByte = 0;

	if(bufferSizeBytes == message->dataSize)
	{
		// Unpack Message Fields from Buffer
		// Unpack according to presence vector
		if(!jausByteFromBuffer(&message->presenceVector, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
		index += JAUS_BYTE_SIZE_BYTES;
		
		//cameraID
		if(!jausByteFromBuffer(&message->cameraID, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
		index += JAUS_BYTE_SIZE_BYTES;

		//modeIndicator	
		if(!jausByteFromBuffer(&tempByte, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
		index += JAUS_BYTE_SIZE_BYTES;

		// Setup our local members
		message->xLinearMode = jausByteIsBitSet(tempByte, JAUS_CAMERA_POSE_MODE_BF_X_LINEAR_BIT)? RATE_MODE : POSITION_MODE;
		message->yLinearMode = jausByteIsBitSet(tempByte, JAUS_CAMERA_POSE_MODE_BF_Y_LINEAR_BIT)? RATE_MODE : POSITION_MODE;
		message->zLinearMode = jausByteIsBitSet(tempByte, JAUS_CAMERA_POSE_MODE_BF_Z_LINEAR_BIT)? RATE_MODE : POSITION_MODE;
		message->xAngularMode = jausByteIsBitSet(tempByte, JAUS_CAMERA_POSE_MODE_BF_X_ANGULAR_BIT)? RATE_MODE : POSITION_MODE;
		message->yAngularMode = jausByteIsBitSet(tempByte, JAUS_CAMERA_POSE_MODE_BF_Y_ANGULAR_BIT)? RATE_MODE : POSITION_MODE;
		message->zAngularMode = jausByteIsBitSet(tempByte, JAUS_CAMERA_POSE_MODE_BF_Z_ANGULAR_BIT)? RATE_MODE : POSITION_MODE;

		//xLinearPositionOrRatePercent
		if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_X_LINEAR_BIT))
		{
			//unpack
			if(!jausShortFromBuffer(&tempShort, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
			index += JAUS_SHORT_SIZE_BYTES;
			
			// Scaled Short (-100, 100)
			message->xLinearPositionOrRatePercent = jausShortToDouble(tempShort, -100, 100);
		}

		//yLinearPositionOrRatePercent
		if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_Y_LINEAR_BIT))
		{
			//unpack
			if(!jausShortFromBuffer(&tempShort, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
			index += JAUS_SHORT_SIZE_BYTES;
			
			// Scaled Short (-100, 100)
			message->yLinearPositionOrRatePercent = jausShortToDouble(tempShort, -100, 100);
		}

		//zLinearPositionOrRatePercent
		if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_Z_LINEAR_BIT))
		{
			//unpack
			if(!jausShortFromBuffer(&tempShort, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
			index += JAUS_SHORT_SIZE_BYTES;
			
			// Scaled Short (-100, 100)
			message->zLinearPositionOrRatePercent = jausShortToDouble(tempShort, -100, 100);
		}
		
		//xAngularPositionOrRatePercent
		if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_X_ANGULAR_BIT))
		{
			//unpack
			if(!jausShortFromBuffer(&tempShort, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
			index += JAUS_SHORT_SIZE_BYTES;
			
			// Scaled Short (-100, 100)
			message->xAngularPositionOrRatePercent = jausShortToDouble(tempShort, -100, 100);
		}

		//yAngularPositionOrRatePercent
		if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_Y_ANGULAR_BIT))
		{
			//unpack
			if(!jausShortFromBuffer(&tempShort, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
			index += JAUS_SHORT_SIZE_BYTES;
			
			// Scaled Short (-100, 100)
			message->yAngularPositionOrRatePercent = jausShortToDouble(tempShort, -100, 100);
		}

		//zAngularPositionOrRatePercent
		if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_Z_ANGULAR_BIT))
		{
			//unpack
			if(!jausShortFromBuffer(&tempShort, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
			index += JAUS_SHORT_SIZE_BYTES;
			
			// Scaled Short (-100, 100)
			message->zAngularPositionOrRatePercent = jausShortToDouble(tempShort, -100, 100);
		}
		
		return JAUS_TRUE;
	}
	else
	{
		return JAUS_FALSE;
	}
}

// Returns number of bytes put into the buffer
static int dataToBuffer(SetCameraPoseMessage message, unsigned char *buffer, unsigned int bufferSizeBytes)
{
	int index = 0;
	JausShort tempShort = 0;
	JausByte tempByte = 0;

	if(bufferSizeBytes >= dataSize(message))
	{
		// Pack Message Fields to Buffer
		// Pack according to presence vector
		if(!jausByteToBuffer(message->presenceVector, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
		index += JAUS_BYTE_SIZE_BYTES;
		
		//cameraID
		if(!jausByteToBuffer(message->cameraID, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
		index += JAUS_BYTE_SIZE_BYTES;

		//modeIndicator
		tempByte = 0;
		if(message->xLinearMode) jausByteSetBit(&tempByte, JAUS_CAMERA_POSE_MODE_BF_X_LINEAR_BIT);
		if(message->yLinearMode) jausByteSetBit(&tempByte, JAUS_CAMERA_POSE_MODE_BF_Y_LINEAR_BIT);
		if(message->zLinearMode) jausByteSetBit(&tempByte, JAUS_CAMERA_POSE_MODE_BF_Z_LINEAR_BIT);
		if(message->xAngularMode) jausByteSetBit(&tempByte, JAUS_CAMERA_POSE_MODE_BF_X_ANGULAR_BIT);
		if(message->yAngularMode) jausByteSetBit(&tempByte, JAUS_CAMERA_POSE_MODE_BF_Y_ANGULAR_BIT);
		if(message->zAngularMode) jausByteSetBit(&tempByte, JAUS_CAMERA_POSE_MODE_BF_Z_ANGULAR_BIT);

		//pack
		if(!jausByteToBuffer(tempByte, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
		index += JAUS_BYTE_SIZE_BYTES;
		
		//xLinearPositionOrRatePercent
		if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_X_LINEAR_BIT))
		{
			// Scaled Short (-100, 100)
			tempShort = jausShortFromDouble(message->xLinearPositionOrRatePercent, -100, 100);

			//Pack
			if(!jausShortToBuffer(tempShort, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
			index += JAUS_SHORT_SIZE_BYTES;
		}

		//yLinearPositionOrRatePercent
		if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_Y_LINEAR_BIT))
		{
			// Scaled Short (-100, 100)
			tempShort = jausShortFromDouble(message->yLinearPositionOrRatePercent, -100, 100);

			//pack
			if(!jausShortToBuffer(tempShort, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
			index += JAUS_SHORT_SIZE_BYTES;
		}

		//zLinearPositionOrRatePercent
		if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_Z_LINEAR_BIT))
		{
			// Scaled Short (-100, 100)
			tempShort = jausShortFromDouble(message->zLinearPositionOrRatePercent, -100, 100);

			//pack
			if(!jausShortToBuffer(tempShort, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
			index += JAUS_SHORT_SIZE_BYTES;
		}
		
		//xAngularPositionOrRatePercent
		if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_X_ANGULAR_BIT))
		{
			// Scaled Short (-100, 100)
			tempShort = jausShortFromDouble(message->xAngularPositionOrRatePercent, -100, 100);

			//pack
			if(!jausShortToBuffer(tempShort, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
			index += JAUS_SHORT_SIZE_BYTES;
		}

		//yAngularPositionOrRatePercent
		if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_Y_ANGULAR_BIT))
		{
			// Scaled Short (-100, 100)
			tempShort = jausShortFromDouble(message->yAngularPositionOrRatePercent, -100, 100);

			//pack
			if(!jausShortToBuffer(tempShort, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
			index += JAUS_SHORT_SIZE_BYTES;
		}

		//zAngularPositionOrRatePercent
		if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_Z_ANGULAR_BIT))
		{
			// Scaled Short (-100, 100)
			tempShort = jausShortFromDouble(message->zAngularPositionOrRatePercent, -100, 100);

			//pack
			if(!jausShortToBuffer(tempShort, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
			index += JAUS_SHORT_SIZE_BYTES;
		}
	}

	return index;
}

// Returns number of bytes put into the buffer
static unsigned int dataSize(SetCameraPoseMessage message)
{
	int index = 0;

	// presence vector
	index += JAUS_BYTE_SIZE_BYTES;
	
	//cameraID
	index += JAUS_BYTE_SIZE_BYTES;

	//modeIndicator
	index += JAUS_BYTE_SIZE_BYTES;
	
	//xLinearPositionOrRatePercent
	if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_X_LINEAR_BIT))
	{
		index += JAUS_SHORT_SIZE_BYTES;
	}

	//yLinearPositionOrRatePercent
	if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_Y_LINEAR_BIT))
	{
		index += JAUS_SHORT_SIZE_BYTES;
	}

	//zLinearPositionOrRatePercent
	if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_Z_LINEAR_BIT))
	{
		index += JAUS_SHORT_SIZE_BYTES;
	}
	
	//xAngularPositionOrRatePercent
	if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_X_ANGULAR_BIT))
	{
		index += JAUS_SHORT_SIZE_BYTES;
	}

	//yAngularPositionOrRatePercent
	if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_Y_ANGULAR_BIT))
	{
		index += JAUS_SHORT_SIZE_BYTES;
	}

	//zAngularPositionOrRatePercent
	if(jausByteIsBitSet(message->presenceVector, JAUS_CAMERA_POSE_PV_Z_ANGULAR_BIT))
	{
		index += JAUS_SHORT_SIZE_BYTES;
	}
		
	return index;
}

// ************************************************************************************************************** //
//                                    NON-USER CONFIGURED FUNCTIONS
// ************************************************************************************************************** //

SetCameraPoseMessage setCameraPoseMessageCreate(void)
{
	SetCameraPoseMessage message;

	message = (SetCameraPoseMessage)malloc( sizeof(SetCameraPoseMessageStruct) );
	if(message == NULL)
	{
		return NULL;
	}
	
	// Initialize Values
	message->properties.priority = JAUS_DEFAULT_PRIORITY;
	message->properties.ackNak = JAUS_ACK_NAK_NOT_REQUIRED;
	message->properties.scFlag = JAUS_NOT_SERVICE_CONNECTION_MESSAGE;
	message->properties.expFlag = JAUS_NOT_EXPERIMENTAL_MESSAGE;
	message->properties.version = JAUS_VERSION_3_3;
	message->properties.reserved = 0;
	message->commandCode = commandCode;
	message->destination = jausAddressCreate();
	message->source = jausAddressCreate();
	message->dataFlag = JAUS_SINGLE_DATA_PACKET;
	message->dataSize = maxDataSizeBytes;
	message->sequenceNumber = 0;
	
	dataInitialize(message);
	message->dataSize = dataSize(message);
	
	return message;	
}

void setCameraPoseMessageDestroy(SetCameraPoseMessage message)
{
	dataDestroy(message);
	jausAddressDestroy(message->source);
	jausAddressDestroy(message->destination);
	free(message);
}

JausBoolean setCameraPoseMessageFromBuffer(SetCameraPoseMessage message, unsigned char* buffer, unsigned int bufferSizeBytes)
{
	int index = 0;
	
	if(headerFromBuffer(message, buffer+index, bufferSizeBytes-index))
	{
		index += JAUS_HEADER_SIZE_BYTES;
		if(dataFromBuffer(message, buffer+index, bufferSizeBytes-index))
		{
			return JAUS_TRUE;
		}
		else
		{
			return JAUS_FALSE;
		}
	}
	else
	{
		return JAUS_FALSE;
	}
}

JausBoolean setCameraPoseMessageToBuffer(SetCameraPoseMessage message, unsigned char *buffer, unsigned int bufferSizeBytes)
{
	if(bufferSizeBytes < setCameraPoseMessageSize(message))
	{
		return JAUS_FALSE; //improper size	
	}
	else
	{	
		message->dataSize = dataToBuffer(message, buffer+JAUS_HEADER_SIZE_BYTES, bufferSizeBytes - JAUS_HEADER_SIZE_BYTES);
		if(headerToBuffer(message, buffer, bufferSizeBytes))
		{
			return JAUS_TRUE;
		}
		else
		{
			return JAUS_FALSE; // headerToSetCameraPoseBuffer failed
		}
	}
}

SetCameraPoseMessage setCameraPoseMessageFromJausMessage(JausMessage jausMessage)
{
	SetCameraPoseMessage message;
	
	if(jausMessage->commandCode != commandCode)
	{
		return NULL; // Wrong message type
	}
	else
	{
		message = (SetCameraPoseMessage)malloc( sizeof(SetCameraPoseMessageStruct) );
		if(message == NULL)
		{
			return NULL;
		}
		
		message->properties.priority = jausMessage->properties.priority;
		message->properties.ackNak = jausMessage->properties.ackNak;
		message->properties.scFlag = jausMessage->properties.scFlag;
		message->properties.expFlag = jausMessage->properties.expFlag;
		message->properties.version = jausMessage->properties.version;
		message->properties.reserved = jausMessage->properties.reserved;
		message->commandCode = jausMessage->commandCode;
		message->destination = jausAddressCreate();
		*message->destination = *jausMessage->destination;
		message->source = jausAddressCreate();
		*message->source = *jausMessage->source;
		message->dataSize = jausMessage->dataSize;
		message->dataFlag = jausMessage->dataFlag;
		message->sequenceNumber = jausMessage->sequenceNumber;
		
		// Unpack jausMessage->data
		if(dataFromBuffer(message, jausMessage->data, jausMessage->dataSize))
		{
			return message;
		}
		else
		{
			return NULL;
		}
	}
}

JausMessage setCameraPoseMessageToJausMessage(SetCameraPoseMessage message)
{
	JausMessage jausMessage;
	
	jausMessage = (JausMessage)malloc( sizeof(struct JausMessageStruct) );
	if(jausMessage == NULL)
	{
		return NULL;
	}	
	
	jausMessage->properties.priority = message->properties.priority;
	jausMessage->properties.ackNak = message->properties.ackNak;
	jausMessage->properties.scFlag = message->properties.scFlag;
	jausMessage->properties.expFlag = message->properties.expFlag;
	jausMessage->properties.version = message->properties.version;
	jausMessage->properties.reserved = message->properties.reserved;
	jausMessage->commandCode = message->commandCode;
	jausMessage->destination = jausAddressCreate();
	*jausMessage->destination = *message->destination;
	jausMessage->source = jausAddressCreate();
	*jausMessage->source = *message->source;
	jausMessage->dataSize = dataSize(message);
	jausMessage->dataFlag = message->dataFlag;
	jausMessage->sequenceNumber = message->sequenceNumber;
	
	jausMessage->data = (unsigned char *)malloc(jausMessage->dataSize);
	jausMessage->dataSize = dataToBuffer(message, jausMessage->data, jausMessage->dataSize);
	
	return jausMessage;
}

unsigned int setCameraPoseMessageSize(SetCameraPoseMessage message)
{
	return (unsigned int)(dataSize(message) + JAUS_HEADER_SIZE_BYTES);
}

//********************* PRIVATE HEADER FUNCTIONS **********************//

static JausBoolean headerFromBuffer(SetCameraPoseMessage message, unsigned char *buffer, unsigned int bufferSizeBytes)
{
	if(bufferSizeBytes < JAUS_HEADER_SIZE_BYTES)
	{
		return JAUS_FALSE;
	}
	else
	{
		// unpack header
		message->properties.priority = (buffer[0] & 0x0F);
		message->properties.ackNak	 = ((buffer[0] >> 4) & 0x03);
		message->properties.scFlag	 = ((buffer[0] >> 6) & 0x01);
		message->properties.expFlag	 = ((buffer[0] >> 7) & 0x01);
		message->properties.version	 = (buffer[1] & 0x3F);
		message->properties.reserved = ((buffer[1] >> 6) & 0x03);
		
		message->commandCode = buffer[2] + (buffer[3] << 8);
	
		message->destination->instance = buffer[4];
		message->destination->component = buffer[5];
		message->destination->node = buffer[6];
		message->destination->subsystem = buffer[7];
	
		message->source->instance = buffer[8];
		message->source->component = buffer[9];
		message->source->node = buffer[10];
		message->source->subsystem = buffer[11];
		
		message->dataSize = buffer[12] + ((buffer[13] & 0x0F) << 8);

		message->dataFlag = ((buffer[13] >> 4) & 0x0F);

		message->sequenceNumber = buffer[14] + (buffer[15] << 8);
		
		return JAUS_TRUE;
	}
}

static JausBoolean headerToBuffer(SetCameraPoseMessage message, unsigned char *buffer, unsigned int bufferSizeBytes)
{
	JausUnsignedShort *propertiesPtr = (JausUnsignedShort*)&message->properties;
	
	if(bufferSizeBytes < JAUS_HEADER_SIZE_BYTES)
	{
		return JAUS_FALSE;
	}
	else
	{	
		buffer[0] = (unsigned char)(*propertiesPtr & 0xFF);
		buffer[1] = (unsigned char)((*propertiesPtr & 0xFF00) >> 8);

		buffer[2] = (unsigned char)(message->commandCode & 0xFF);
		buffer[3] = (unsigned char)((message->commandCode & 0xFF00) >> 8);

		buffer[4] = (unsigned char)(message->destination->instance & 0xFF);
		buffer[5] = (unsigned char)(message->destination->component & 0xFF);
		buffer[6] = (unsigned char)(message->destination->node & 0xFF);
		buffer[7] = (unsigned char)(message->destination->subsystem & 0xFF);

		buffer[8] = (unsigned char)(message->source->instance & 0xFF);
		buffer[9] = (unsigned char)(message->source->component & 0xFF);
		buffer[10] = (unsigned char)(message->source->node & 0xFF);
		buffer[11] = (unsigned char)(message->source->subsystem & 0xFF);
		
		buffer[12] = (unsigned char)(message->dataSize & 0xFF);
		buffer[13] = (unsigned char)((message->dataFlag & 0xFF) << 4) | (unsigned char)((message->dataSize & 0x0F00) >> 8);

		buffer[14] = (unsigned char)(message->sequenceNumber & 0xFF);
		buffer[15] = (unsigned char)((message->sequenceNumber & 0xFF00) >> 8);
		
		return JAUS_TRUE;
	}
}