skeletonMessage.c.tmpl

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// File Name: xXXXMessage.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 XxXxMessage

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

static const int commandCode = JAUS_XXXX;
static const int maxDataSizeBytes = 0;

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

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

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

// Initializes the message-specific fields
static void dataInitialize(XxXxMessage message)
{
	// Set initial values of message fields
	// Example from ReportGlobalPoseMessage.c
	// 
	//	message->presenceVector = newJausUnsignedShort(JAUS_SHORT_PRESENCE_VECTOR_ALL_ON);
	//	message->latitudeDegrees = newJausDouble(0);			// Scaled Int (-90, 90)
	//	message->longitudeDegrees = newJausDouble(0);			// Scaled Int (-180, 180)
	//	message->elevationMeters = newJausDouble(0);			// Scaled Int (-10000, 35000)
	//	message->positionRmsMeters = newJausDouble(0);			// Scaled UInt (0, 100)
	//	message->rollRadians = newJausDouble(0);				// Scaled Short (-JAUS_PI, JAUS_PI)
	//	message->pitchRadians = newJausDouble(0);				// Scaled Short (-JAUS_PI, JAUS_PI)
	//	message->yawRadians = newJausDouble(0);					// Scaled Short (-JAUS_PI, JAUS_PI)
	//	message->attitudeRmsRadians = newJausDouble(0);			// Scaled Short (0, JAUS_PI)
	//	message->timeStamp = newJausUnsignedInteger(0);

}

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

// Return boolean of success
static JausBoolean dataFromBuffer(XxXxMessage message, unsigned char *buffer, unsigned int bufferSizeBytes)
{
	int index = 0;
	
	if(bufferSizeBytes == message->dataSize)
	{
		// Unpack Message Fields from Buffer
		
		// Couple Examples from ReportGlobalPoseMessage
		//
		//	if(!jausUnsignedShortFromBuffer(&message->presenceVector, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
		//	index += JAUS_UNSIGNED_SHORT_SIZE_BYTES;
		//
		//	if(jausUnsignedShortIsBitSet(message->presenceVector, JAUS_POSE_PV_LATITUDE_BIT))
		//	{
		//		//unpack
		//		if(!jausIntegerFromBuffer(&tempInt, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
		//		index += JAUS_INTEGER_SIZE_BYTES;
		//		// Scaled Int (-90, 90)			
		//		message->latitudeDegrees = jausIntegerToDouble(tempInt, -90, 90);
		//	}
	

		return JAUS_TRUE;
	}
	else
	{
		return JAUS_FALSE;
	}
}

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

	if(bufferSizeBytes >= dataSize(message))
	{
		// Pack Message Fields to Buffer
		
		// Couple Examples from ReportGlobalPoseMessage
		//
		//	if(!jausUnsignedShortToBuffer(message->presenceVector, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
		//	index += JAUS_UNSIGNED_SHORT_SIZE_BYTES;
		//	
		//	if(jausUnsignedShortIsBitSet(message->presenceVector, JAUS_POSE_PV_LATITUDE_BIT))
		//	{
		//		// Scaled Int (-90, 90)			
		//		tempInt = jausIntegerFromDouble(message->latitudeDegrees, -90, 90);
		//
		//		//pack
		//		if(!jausIntegerToBuffer(tempInt, buffer+index, bufferSizeBytes-index)) return JAUS_FALSE;
		//		index += JAUS_INTEGER_SIZE_BYTES;
		//	}
		
	}

	return index;
}

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

	// Couple Examples from ReportGlobalPoseMessage
	//
	//	// PresenceVector
	//	index += JAUS_UNSIGNED_SHORT_SIZE_BYTES;
	//	
	//	if(jausUnsignedShortIsBitSet(message->presenceVector, JAUS_POSE_PV_LATITUDE_BIT))
	//	{
	//		// Latitude
	//		index += JAUS_INTEGER_SIZE_BYTES;
	//	}
		
	return index;
}

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

XxXxMessage xXXXMessageCreate(void)
{
	XxXxMessage message;

	message = (XxXxMessage)malloc( sizeof(XxXxMessageStruct) );
	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 xXXXMessageDestroy(XxXxMessage message)
{
	dataDestroy(message);
	jausAddressDestroy(message->source);
	jausAddressDestroy(message->destination);
	free(message);
}

JausBoolean xXXXMessageFromBuffer(XxXxMessage 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 xXXXMessageToBuffer(XxXxMessage message, unsigned char *buffer, unsigned int bufferSizeBytes)
{
	if(bufferSizeBytes < xXXXMessageSize(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; // headerToXxXxBuffer failed
		}
	}
}

XxXxMessage xXXXMessageFromJausMessage(JausMessage jausMessage)
{
	XxXxMessage message;
	
	if(jausMessage->commandCode != commandCode)
	{
		return NULL; // Wrong message type
	}
	else
	{
		message = (XxXxMessage)malloc( sizeof(XxXxMessageStruct) );
		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 xXXXMessageToJausMessage(XxXxMessage message)
{
	JausMessage jausMessage;
	int size;
	
	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 xXXXMessageSize(XxXxMessage message)
{
	return (unsigned int)(dataSize(message) + JAUS_HEADER_SIZE_BYTES);
}

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

static JausBoolean headerFromBuffer(XxXxMessage 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(XxXxMessage 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;
	}
}