/***************************************************************************** * Copyright (c) 2008, University of Florida * All rights reserved. * * This file is part of OpenJAUS. OpenJAUS is distributed under the BSD * license. See the LICENSE file for details. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of the University of Florida nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ****************************************************************************/ // File Name: reportRelativeObjectPositionMessage.h // // Written By: Danny Kent (jaus AT dannykent DOT com), Tom Galluzzo // // Version: 3.3.0a // // Date: 08/07/08 // // Description: This file defines the attributes of a ReportRelativeObjectPositionMessage #ifndef REPORT_RELATIVE_OBJECT_POSITION_MESSAGE_H #define REPORT_RELATIVE_OBJECT_POSITION_MESSAGE_H #include "jaus.h" #ifndef JAUS_RELATIVE_OBJECT_POSITION_PV #define JAUS_RELATIVE_OBJECT_POSITION_PV #define JAUS_RELATIVE_OBJECT_POSITION_PV_RANGE_BIT 0 #define JAUS_RELATIVE_OBJECT_POSITION_PV_RANGE_ERROR_BIT 1 #define JAUS_RELATIVE_OBJECT_POSITION_PV_BEARING_BIT 2 #define JAUS_RELATIVE_OBJECT_POSITION_PV_BEARING_ERROR_BIT 3 #define JAUS_RELATIVE_OBJECT_POSITION_PV_INCLINATION_BIT 4 #define JAUS_RELATIVE_OBJECT_POSITION_PV_INCLINATION_ERROR_BIT 5 #define JAUS_RELATIVE_OBJECT_POSITION_PV_CONFIDENCE_BIT 6 #define JAUS_RELATIVE_OBJECT_POSITION_PV_OBJECT_ID_BIT 6 #endif typedef struct { // Include all parameters from a JausMessage structure: // Header Properties struct { // Properties by bit fields #ifdef JAUS_BIG_ENDIAN JausUnsignedShort reserved:2; JausUnsignedShort version:6; JausUnsignedShort expFlag:1; JausUnsignedShort scFlag:1; JausUnsignedShort ackNak:2; JausUnsignedShort priority:4; #elif JAUS_LITTLE_ENDIAN JausUnsignedShort priority:4; JausUnsignedShort ackNak:2; JausUnsignedShort scFlag:1; JausUnsignedShort expFlag:1; JausUnsignedShort version:6; JausUnsignedShort reserved:2; #else #error "Please define system endianess (see jaus.h)" #endif }properties; JausUnsignedShort commandCode; JausAddress destination; JausAddress source; JausUnsignedInteger dataSize; JausUnsignedInteger dataFlag; JausUnsignedShort sequenceNumber; // MESSAGE DATA MEMBERS GO HERE JausByte presenceVector; JausTime time; JausDouble rangeMeters; // Scaled Int (-10,000, 10,000) JausDouble rangeErrorMeters; // Scaled UInt (0, 1000) JausDouble bearingRadians; // Scaled Int (-JAUS_PI, JAUS_PI) JausDouble bearingErrorRadians; // Scaled UInt (0, JAUS_PI) JausDouble inclinationRadians; // Scaled Int (-JAUS_PI, JAUS_PI) JausDouble inclinationErrorRadians; // Scaled UInt (0, JAUS_PI) JausByte confidence; JausUnsignedShort objectId; }ReportRelativeObjectPositionMessageStruct; typedef ReportRelativeObjectPositionMessageStruct* ReportRelativeObjectPositionMessage; JAUS_EXPORT ReportRelativeObjectPositionMessage reportRelativeObjectPositionMessageCreate(void); JAUS_EXPORT void reportRelativeObjectPositionMessageDestroy(ReportRelativeObjectPositionMessage); JAUS_EXPORT JausBoolean reportRelativeObjectPositionMessageFromBuffer(ReportRelativeObjectPositionMessage message, unsigned char* buffer, unsigned int bufferSizeBytes); JAUS_EXPORT JausBoolean reportRelativeObjectPositionMessageToBuffer(ReportRelativeObjectPositionMessage message, unsigned char *buffer, unsigned int bufferSizeBytes); JAUS_EXPORT ReportRelativeObjectPositionMessage reportRelativeObjectPositionMessageFromJausMessage(JausMessage jausMessage); JAUS_EXPORT JausMessage reportRelativeObjectPositionMessageToJausMessage(ReportRelativeObjectPositionMessage message); JAUS_EXPORT unsigned int reportRelativeObjectPositionMessageSize(ReportRelativeObjectPositionMessage message); #endif // REPORT_RELATIVE_OBJECT_POSITION_MESSAGE_H