sbgEComBinaryLogOdometer.c

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#include "sbgEComBinaryLogOdometer.h"

//----------------------------------------------------------------------//
//- Operations                                                         -//
//----------------------------------------------------------------------//

SbgErrorCode sbgEComBinaryLogParseOdometerData(SbgStreamBuffer *pInputStream, SbgLogOdometerData *pOutputData)
{
        //
        // Check input arguments
        //
        SBG_ASSERT(pInputStream);
        SBG_ASSERT(pOutputData);

        //
        // Read the frame payload
        //
        pOutputData->timeStamp  = sbgStreamBufferReadUint32LE(pInputStream);
        pOutputData->status             = sbgStreamBufferReadUint16LE(pInputStream);

        pOutputData->velocity   = sbgStreamBufferReadFloatLE(pInputStream);

        //
        // Return if any error has occurred while parsing the frame
        //
        return sbgStreamBufferGetLastError(pInputStream);
}

SbgErrorCode sbgEComBinaryLogWriteOdometerData(SbgStreamBuffer *pOutputStream, const SbgLogOdometerData *pInputData)
{
        //
        // Check input arguments
        //
        SBG_ASSERT(pOutputStream);
        SBG_ASSERT(pInputData);

        //
        // Write the frame payload
        //
        sbgStreamBufferWriteUint32LE(pOutputStream, pInputData->timeStamp);
        sbgStreamBufferWriteUint16LE(pOutputStream, pInputData->status);

        sbgStreamBufferWriteFloatLE(pOutputStream, pInputData->velocity);

        //
        // Return if any error has occurred while writing the frame
        //
        return sbgStreamBufferGetLastError(pOutputStream);
}