sbgEComBinaryLogDvl.c

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#include "sbgEComBinaryLogDvl.h"

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

SbgErrorCode sbgEComBinaryLogParseDvlData(SbgStreamBuffer *pInputStream, SbgLogDvlData *pOutputData)
{
        //
        // Check input arguments
        //
        SBG_ASSERT(pInputStream);
        SBG_ASSERT(pOutputData);

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

        pOutputData->velocity[0]                = sbgStreamBufferReadFloatLE(pInputStream);
        pOutputData->velocity[1]                = sbgStreamBufferReadFloatLE(pInputStream);
        pOutputData->velocity[2]                = sbgStreamBufferReadFloatLE(pInputStream);

        pOutputData->velocityStdDev[0]  = sbgStreamBufferReadFloatLE(pInputStream);
        pOutputData->velocityStdDev[1]  = sbgStreamBufferReadFloatLE(pInputStream);
        pOutputData->velocityStdDev[2]  = sbgStreamBufferReadFloatLE(pInputStream);

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

SbgErrorCode sbgEComBinaryLogWriteDvlData(SbgStreamBuffer *pOutputStream, const SbgLogDvlData *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[0]);
        sbgStreamBufferWriteFloatLE(pOutputStream, pInputData->velocity[1]);
        sbgStreamBufferWriteFloatLE(pOutputStream, pInputData->velocity[2]);

        sbgStreamBufferWriteFloatLE(pOutputStream, pInputData->velocityStdDev[0]);
        sbgStreamBufferWriteFloatLE(pOutputStream, pInputData->velocityStdDev[1]);
        sbgStreamBufferWriteFloatLE(pOutputStream, pInputData->velocityStdDev[2]);

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