sbgEComBinaryLogUsbl.c

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#include "sbgEComBinaryLogUsbl.h"

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

SbgErrorCode sbgEComBinaryLogParseUsblData(SbgStreamBuffer *pInputStream, SbgLogUsblData *pOutputData)
{
        //
        // Check input arguments
        //
        SBG_ASSERT(pInputStream);
        SBG_ASSERT(pOutputData);

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

        pOutputData->latitude                   = sbgStreamBufferReadDoubleLE(pInputStream);
        pOutputData->longitude                  = sbgStreamBufferReadDoubleLE(pInputStream);

        pOutputData->depth                              = sbgStreamBufferReadFloatLE(pInputStream);

        pOutputData->latitudeAccuracy   = sbgStreamBufferReadFloatLE(pInputStream);
        pOutputData->longitudeAccuracy  = sbgStreamBufferReadFloatLE(pInputStream);
        pOutputData->depthAccuracy              = sbgStreamBufferReadFloatLE(pInputStream);

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

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

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

        sbgStreamBufferWriteDoubleLE(pOutputStream, pInputData->latitude);
        sbgStreamBufferWriteDoubleLE(pOutputStream, pInputData->longitude);

        sbgStreamBufferWriteFloatLE(pOutputStream, pInputData->depth);
        
        sbgStreamBufferWriteFloatLE(pOutputStream, pInputData->latitudeAccuracy);
        sbgStreamBufferWriteFloatLE(pOutputStream, pInputData->longitudeAccuracy);
        sbgStreamBufferWriteFloatLE(pOutputStream, pInputData->depthAccuracy);

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