sbgEComBinaryLogs.c

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#include "sbgEComBinaryLogs.h"
#include <streamBuffer/sbgStreamBuffer.h>

//----------------------------------------------------------------------//
//- Communication protocol operations                                  -//
//----------------------------------------------------------------------//

SbgErrorCode sbgEComBinaryLogParse(SbgEComClass msgClass, SbgEComMsgId msg, const void *pPayload, size_t payloadSize, SbgBinaryLogData *pOutputData)
{
        SbgErrorCode            errorCode = SBG_NO_ERROR;
        SbgStreamBuffer         inputStream;

        assert(pPayload);
        assert(payloadSize > 0);
        assert(pOutputData);

        //
        // Handle the different classes of messages differently
        //
        if (msgClass == SBG_ECOM_CLASS_LOG_ECOM_0)
        {
                //
                // Create an input stream buffer that points to the frame payload so we can easily parse it's content
                //
                sbgStreamBufferInitForRead(&inputStream, pPayload, payloadSize);

                //
                // Parse the incoming log according to its type
                //
                switch (msg)
                {
                case SBG_ECOM_LOG_STATUS:
                        errorCode = sbgEComBinaryLogParseStatusData(&inputStream, &pOutputData->statusData);
                        break;
                case SBG_ECOM_LOG_IMU_DATA:
                        errorCode = sbgEComBinaryLogParseImuData(&inputStream, &pOutputData->imuData);
                        break;
                case SBG_ECOM_LOG_IMU_SHORT:
                        errorCode = sbgEComBinaryLogParseImuShort(&inputStream, &pOutputData->imuShort);
                        break;
                case SBG_ECOM_LOG_EKF_EULER:
                        errorCode = sbgEComBinaryLogParseEkfEulerData(&inputStream, &pOutputData->ekfEulerData);
                        break;
                case SBG_ECOM_LOG_EKF_QUAT:
                        errorCode = sbgEComBinaryLogParseEkfQuatData(&inputStream, &pOutputData->ekfQuatData);
                        break;
                case SBG_ECOM_LOG_EKF_NAV:
                        errorCode = sbgEComBinaryLogParseEkfNavData(&inputStream, &pOutputData->ekfNavData);
                        break;
                case SBG_ECOM_LOG_SHIP_MOTION:
                case SBG_ECOM_LOG_SHIP_MOTION_HP:
                        errorCode = sbgEComBinaryLogParseShipMotionData(&inputStream, &pOutputData->shipMotionData);
                        break;
                case SBG_ECOM_LOG_ODO_VEL:
                        errorCode = sbgEComBinaryLogParseOdometerData(&inputStream, &pOutputData->odometerData);
                        break;
                case SBG_ECOM_LOG_UTC_TIME:
                        errorCode = sbgEComBinaryLogParseUtcData(&inputStream, &pOutputData->utcData);
                        break;
                case SBG_ECOM_LOG_GPS1_VEL:
                case SBG_ECOM_LOG_GPS2_VEL:
                        errorCode = sbgEComBinaryLogParseGpsVelData(&inputStream, &pOutputData->gpsVelData);
                        break;
                case SBG_ECOM_LOG_GPS1_POS:
                case SBG_ECOM_LOG_GPS2_POS:
                        errorCode = sbgEComBinaryLogParseGpsPosData(&inputStream, &pOutputData->gpsPosData);
                        break;
                case SBG_ECOM_LOG_GPS1_HDT:
                case SBG_ECOM_LOG_GPS2_HDT:
                        errorCode = sbgEComBinaryLogParseGpsHdtData(&inputStream, &pOutputData->gpsHdtData);
                        break;
                case SBG_ECOM_LOG_GPS1_RAW:
                case SBG_ECOM_LOG_GPS2_RAW:
                        errorCode = sbgEComBinaryLogParseGpsRawData(&inputStream, &pOutputData->gpsRawData);
                        break;
                case SBG_ECOM_LOG_MAG:
                        errorCode = sbgEComBinaryLogParseMagData(&inputStream, &pOutputData->magData);
                        break;
                case SBG_ECOM_LOG_MAG_CALIB:
                        errorCode = sbgEComBinaryLogParseMagCalibData(&inputStream, &pOutputData->magCalibData);
                        break;
                case SBG_ECOM_LOG_DVL_BOTTOM_TRACK:
                        errorCode = sbgEComBinaryLogParseDvlData(&inputStream, &pOutputData->dvlData);
                        break;
                case SBG_ECOM_LOG_DVL_WATER_TRACK:
                        errorCode = sbgEComBinaryLogParseDvlData(&inputStream, &pOutputData->dvlData);
                        break;
                case SBG_ECOM_LOG_AIR_DATA:
                        errorCode = sbgEComBinaryLogParseAirData(&inputStream, &pOutputData->airData);
                        break;
                case SBG_ECOM_LOG_USBL:
                        errorCode = sbgEComBinaryLogParseUsblData(&inputStream, &pOutputData->usblData);
                        break;
                case SBG_ECOM_LOG_DEPTH:
                        errorCode = sbgEComBinaryLogParseDepth(&inputStream, &pOutputData->depthData);
                        break;
                case SBG_ECOM_LOG_EVENT_A:
                case SBG_ECOM_LOG_EVENT_B:
                case SBG_ECOM_LOG_EVENT_C:
                case SBG_ECOM_LOG_EVENT_D:
                case SBG_ECOM_LOG_EVENT_E:
                case SBG_ECOM_LOG_EVENT_OUT_A:
                case SBG_ECOM_LOG_EVENT_OUT_B:
                        errorCode = sbgEComBinaryLogParseEvent(&inputStream, &pOutputData->eventMarker);
                        break;
                case SBG_ECOM_LOG_DEBUG_0:
                case SBG_ECOM_LOG_DEBUG_1:
                case SBG_ECOM_LOG_DEBUG_2:
                case SBG_ECOM_LOG_DEBUG_3:
                        errorCode = sbgEComBinaryLogParseDebugData(&inputStream, &pOutputData->debugData);
                        break;
                case SBG_ECOM_LOG_IMU_RAW_DATA:
                        errorCode = sbgEComBinaryLogParseImuRawData(&inputStream, &pOutputData->imuRawData);
                        break;
                case SBG_ECOM_LOG_DIAG:
                        errorCode = sbgEComBinaryLogParseDiagData(&inputStream, &pOutputData->diagData);
                        break;
                default:
                        //
                        // This log isn't handled
                        //
                        errorCode = SBG_ERROR;
                }
        }
        else if (msgClass == SBG_ECOM_CLASS_LOG_ECOM_1)
        {
                //
                // Create an input stream buffer that points to the frame payload so we can easily parse it's content
                //
                sbgStreamBufferInitForRead(&inputStream, pPayload, payloadSize);

                //
                // Parse the message depending on the message ID
                //
                switch ((SbgEComLog1)msg)
                {
                case SBG_ECOM_LOG_FAST_IMU_DATA:
                        //
                        // Parse this binary log
                        //
                        errorCode = sbgEComBinaryLogParseFastImuData(&inputStream, &pOutputData->fastImuData);
                        break;
                default:
                        //
                        // This log isn't handled
                        //
                        errorCode = SBG_ERROR;
                }
        }
        else
        {
                //
                // Un-handled message class
                //
                errorCode = SBG_ERROR;
        }

        return errorCode;
}