src/marnav/seatalk/message_00.cpp

   1 #include <marnav/seatalk/message_00.hpp>
   2 #include <cmath>
   3
   4 namespace marnav::seatalk
   5 {
   6
   7 message_00::message_00()
   8         : message(ID)
   9 {
  10 }
  11
  12 std::unique_ptr<message> message_00::parse(const raw & data)
  13 {
  14         check_size(data, SIZE);
  15
  16         std::unique_ptr<message> result = std::make_unique<message_00>();
  17         auto & msg = static_cast<message_00 &>(*result);
  18
  19         const uint8_t flags = data[2];
  20         msg.anchor_alarm_active_ = (flags & 0x80) != 0;
  21         msg.metric_display_units_ = (flags & 0x40) != 0;
  22         msg.transducer_defective_ = (flags & 0x04) != 0;
  23         msg.depth_alarm_active_ = (flags & 0x02) != 0;
  24         msg.shallow_depth_alarm_active_ = (flags & 0x01) != 0;
  25
  26         msg.depth_ = 0;
  27         msg.depth_ += data[4];
  28         msg.depth_ <<= 8;
  29         msg.depth_ += data[3];
  30
  31         return result;
  32 }
  33
  34 raw message_00::get_data() const
  35 {
  36         uint8_t flags = 0;
  37
  38         flags |= anchor_alarm_active_ ? 0x80 : 0x00;
  39         flags |= metric_display_units_ ? 0x40 : 0x00;
  40         flags |= transducer_defective_ ? 0x04 : 0x00;
  41         flags |= depth_alarm_active_ ? 0x02 : 0x00;
  42         flags |= shallow_depth_alarm_active_ ? 0x01 : 0x00;
  43
  44         return raw{static_cast<uint8_t>(ID), 0x02, flags,
  45                 static_cast<uint8_t>((depth_ >> 0) & 0xff), static_cast<uint8_t>((depth_ >> 8) & 0xff)};
  46 }
  47
  48 double message_00::get_depth_meters() const noexcept
  49 {
  50         if (transducer_defective_)
  51                 return 0.0;
  52         return (static_cast<double>(depth_) / 10.0) / 3.2808;
  53 }
  54
  55 void message_00::set_depth_meters(double t) noexcept
  56 {
  57         if (t <= 0.0) {
  58                 depth_ = 0;
  59         } else {
  60                 depth_ = static_cast<uint16_t>(std::round(10.0 * (t * 3.2808)));
  61         }
  62 }
  63 }