src/marnav/seatalk/message_00.cpp

   1 #include "message_00.hpp"
   2
   3 namespace marnav
   4 {
   5 namespace seatalk
   6 {
   7
   8 message_00::message_00()
   9         : message(ID)
  10         , anchor_alarm_active(false)
  11         , metric_display_units(false)
  12         , transducer_defective(false)
  13         , depth_alarm_active(false)
  14         , shallow_depth_alarm_active(false)
  15         , depth(0)
  16 {
  17 }
  18
  19 std::unique_ptr<message> message_00::parse(const raw & data)
  20 {
  21         if (data.size() != 5)
  22                 throw std::invalid_argument{"invalid number of bytes in message_00::parse"};
  23         if (data[1] != 0x02)
  24                 throw std::invalid_argument{"invalid size specified in message"};
  25
  26         std::unique_ptr<message> result = utils::make_unique<message_00>();
  27         message_00 & msg = static_cast<message_00 &>(*result);
  28
  29         const uint8_t flags = data[2];
  30         msg.anchor_alarm_active = (flags & 0x80) != 0;
  31         msg.metric_display_units = (flags & 0x40) != 0;
  32         msg.transducer_defective = (flags & 0x04) != 0;
  33         msg.depth_alarm_active = (flags & 0x02) != 0;
  34         msg.shallow_depth_alarm_active = (flags & 0x01) != 0;
  35
  36         msg.depth = 0;
  37         msg.depth += data[4];
  38         msg.depth <<= 8;
  39         msg.depth += data[3];
  40
  41         return result;
  42 }
  43
  44 raw message_00::get_data() const
  45 {
  46         uint8_t flags = 0;
  47
  48         flags |= anchor_alarm_active ? 0x80 : 0x00;
  49         flags |= metric_display_units ? 0x40 : 0x00;
  50         flags |= transducer_defective ? 0x04 : 0x00;
  51         flags |= depth_alarm_active ? 0x02 : 0x00;
  52         flags |= shallow_depth_alarm_active ? 0x01 : 0x00;
  53
  54         return raw{static_cast<uint8_t>(ID), 0x02, flags, static_cast<uint8_t>((depth >> 0) & 0xff),
  55                 static_cast<uint8_t>((depth >> 8) & 0xff)};
  56 }
  57
  58 double message_00::get_depth_meters() const noexcept
  59 {
  60         if (transducer_defective)
  61                 return 0.0;
  62         return (static_cast<double>(depth) / 10.0) * 3.2808;
  63 }
  64
  65 }
  66 }