protocols/motecontrol/MsgRequest.cc

   1 #include "protocols/motecontrol/MsgRequest.h"
   2
   3 namespace remote { namespace protocols { namespace motecontrol {
   4
   5 MsgRequest::MsgRequest(uint8_t command) : command(command), flashImage()
   6 {
   7
   8 }
   9
  10 MsgRequest::MsgRequest(uint8_t*& buffer, uint32_t& buflen) : flashImage()
  11 {
  12         buffer=this->read(buffer,buflen);
  13 }
  14
  15 MsgRequest::~MsgRequest()
  16 {}
  17
  18 void MsgRequest::operator = (const MsgRequest& o)
  19 {
  20         command = o.command;
  21         flashImage = o.flashImage;
  22 }
  23
  24 uint32_t MsgRequest::getLength()
  25 {
  26         uint32_t length = sizeof(command);
  27
  28
  29         if (command == MOTECOMMAND_PROGRAM)
  30         {
  31                 length += flashImage.getLength();
  32         }
  33         return length;
  34 }
  35
  36 uint8_t* MsgRequest::write(uint8_t* buffer, uint32_t& buflen)
  37 {
  38         buffer = writevalue(command,buffer,buflen);
  39         if (command == MOTECOMMAND_PROGRAM)
  40         {
  41                 buffer = flashImage.write(buffer,buflen);
  42         }
  43         return buffer;
  44 }
  45
  46 void MsgRequest::print(FILE* s)
  47 {
  48         fprintf(s,"MESSAGE MsgRequest\n");
  49         fprintf(s,"command: ");
  50         switch(command)
  51         {
  52                 case MOTECOMMAND_PROGRAM:
  53                         fprintf(s,"MOTECOMMAND_PROGRAM\n");
  54                         fprintf(s,"flashImage: ");
  55                         flashImage.print(s);
  56                         break;
  57                 case MOTECOMMAND_STATUS:
  58                         fprintf(s,"MOTECOMMAND_STATUS\n");
  59                         break;
  60                 case MOTECOMMAND_RESET:
  61                         fprintf(s,"MOTECOMMAND_RESET\n");
  62                         break;
  63                 case MOTECOMMAND_STOP:
  64                         fprintf(s,"MOTECOMMAND_STOP\n");
  65                         break;
  66                 case MOTECOMMAND_START:
  67                         fprintf(s,"MOTECOMMAND_START\n");
  68                         break;
  69                 case MOTECOMMAND_CANCELPROGRAMMING:
  70                         fprintf(s,"MOTECOMMAND_CANCELPROGRAMMING\n");
  71                         break;
  72                 default:
  73                         fprintf(s,"Invalid command!\n");
  74                         break;
  75         }
  76 }
  77
  78 uint8_t* MsgRequest::read(uint8_t* buffer, uint32_t& buflen)
  79 {
  80         buffer = readvalue(command,buffer,buflen);
  81         if (command == MOTECOMMAND_PROGRAM)
  82         {
  83                 buffer = flashImage.read(buffer,buflen);
  84         }
  85         return buffer;
  86 }
  87
  88 uint8_t MsgRequest::getCommand()
  89 {
  90         return command;
  91 }
  92
  93 MsgPayload& MsgRequest::getFlashImage()
  94 {
  95         if ( command != MOTECOMMAND_PROGRAM )
  96                 __THROW__ ("Cannot get flash image when command is not MOTE_PROGRAM!");
  97         return flashImage;
  98 }
  99
 100 }}}