src/messages/message_command.c

   1 /*
   2  * Copyright (c) 2018 Samsung Electronics Co., Ltd.
   3  *
   4  * Licensed under the Flora License, Version 1.1 (the License);
   5  * you may not use this file except in compliance with the License.
   6  * You may obtain a copy of the License at
   7  *
   8  * http://floralicense.org/license/
   9  *
  10  * Unless required by applicable law or agreed to in writing, software
  11  * distributed under the License is distributed on an AS IS BASIS,
  12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  13  * See the License for the specific language governing permissions and
  14  * limitations under the License.
  15  */
  16
  17 #ifndef MESSAGE_COMMAND_C
  18 #define MESSAGE_COMMAND_C
  19
  20 #include <string.h>
  21
  22 #include "messages/message_command.h"
  23 #include "messages/macros.h"
  24
  25 static int _message_command_serialze_vcall(message_t *msg, writer_t *writer)
  26 {
  27         message_command_t *command_msg = container_of(msg, message_command_t, base);
  28         return message_command_serialize(command_msg, writer);
  29 }
  30
  31 static int _message_command_deserialize_vcall(message_t *msg, reader_t *reader)
  32 {
  33         message_command_t *command_msg = container_of(msg, message_command_t, base);
  34         return message_command_deserialize(command_msg, reader);
  35 }
  36
  37 static void _message_command_destroy_vcall(message_t *msg)
  38 {
  39         message_command_t *command_msg = container_of(msg, message_command_t, base);
  40         message_command_destroy(command_msg);
  41 }
  42
  43 void message_command_init(message_command_t *message)
  44 {
  45         message_base_init(&message->base);
  46
  47         message_set_type(&message->base, MESSAGE_COMMAND);
  48
  49         message->base.vtable.serialize = _message_command_serialze_vcall;
  50         message->base.vtable.deserialize = _message_command_deserialize_vcall;
  51         message->base.vtable.destroy = _message_command_destroy_vcall;
  52
  53         memset(&message->command, 0x0, sizeof(command_s));
  54 }
  55
  56 void message_command_destroy(message_command_t *message)
  57 {
  58         message_base_destroy(&message->base);
  59 }
  60
  61 static int _camera_command_deserialize(command_s *cmd, reader_t *reader)
  62 {
  63         int32_t speed, dir;
  64         int err = 0;
  65
  66         err |= reader_read_int32(reader, &speed);
  67         err |= reader_read_int32(reader, &dir);
  68
  69         if (err) return err;
  70
  71         cmd->data.steering.speed = speed;
  72         cmd->data.steering.direction = dir;
  73
  74         return 0;
  75 }
  76
  77 static int _drive_command_deserialize(command_s *cmd, reader_t *reader)
  78 {
  79         int32_t elevation, azimuth;
  80         int err = 0;
  81
  82         err |= reader_read_int32(reader, &elevation);
  83         err |= reader_read_int32(reader, &azimuth);
  84
  85         if (err) return err;
  86
  87         cmd->data.camera_position.camera_elevation = elevation;
  88         cmd->data.camera_position.camera_azimuth = azimuth;
  89
  90         return 0;
  91 }
  92
  93 static int _command_deserialize(command_s *cmd, reader_t *reader)
  94 {
  95         int32_t type;
  96
  97         if (reader_read_int32(reader, &type)) {
  98                 return -1;
  99         }
 100
 101         cmd->type = type;
 102
 103         switch (type) {
 104                 case COMMAND_TYPE_DRIVE:
 105                         return _drive_command_deserialize(cmd, reader);
 106                 case COMMAND_TYPE_CAMERA:
 107                         return _camera_command_deserialize(cmd, reader);
 108                         break;
 109                 case COMMAND_TYPE_NONE:
 110                         return 0;
 111                 default:
 112                         return -1;
 113         }
 114 }
 115
 116 static int _camera_command_serialize(command_s *cmd, writer_t *writer)
 117 {
 118         int32_t speed = cmd->data.steering.speed;
 119         int32_t dir = cmd->data.steering.direction;
 120         int err = 0;
 121
 122         err |= writer_write_int32(writer, speed);
 123         err |= writer_write_int32(writer, dir);
 124
 125         return err;
 126 }
 127
 128 static int _drive_command_serialize(command_s *cmd, writer_t *writer)
 129 {
 130         int32_t elevation = cmd->data.camera_position.camera_elevation;
 131         int32_t azimuth = cmd->data.camera_position.camera_azimuth;
 132         int err = 0;
 133
 134         err |= writer_write_int32(writer, elevation);
 135         err |= writer_write_int32(writer, azimuth);
 136
 137         return err;
 138 }
 139
 140 static int _command_serialize(command_s *cmd, writer_t *writer)
 141 {
 142         int32_t type = cmd->type;
 143
 144         if (writer_write_int32(writer, type)) {
 145                 return -1;
 146         }
 147
 148         switch (cmd->type) {
 149                 case COMMAND_TYPE_DRIVE:
 150                         return _drive_command_serialize(cmd, writer);
 151                 case COMMAND_TYPE_CAMERA:
 152                         return _camera_command_serialize(cmd, writer);
 153                         break;
 154                 case COMMAND_TYPE_NONE:
 155                         return 0;
 156                 default:
 157                         return -1;
 158         }
 159 }
 160
 161 int message_command_deserialize(message_command_t *message, reader_t *reader)
 162 {
 163         int err = 0;
 164
 165         err |= message_base_deserialize(&message->base, reader);
 166         err |= _command_deserialize(&message->command, reader);
 167
 168         return err;
 169 }
 170
 171 int message_command_serialize(message_command_t *message, writer_t *writer)
 172 {
 173         int err = 0;
 174
 175         err |= message_base_serialize(&message->base, writer);
 176         err |= _command_serialize(&message->command, writer);
 177
 178         return err;
 179 }
 180
 181 const command_s *message_command_get_command(message_command_t *message)
 182 {
 183         return &message->command;
 184 }
 185
 186 void message_command_set_command(message_command_t *message, const command_s *cmd)
 187 {
 188         memcpy(&message->command, cmd, sizeof(command_s));
 189 }
 190
 191 #endif /* end of include guard: MESSAGE_COMMAND_C */