RG_Message.h

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//////////////////////////////////////////////////////////////////////////////
/*! \file RG_Message.h
 *  \brief Defines a sample message that can be sent over the network.
 *  \author     $Author: rsharo $
 *  \version $Revision: 1.1 $
 *  \date    $Date: 2003/12/17 22:43:54 $
*/////////////////////////////////////////////////////////////////////////////

#ifndef __RG_MESSAGE__
#define __RG_MESSAGE__

#include "ace/ACE.h"
#include <time.h>
#include "matrix/Matrix.h"

using O_SESSAME::Vector;

/*
 *  Rate Gyro message. Carries 3 rate gyro readings and a timestamp.
 */
struct RG_Message
{
/*
 * Constructors
 */
                RG_Message()
                {
                        m_rgReadings[0] = 0.0;
                        m_rgReadings[1] = 0.0;
                        m_rgReadings[2] = 0.0;

                        m_timestamp = ACE_OS::gettimeofday();
                }

                explicit RG_Message(const Vector & rgReadings)
                {
                        m_rgReadings[0] = rgReadings(1);
                        m_rgReadings[1] = rgReadings(2);
                        m_rgReadings[2] = rgReadings(3);

                        m_timestamp = ACE_OS::gettimeofday();
                }

                RG_Message(const Vector & rgReadings, const struct timeval &timestamp)
                {
                        m_rgReadings[0] = rgReadings(1);
                        m_rgReadings[1] = rgReadings(2);
                        m_rgReadings[2] = rgReadings(3);

                        memcpy(&m_timestamp, &timestamp, sizeof(m_timestamp));
                }

                RG_Message(double rg1, double rg2, double rg3)
                {
                        m_rgReadings[0] = rg1;
                        m_rgReadings[1] = rg2;
                        m_rgReadings[2] = rg3;

                        m_timestamp = ACE_OS::gettimeofday();
                }

                RG_Message(double rg1, double rg2, double rg3, const struct timeval &timestamp)
                {
                        m_rgReadings[0] = rg1;
                        m_rgReadings[1] = rg2;
                        m_rgReadings[2] = rg3;

                        memcpy(&m_timestamp, &timestamp, sizeof(m_timestamp));
                }

/*
 * Methods
 */
                void FillVector(Vector & v) const
                {
                                v(1) = m_rgReadings[0];
                                v(2) = m_rgReadings[1];
                                v(3) = m_rgReadings[2];
                }

                operator Vector () const
                {
                                Vector v(3);

                                this->FillVector(v);

                                return v;
                }

/*
 * Members
 */
public:
                struct timeval m_timestamp;
                double m_rgReadings[3];
};


/*
 * Output stream operator. Formats the object for display or output to a file.
 */
inline std::ostream & operator << (std::ostream & strm, const RG_Message & msg)
{
                char *timestr = ctime(&(msg.m_timestamp.tv_sec));
                timestr[strlen(timestr)-1] = '\0';

                strm << "{ " 
                                << timestr << ":  "
                                << msg.m_rgReadings[0] << ", "
                                << msg.m_rgReadings[1] << ", "
                                << msg.m_rgReadings[2] 
                         << " }" << std::endl;

                return strm;
}

#endif

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