wiselib.testing/algorithms/localization/triangulation/triangulation_message.h

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/***************************************************************************
 ** This file is part of the generic algorithm library Wiselib.           **
 ** Copyright (C) 2008,2009 by the Wisebed (www.wisebed.eu) project.      **
 **                                                                       **
 ** The Wiselib is free software: you can redistribute it and/or modify   **
 ** it under the terms of the GNU Lesser General Public License as        **
 ** published by the Free Software Foundation, either version 3 of the    **
 ** License, or (at your option) any later version.                       **
 **                                                                       **
 ** The Wiselib is distributed in the hope that it will be useful,        **
 ** but WITHOUT ANY WARRANTY; without even the implied warranty of        **
 ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         **
 ** GNU Lesser General Public License for more details.                   **
 **                                                                       **
 ** You should have received a copy of the GNU Lesser General Public      **
 ** License along with the Wiselib.                                       **
 ** If not, see <http://www.gnu.org/licenses/>.                           **
 ***************************************************************************/
#ifndef __TRIANGULATION_MSG_H__
#define __TRIANGULATION_MSG_H__

#include "util/serialization/simple_types.h"

namespace wiselib
{

   template<typename OsModel_P,
            typename Radio_P,
            typename Arithmatic_P>
   class TriangulationMessage
   {
   public:
      typedef OsModel_P OsModel;
      typedef Radio_P Radio;
      typedef Arithmatic_P Arithmatic;
      typedef uint16_t seq_nr_t;
      typedef typename Radio::node_id_t node_id_t;
      typedef typename Radio::block_data_t block_data_t;
      typedef typename Radio::size_t size_t;
      typedef typename Radio::message_id_t message_id_t;

     // bool ack;
      node_id_t destination;

      // --------------------------------------------------------------------
      inline TriangulationMessage();
      // --------------------------------------------------------------------
      inline message_id_t msg_id()
      { return read<OsModel, block_data_t, message_id_t>( buffer ); };
      // --------------------------------------------------------------------
      inline void set_msg_id( message_id_t id )
      { write<OsModel, block_data_t, message_id_t>( buffer, id ); }
      // --------------------------------------------------------------------
      inline node_id_t node_id()
      { return read<OsModel, block_data_t, node_id_t>(buffer + NODE_ID_POS); }
      // --------------------------------------------------------------------
      inline void set_node_id( node_id_t id )
      { write<OsModel, block_data_t, node_id_t>(buffer + NODE_ID_POS, id); }
      // --------------------------------------------------------------------
      inline seq_nr_t seq_nr()
      { return read<OsModel, block_data_t, seq_nr_t>(buffer + SEQ_NR_POS); }
      // --------------------------------------------------------------------
      inline void set_seq_nr( seq_nr_t seq )
      { write<OsModel, block_data_t, seq_nr_t>(buffer + SEQ_NR_POS, seq); }
      // --------------------------------------------------------------------

      inline void set_trust(int t)
      { write<OsModel, block_data_t, int>(buffer + TRUST_POS, t); }

      inline int trust()
      { return read<OsModel, block_data_t, int>(buffer + TRUST_POS); }

      inline void set_result(int t)
       { write<OsModel, block_data_t, int>(buffer + RESULT_POS, t); }

       inline int result()
       { return read<OsModel, block_data_t, int>(buffer + RESULT_POS); }

       inline void set_id(node_id_t t)
       { write<OsModel, block_data_t, node_id_t>(buffer + ID_POS, t); }

       inline node_id_t id()
       { return read<OsModel, block_data_t, node_id_t>(buffer + ID_POS); }


      // --------------------------------------------------------------------
            inline Arithmatic distance()
            { return read<OsModel, block_data_t, Arithmatic>(buffer + DISTANCE_POS); }
            // --------------------------------------------------------------------
            inline void set_distance( Arithmatic dist )
            { write<OsModel, block_data_t, Arithmatic>(buffer + DISTANCE_POS, dist); }

      inline size_t payload_size()
      { return read<OsModel, block_data_t, size_t>(buffer + PAYLOAD_POS); }
      // --------------------------------------------------------------------
      inline block_data_t* payload()
      { return buffer + PAYLOAD_POS + sizeof(size_t); }
      // --------------------------------------------------------------------
      inline void set_payload( size_t len, block_data_t *buf )
      {
         write<OsModel, block_data_t, size_t>(buffer + PAYLOAD_POS, len);
         memcpy( buffer + PAYLOAD_POS + sizeof(size_t), buf, len);
      }
      // --------------------------------------------------------------------
      inline size_t buffer_size()
      { return PAYLOAD_POS + sizeof(size_t) + payload_size(); }

   private:
      enum data_positions
      {
         NODE_ID_POS = sizeof(message_id_t),
         SEQ_NR_POS = NODE_ID_POS + sizeof(node_id_t),
         TRUST_POS = SEQ_NR_POS + sizeof(seq_nr_t),
         RESULT_POS = TRUST_POS + sizeof(int),
         ID_POS = RESULT_POS + sizeof(int),
         DISTANCE_POS = TRUST_POS + sizeof(int),
         PAYLOAD_POS = DISTANCE_POS + sizeof(Arithmatic)
      };

      block_data_t buffer[Radio::MAX_MESSAGE_LENGTH];
   };
   // -----------------------------------------------------------------------
   template<typename OsModel_P,
            typename Radio_P,
            typename Arithmatic_P >
   TriangulationMessage<OsModel_P, Radio_P, Arithmatic_P>::
   TriangulationMessage()
   {
      set_msg_id( 0 );
      set_node_id( 0 );
      size_t len = 0;
     // ack = false;
      destination = -1;
      write<OsModel, block_data_t, size_t>(buffer + PAYLOAD_POS, len);
   }

}
#endif