From 45ad137c9358d0e3b0d5fabcb0f45d5746739375 Mon Sep 17 00:00:00 2001
From: Adrien van den Bossche <vandenbo@univ-tlse2.fr>
Date: Fri, 7 Aug 2020 13:20:12 +0200
Subject: [PATCH] Add createUniversalGnssPacketWithMovementId() method
---
arduino/Locapack/Locapack.cpp | 35 +++++++++++++++++++++++++++++++++++
arduino/Locapack/Locapack.h | 6 ++++++
2 files changed, 41 insertions(+)
diff --git a/arduino/Locapack/Locapack.cpp b/arduino/Locapack/Locapack.cpp
index 8631142..4a425d5 100644
--- a/arduino/Locapack/Locapack.cpp
+++ b/arduino/Locapack/Locapack.cpp
@@ -220,6 +220,41 @@ int Locapack::createUniversalGnssPacket(universalGnssPacket_t* universalGnssPack
}
+int Locapack::createUniversalGnssPacketWithMovementId(universalGnssPacket_t* universalGnssPacket, uint8_t movement_id, uint8_t* buffer)
+{
+ int len = 0;
+ uint8_t payload_buffer[MAX_BUFFER_LEN];
+ int payload_buffer_len = 0;
+
+ payload_buffer_len = makeUniversalGnssPayload(
+ universalGnssPacket->valid_gnss_position,
+ universalGnssPacket->latitude,
+ universalGnssPacket->longitude,
+ universalGnssPacket->altitude_present,
+ universalGnssPacket->altitude,
+ universalGnssPacket->dop_present,
+ universalGnssPacket->dop,
+ payload_buffer);
+
+ // protocol_version_t PROTOCOL_V1
+ // uint8_t movement_id_presence_flag false
+ // uint8_t timestamp_presence_flag true
+ // packet_type_t packet_type PACKET_TYPE_UNIVERSAL_GNSS
+ // uint16_t sequence_number (internal sequence_number)
+ // uint64_t timestamp (millis)
+ // uint8_t movement_id disabled
+ // device_id_t* device_id (internal device_id)
+ // uint8_t* payload the UniversalGnssPacket generated
+ // uint8_t payload_len the generated packet length
+ // uint8_t* buffer the given buffer
+
+ len = makePacket(PROTOCOL_V1, true, true, PACKET_TYPE_UNIVERSAL_GNSS, ++_sequence_number_universalGnssPacket,
+ (uint64_t)millis(), movement_id, &_device_id, payload_buffer, payload_buffer_len, buffer);
+
+ return len;
+}
+
+
int Locapack::makeLocallyReferencedPayload(float x, float y, bool z_present, float z, bool dop_present, float dop,
bool frameofref_id_present, uint64_t frameofref_id, uint8_t* buffer)
{
diff --git a/arduino/Locapack/Locapack.h b/arduino/Locapack/Locapack.h
index 7347edd..c4a7710 100644
--- a/arduino/Locapack/Locapack.h
+++ b/arduino/Locapack/Locapack.h
@@ -166,6 +166,12 @@ class Locapack {
///
int createUniversalGnssPacket(universalGnssPacket_t* gnss, uint8_t* buffer);
+ ///
+ /// @brief
+ /// @param
+ ///
+ int createUniversalGnssPacketWithMovementId(universalGnssPacket_t* universalGnssPacket, uint8_t movement_id, uint8_t* buffer);
+
///
/// @brief
/// @param
--
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