...
| Code Block |
|---|
#include <iostream>
#include <string.h>
#include <vector>
#include <math.h>
using namespace std;
// our structure for sending data
struct MY_DATA {
unsigned char packet_id;
int latitude;
int longitude;
unsigned short heading;
};
int main() {
// fill a struct with data
MY_DATA data_to_send;
data_to_send.packet_id = 0x01;
data_to_send.latitude = (int) (42.358456 * pow(10,7));
data_to_send.longitude = (int) (-71.087589 * pow(10,7));
data_to_send.heading = 185;
// construct our array/vector and fill it with data
vector<unsigned char> packet (sizeof(data_to_send), 0);
memcpy(&packet[0], &data_to_send.packet_id, sizeof(data_to_send));
// to get our data out, do the reverse
MY_DATA data_received;
memcpy(&data_received.packet_id, &packet[0], sizeof(data_to_send));
// print out the data
cout << "packet id: 0x" << hex << (int) data_received.packet_id << dec << endl;
cout << "lat: " << data_received.latitude / pow(10,7) << endl;
cout << "lon: " << data_received.longitude / pow(10,7) << endl;
cout << "heading: " << data_received.heading << endl;
return 0;
}
|
Posting to MOOS
Writing a MOOS app and need to post your array of data to ACOMMS_TRANSMIT_DATA? Here's two ways:
| Code Block |
|---|
// pass a pointer to Notify along with the size
m_Comms.Notify( "ACOMMS_TRANSMIT_DATA", &packet[0], packet.size() );
// convert to a string and pass to Norify
m_Comms.Notify( "ACOMMS_TRANSMIT_DATA", string( (char*) &packet[0], packet.size() ) );
|
Notify will actually use the string constructor in the second method if you pass it a pointer as in the first method, so these two methods are identical. To get your data from ACOMMS_RECEIVED_DATA on the receiving side:
...
See Binary acomms data in MOOS for information on getting your serialized data into or out of a MOOS message.