packetfixeddata.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef PACKETFIXEDDATA_H
#define PACKETFIXEDDATA_H

#include <xsens/xsscrdata.h>
#include <xsens/xsdeviceid.h>

#ifndef NOT_FOR_PUBLIC_RELEASE
struct XsControl;       // required by DLL for supporting advanced features
#endif

struct XsDataFormat;

//! Indicates that a data item is not available in the packet
#define XS_DATA_ITEM_NOT_AVAILABLE              65535

/*! \brief Contains offset information about data in the packet
        \details All items are initialized to \a XS_DATA_ITEM_NOT_AVAILABLE and set to their proper
        value by LegacyDataPacket::updateInfoList and/or the LegacyDataPacket update functions.
*/
struct PacketInfo {
        uint16_t m_offset;              //!< Offset of first data byte (whatever it is)
        uint16_t m_rawData;             //!< Offset of raw data
        uint16_t m_rawAcc;              //!< Offset of raw acceleration data
        uint16_t m_rawGyr;              //!< Offset of raw gyroscope data
        uint16_t m_rawMag;              //!< Offset of raw magnetometer data
        uint16_t m_rawTemp[XS_MAX_TEMPERATURE_CHANNELS];        //!< Offset of raw temperature data. Note that usually only the first item is used.
        uint16_t m_temp[XS_MAX_TEMPERATURE_CHANNELS];           //!< Offset of calibrated temperature data. Note that usually only the first item is used.
        uint16_t m_calData;             //!< Offset of calibrated data
        uint16_t m_calAcc;              //!< Offset of calibrated acceleration data
        uint16_t m_calGyr;              //!< Offset of calibrated gyroscope data
        uint16_t m_calMag;              //!< Offset of calibrated magnetometer data
        uint16_t m_oriQuat;             //!< Offset of orientation in quaternion format
        uint16_t m_oriEul;              //!< Offset of orientation in euler format
        uint16_t m_oriMat;              //!< Offset of orientation in matrix format
        uint16_t m_analogIn1;   //!< Offset of analog in channel 1 data
        uint16_t m_analogIn2;   //!< Offset of analog in channel 2 data
        uint16_t m_posLLA;              //!< Offset of Latitude-Longitude-Altitude position data
        uint16_t m_velNEDorNWU; //!< Offset of velocity data
        uint16_t m_status;              //!< Offset of status data
        uint16_t m_detailedStatus;      //!< Offset of detailed status data
        uint16_t m_sc;                  //!< Offset of sample counter
        uint16_t m_utcTime;             //!< Offset of UTC time data
        uint16_t m_utcNano;             //!< Offset of nanosecond part of UTC time
        uint16_t m_utcYear;             //!< Offset of year part of UTC time
        uint16_t m_utcMonth;    //!< Offset of month part of UTC time
        uint16_t m_utcDay;              //!< Offset of day part of UTC time
        uint16_t m_utcHour;             //!< Offset of hour part of UTC time
        uint16_t m_utcMinute;   //!< Offset of minute part of UTC time
        uint16_t m_utcSecond;   //!< Offset of second part of UTC time
        uint16_t m_utcValid;    //!< Offset of validity part of UTC time
        uint16_t m_acc_g;               //!< Offset of acceleration in global frame
        uint16_t m_gpsPvtData;  //!< Offset of GPS & pressure data
        uint16_t m_gpsPvtPressure;              //!< Offset of pressure data
        uint16_t m_gpsPvtPressureAge;   //!< Offset of pressure age
        uint16_t m_gpsPvtGpsData;       //!< Offset of raw GPS data
        uint16_t m_gpsPvtItow;          //!< Offset of raw GPS ITOW (Integer Time Of Week) data
        uint16_t m_gpsPvtLatitude;      //!< Offset of raw GPS latitude data
        uint16_t m_gpsPvtLongitude;     //!< Offset of raw GPS longitude data
        uint16_t m_gpsPvtHeight;        //!< Offset of raw GPS height data
        uint16_t m_gpsPvtVeln;          //!< Offset of raw GPS northward velocity data
        uint16_t m_gpsPvtVele;          //!< Offset of raw GPS eastward velocity data
        uint16_t m_gpsPvtVeld;          //!< Offset of raw GPS dowanward velocity data
        uint16_t m_gpsPvtHacc;          //!< Offset of raw GPS horizontal accuracy estimate data
        uint16_t m_gpsPvtVacc;          //!< Offset of raw GPS vertical accuracy estimate data
        uint16_t m_gpsPvtSacc;          //!< Offset of raw GPS speed accuracy estimate data
        uint16_t m_gpsPvtGpsAge;        //!< Offset of raw GPS age
        uint16_t m_mtwSdiData;                          //!< Offset of MTw SDI data
        uint16_t m_wClientId;                           //!< Offset of MTw SDI client ID data
        uint16_t m_wTimeSync;                           //!< Offset of MTw SDI time sync data
        uint16_t m_wFirstFrameNumber;           //!< Offset of MTw SDI first frame number in interval data
        uint16_t m_wLastFrameNumber;            //!< Offset of MTw SDI last frame number in interval data
        uint16_t m_wCurrentBias;                        //!< Offset of MTw SDI gyroscope bias data
        uint16_t m_wOrientationIncrement;       //!< Offset of MTw SDI orientation increment data
        uint16_t m_wVelocityIncrement;          //!< Offset of MTw SDI velocity increment data
        uint16_t m_wAidingData;                         //!< Offset of MTw SDI aiding data
        uint16_t m_wBaroMeter;                          //!< Offset of MTw SDI barometer data
        uint16_t m_wMagnetoMeter;                       //!< Offset of MTw SDI magnetometer data
        uint16_t m_wRssi;                                       //!< Offset of MTw SDI RSSI data
        uint16_t m_size;                        //!< Total size of the data
        uint16_t m_doubleBoundary;      //!< Boundary where the original data format is ignored and values are stored in double precision

        /*! \brief Default contructor, sets all values to XS_DATA_ITEM_NOT_AVAILABLE
        */
        PacketInfo() { memset(this, 0xFF, sizeof(*this)); }
};

//! A structure containing fixed packet data, which should not change during a measurement for the same device
struct PacketFixedData
{
        PacketFixedData();
        PacketFixedData(uint16_t count);
        PacketFixedData(const PacketFixedData& pack);
        ~PacketFixedData();

        void operator = (const PacketFixedData& data);

        PacketInfo*             m_infoList;             //!< Contains information about data in the packet and the format of that data
        XsDataFormat*   m_formatList;   //!< A list of the formats of the data items
        XsDeviceId*             m_idList;               //!< A list of the device-ids in this packet
        bool                    m_xm;                   //!< Indicates that xbus-formatting is used
        uint16_t                m_itemCount;    //!< The number of data items in the message
};

#endif  // file guard