xsdataidentifier.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 XSDATAIDENTIFIER_H
#define XSDATAIDENTIFIER_H

//////////////////////////////////////////////////////////////////////////////////////////
/*!     \addtogroup enums Global enumerations
        @{
*/

/*!     \enum XsDataIdentifier
        \brief Defines the data identifiers

        \internal
        IMPORTANT! How to add new TYPE values:
        Use the bit reverse of 1, 2, 3 .. etc..
        This way we have the possibility to play with the border between TYPE and FORMAT at a later stage
        so\n
        0 = 0b000000..00 = 0x0000\n
        1 = 0b100000..00 = 0x8000\n
        2 = 0b010000..00 = 0x4000\n
        3 = 0b110000..00 = 0xC000\n
        4 = 0b001000..00 = 0x2000\n
        etc\n
        8 = 0b000100..00 = 0x1000

        So the TYPE grows from left to right
        the FORMAT grows from right to left

        Data that is output in float, fixedpoint or double (etc...) a sub format range is used (currently the lowest 4 bits).
*/
enum XsDataIdentifier
{
        XDI_None                                        = 0x0000,
        XDI_TypeMask                            = 0xFE00,
        XDI_FullTypeMask                        = 0xFFF0,
        XDI_FullMask                            = 0xFFFF,
        XDI_FormatMask                          = 0x01FF,
        XDI_DataFormatMask                      = 0x000F,

        XDI_SubFormatMask                       = 0x0003,       //determines, float, fp12.20, fp16.32, double output... (where applicable)
        XDI_SubFormatFloat                      = 0x0000,
        XDI_SubFormatFp1220                     = 0x0001,
        XDI_SubFormatFp1632                     = 0x0002,
        XDI_SubFormatDouble                     = 0x0003,

        XDI_TemperatureGroup            = 0x0800,
        XDI_Temperature                         = 0x0810,

        XDI_TimestampGroup                      = 0x1000,
        XDI_UtcTime                                     = 0x1010,
        XDI_PacketCounter                       = 0x1020,
        XDI_Itow                                        = 0x1030,
        XDI_GpsAge                                      = 0x1040,
        XDI_PressureAge                         = 0x1050,
        XDI_SampleTimeFine                      = 0x1060,
        XDI_SampleTimeCoarse            = 0x1070,
        XDI_FrameRange                          = 0x1080,       // add for MTw (if needed)
        XDI_PacketCounter8                      = 0x1090,
        XDI_SampleTime64                        = 0x10A0,

        XDI_OrientationGroup            = 0x2000,
        XDI_CoordSysMask                        = 0x000C,
        XDI_CoordSysEnu                         = 0x0000,
        XDI_CoordSysNed                         = 0x0004,
        XDI_CoordSysNwu                         = 0x0008,
        XDI_Quaternion                          = 0x2010,
        XDI_RotationMatrix                      = 0x2020,
        XDI_EulerAngles                         = 0x2030,

        XDI_PressureGroup                       = 0x3000,
        XDI_BaroPressure                        = 0x3010,

        XDI_AccelerationGroup           = 0x4000,
        XDI_DeltaV                                      = 0x4010,
        XDI_Acceleration                        = 0x4020,
        XDI_FreeAcceleration            = 0x4030,
#ifdef NOT_FOR_PUBLIC_RELEASE
        //XDI_TransposedAcceleration    = 0x4040,
#endif //NOT_FOR_PUBLIC_RELEASE

        XDI_PositionGroup                       = 0x5000,
        XDI_AltitudeMsl                         = 0x5010,
        XDI_AltitudeEllipsoid           = 0x5020,
        XDI_PositionEcef                        = 0x5030,
        XDI_LatLon                                      = 0x5040,

        XDI_AngularVelocityGroup        = 0x8000,
        XDI_RateOfTurn                          = 0x8020,
        XDI_DeltaQ                                      = 0x8030,

        XDI_GpsGroup                            = 0x8800,
        XDI_GpsDop                                      = 0x8830,
        XDI_GpsSol                                      = 0x8840,
        XDI_GpsTimeUtc                          = 0x8880,
        XDI_GpsSvInfo                           = 0x88A0,

        XDI_RawSensorGroup                      = 0xA000,
        XDI_RawAccGyrMagTemp            = 0xA010,
        XDI_RawGyroTemp                         = 0xA020,
        XDI_RawAcc                                      = 0xA030,
        XDI_RawGyr                                      = 0xA040,
        XDI_RawMag                                      = 0xA050,

        XDI_AnalogInGroup                       = 0xB000,
        XDI_AnalogIn1                           = 0xB010,
        XDI_AnalogIn2                           = 0xB020,

        XDI_MagneticGroup                       = 0xC000,
        XDI_MagneticField                       = 0xC020,

        XDI_VelocityGroup                       = 0xD000,
        XDI_VelocityXYZ                         = 0xD010,

        XDI_StatusGroup                         = 0xE000,
        XDI_StatusByte                          = 0xE010,
        XDI_StatusWord                          = 0xE020,
        XDI_Rssi                                        = 0xE040,

        XDI_IndicationGroup             = 0x4800, // 0100.1000 -> bit reverse = 0001.0010 -> type 18
        XDI_TriggerIn1                          = 0x4810,
        XDI_TriggerIn2                          = 0x4820,

#ifdef NOT_FOR_PUBLIC_RELEASE
        /*
        XDI_Accuracy                            = 0xF000,
        XDI_GpsHAcc                                     = 0xF010,
        XDI_GpsVAcc                                     = 0xF020,
        XDI_GpsSAcc                                     = 0xF030,
        */
#endif //NOT_FOR_PUBLIC_RELEASE
};
/*! @} */

typedef enum XsDataIdentifier XsDataIdentifier;

#define XDI_MAX_FREQUENCY               ((uint16_t) 0xFFFF)

#ifdef __cplusplus
inline XsDataIdentifier operator | (XsDataIdentifier a, XsDataIdentifier b)
{
        return (XsDataIdentifier) ((int) a | (int) b);
}

inline XsDataIdentifier operator & (XsDataIdentifier a, XsDataIdentifier b)
{
        return (XsDataIdentifier) ((int) a & (int) b);
}

inline XsDataIdentifier operator ~ (XsDataIdentifier a)
{
        return (XsDataIdentifier) ~((unsigned short)a);
}
#endif

#endif // file guard