packetstamper.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#ifndef PACKETSTAMPER_H
#define PACKETSTAMPER_H

#include <xsens/pstdint.h>

struct XsDataPacket;

class PacketStamper
{
   public:
    static const int64_t MTSCBOUNDARY;
    static const int64_t MTSCBOUNDARY_LOWMASK;
    static const int64_t MTSCBOUNDARY_HIGHMASK;
    static const int64_t MTSCBOUNDARY_HALF;

    static const int64_t SC8BOUNDARY;
    static const int64_t SC8BOUNDARY_LOWMASK;
    static const int64_t SC8BOUNDARY_HIGHMASK;
    static const int64_t SC8BOUNDARY_HALF;

    static int64_t calculateLargePacketCounter8(
        int64_t frameCounter, int64_t lastCounter);
    static int64_t calculateLargePacketCounter(
        int64_t frameCounter, int64_t lastCounter);
    static int64_t calculateLargeSampleTime(
        int64_t frameTime, int64_t lastTime);
    static int64_t stampPacket(XsDataPacket& pack, XsDataPacket& highest);
};

#endif  // file guard