xssyncsetting.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 XSSYNCSETTINGS_H
#define XSSYNCSETTINGS_H

#include "pstdint.h"
#include "xssyncfunction.h"
#include "xssyncline.h"
#include "xssyncpolarity.h"
#include "xstypesconfig.h"

struct XsSyncSetting;

#ifdef __cplusplus
extern "C"
{
#else
#define XSSYNCSETTINGS_INITIALIZER                           \
    {                                                        \
        XSL_Invalid, XSF_Invalid, XSP_None, 1, 0, 0, 0, 0, 0 \
    }
#endif

    XSTYPES_DLL_API int XsSyncSetting_isInput(
        const struct XsSyncSetting* thisPtr);
    XSTYPES_DLL_API int XsSyncSetting_isOutput(
        const struct XsSyncSetting* thisPtr);
    XSTYPES_DLL_API void XsSyncSetting_swap(
        struct XsSyncSetting* a, struct XsSyncSetting* b);

#ifdef __cplusplus
}  // extern "C"
#endif

/*! \brief A structure for storing all xsens sync settings */
struct XsSyncSetting
{
    XsSyncLine m_line; /*!< The sync lines enabled. \see XsSyncLine. */
    XsSyncFunction m_function; /*!< The action to be performed, when an input
                                  sync line changes \see XsSyncFunction. */
    XsSyncPolarity m_polarity; /*!< The edge on which the action is performed,
                                  \see XsSyncPolarity. */
    uint32_t m_pulseWidth; /*!< The time to keep the line polarity before
                              toggling back, in microseconds. */
    int32_t m_offset; /*!< The time between reception of a line change and the
                         execution of the sync action, in microseconds. */
    uint16_t m_skipFirst; /*!< The number of frames to skip before executing the
                             action. */
    uint16_t
        m_skipFactor; /*!< The number of frames to skip between 2 actions. */
    uint16_t m_clockPeriod; /*!< The frequency of the external clock in
                               milliseconds, only valid when action is
                               STE_ResetTimer. */
    uint8_t
        m_triggerOnce; /*!< Whether the action is repeated for each frame. */

#ifdef __cplusplus
    //! \brief Default constructor, initializes to the given (default) settings
    explicit XsSyncSetting(
        XsSyncLine line = XSL_Invalid, XsSyncFunction function = XSF_Invalid,
        XsSyncPolarity polarity = XSP_RisingEdge, uint32_t pulseWidth = 1000,
        int32_t offset = 0, uint16_t skipFirst = 0, uint16_t skipFactor = 0,
        uint16_t clockPeriod = 0, uint8_t triggerOnce = 0)
        : m_line(line),
          m_function(function),
          m_polarity(polarity),
          m_pulseWidth(pulseWidth),
          m_offset(offset),
          m_skipFirst(skipFirst),
          m_skipFactor(skipFactor),
          m_clockPeriod(clockPeriod),
          m_triggerOnce(triggerOnce)
    {
    }

    //! \brief Construct a XsSyncSetting as a copy of \a other.
    XsSyncSetting(const XsSyncSetting& other)
    {
        memcpy(this, &other, sizeof(XsSyncSetting));
    }

    //! \brief Copy values of \a other into this.
    const XsSyncSetting& operator=(const XsSyncSetting& other)
    {
        if (this != &other) memcpy(this, &other, sizeof(XsSyncSetting));
        return *this;
    }

    //! \brief \copybrief XsSyncSetting_isInput
    inline bool isInput() const { return 0 != XsSyncSetting_isInput(this); }
    //! \brief \copybrief XsSyncSetting_isOutput
    inline bool isOutput() const { return 0 != XsSyncSetting_isOutput(this); }
    /*! \brief Swap the contents with \a other
     */
    inline void swap(XsSyncSetting& other) { XsSyncSetting_swap(this, &other); }
    /*! \brief Return true if \a other is identical to this
     */
    inline bool operator==(const XsSyncSetting& other) const
    {
        return (this == &other) ||
               (m_line == other.m_line && m_function == other.m_function &&
                m_polarity == other.m_polarity &&
                m_pulseWidth == other.m_pulseWidth &&
                m_offset == other.m_offset &&
                m_skipFirst == other.m_skipFirst &&
                m_skipFactor == other.m_skipFactor &&
                m_clockPeriod == other.m_clockPeriod &&
                m_triggerOnce == other.m_triggerOnce);
    }
#endif
};

typedef struct XsSyncSetting XsSyncSetting;

#endif  // file guard