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