xssyncsetting.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 XSSYNCSETTINGS_H
#define XSSYNCSETTINGS_H

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