packetfixeddata.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 PACKETFIXEDDATA_H
#define PACKETFIXEDDATA_H

#include <xsens/xsscrdata.h>
#include <xsens/xsdeviceid.h>

#ifndef NOT_FOR_PUBLIC_RELEASE
struct XsControl;  // required by DLL for supporting advanced features
#endif

struct XsDataFormat;

//! Indicates that a data item is not available in the packet
#define XS_DATA_ITEM_NOT_AVAILABLE 65535

/*! \brief Contains offset information about data in the packet
    \details All items are initialized to \a XS_DATA_ITEM_NOT_AVAILABLE and set
   to their proper
    value by LegacyDataPacket::updateInfoList and/or the LegacyDataPacket update
   functions.
*/
struct PacketInfo
{
    /** Offset of first data byte (whatever it is) */
    uint16_t m_offset;
    /** Offset of raw data */
    uint16_t m_rawData;
    /** Offset of raw acceleration data */
    uint16_t m_rawAcc;
    /** Offset of raw gyroscope data */
    uint16_t m_rawGyr;
    /** Offset of raw magnetometer data */
    uint16_t m_rawMag;
    /** Offset of raw temperature data. Note that usually only the first item is
     * used. */
    uint16_t m_rawTemp[XS_MAX_TEMPERATURE_CHANNELS];
    /** Offset of calibrated temperature data. Note that usually only the first
     * item is used. */
    uint16_t m_temp[XS_MAX_TEMPERATURE_CHANNELS];
    /** Offset of calibrated data */
    uint16_t m_calData;
    /** Offset of calibrated acceleration data */
    uint16_t m_calAcc;
    /** Offset of calibrated gyroscope data */
    uint16_t m_calGyr;
    /** Offset of calibrated magnetometer data */
    uint16_t m_calMag;
    /** Offset of orientation in quaternion format */
    uint16_t m_oriQuat;
    /** Offset of orientation in euler format */
    uint16_t m_oriEul;
    /** Offset of orientation in matrix format */
    uint16_t m_oriMat;
    /** Offset of analog in channel 1 data */
    uint16_t m_analogIn1;
    /** Offset of analog in channel 2 data */
    uint16_t m_analogIn2;
    /** Offset of Latitude-Longitude-Altitude position data */
    uint16_t m_posLLA;
    /** Offset of velocity data */
    uint16_t m_velNEDorNWU;
    /** Offset of status data */
    uint16_t m_status;
    /** Offset of detailed status data */
    uint16_t m_detailedStatus;
    /** Offset of sample counter */
    uint16_t m_sc;
    /** Offset of UTC time data */
    uint16_t m_utcTime;
    /** Offset of nanosecond part of UTC time */
    uint16_t m_utcNano;
    /** Offset of year part of UTC time */
    uint16_t m_utcYear;
    /** Offset of month part of UTC time */
    uint16_t m_utcMonth;
    /** Offset of day part of UTC time */
    uint16_t m_utcDay;
    /** Offset of hour part of UTC time */
    uint16_t m_utcHour;
    /** Offset of minute part of UTC time */
    uint16_t m_utcMinute;
    /** Offset of second part of UTC time */
    uint16_t m_utcSecond;
    /** Offset of validity part of UTC time */
    uint16_t m_utcValid;
    /** Offset of acceleration in global frame */
    uint16_t m_acc_g;
    /** Offset of GPS & pressure data */
    uint16_t m_gpsPvtData;
    /** Offset of pressure data */
    uint16_t m_gpsPvtPressure;
    /** Offset of pressure age */
    uint16_t m_gpsPvtPressureAge;
    /** Offset of raw GPS data */
    uint16_t m_gpsPvtGpsData;
    /** Offset of raw GPS ITOW (Integer Time Of Week) data */
    uint16_t m_gpsPvtItow;
    /** Offset of raw GPS latitude data */
    uint16_t m_gpsPvtLatitude;
    /** Offset of raw GPS longitude data */
    uint16_t m_gpsPvtLongitude;
    /** Offset of raw GPS height data */
    uint16_t m_gpsPvtHeight;
    /** Offset of raw GPS northward velocity data */
    uint16_t m_gpsPvtVeln;
    /** Offset of raw GPS eastward velocity data */
    uint16_t m_gpsPvtVele;
    /** Offset of raw GPS dowanward velocity data */
    uint16_t m_gpsPvtVeld;
    /** Offset of raw GPS horizontal accuracy estimate data */
    uint16_t m_gpsPvtHacc;
    /** Offset of raw GPS vertical accuracy estimate data */
    uint16_t m_gpsPvtVacc;
    /** Offset of raw GPS speed accuracy estimate data */
    uint16_t m_gpsPvtSacc;
    /** Offset of raw GPS age */
    uint16_t m_gpsPvtGpsAge;
    /** Offset of MTw SDI data */
    uint16_t m_mtwSdiData;
    /** Offset of MTw SDI client ID data */
    uint16_t m_wClientId;
    /** Offset of MTw SDI time sync data */
    uint16_t m_wTimeSync;
    /** Offset of MTw SDI first frame number in interval data */
    uint16_t m_wFirstFrameNumber;
    /** Offset of MTw SDI last frame number in interval data */
    uint16_t m_wLastFrameNumber;
    /** Offset of MTw SDI gyroscope bias data */
    uint16_t m_wCurrentBias;
    /** Offset of MTw SDI orientation increment data */
    uint16_t m_wOrientationIncrement;
    /** Offset of MTw SDI velocity increment data */
    uint16_t m_wVelocityIncrement;
    /** Offset of MTw SDI aiding data */
    uint16_t m_wAidingData;
    /** Offset of MTw SDI barometer data */
    uint16_t m_wBaroMeter;
    /** Offset of MTw SDI magnetometer data */
    uint16_t m_wMagnetoMeter;
    /** Offset of MTw SDI RSSI data */
    uint16_t m_wRssi;
    /** Total size of the data */
    uint16_t m_size;
    /** Boundary where the original data format is ignored and values are stored
     * in double precision */
    uint16_t m_doubleBoundary;

    /*! \brief Default contructor, sets all values to XS_DATA_ITEM_NOT_AVAILABLE
    */
    PacketInfo() { memset(this, 0xFF, sizeof(*this)); }
};

//! A structure containing fixed packet data, which should not change during a
//! measurement for the same device
struct PacketFixedData
{
    PacketFixedData();
    PacketFixedData(uint16_t count);
    PacketFixedData(const PacketFixedData& pack);
    ~PacketFixedData();

    void operator=(const PacketFixedData& data);

    /** Contains information about data in the packet and the format of that
     * data */
    PacketInfo* m_infoList;
    /** A list of the formats of the data items */
    XsDataFormat* m_formatList;
    /** A list of the device-ids in this packet */
    XsDeviceId* m_idList;
    /** Indicates that xbus-formatting is used */
    bool m_xm;
    /** The number of data items in the message */
    uint16_t m_itemCount;
};

#endif  // file guard