ImuConfigMessage.hh

Go to the documentation of this file.

 
#ifndef LibMultiSense_ImuConfigMessage
#define LibMultiSense_ImuConfigMessage
 
#include "utility/Portability.hh"
 
namespace crl {
namespace multisense {
namespace details {
namespace wire {
namespace imu {
 
class Config {
public:
    static CRL_CONSTEXPR VersionType VERSION       = 1;
    static CRL_CONSTEXPR uint32_t    FLAGS_ENABLED = (1<<0);
 
    std::string name;
    uint32_t    flags;
    uint32_t    rateTableIndex;
    uint32_t    rangeTableIndex;
 
    //
    // Serialization routine
 
    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
 
        message & name;
        message & flags;
        message & rateTableIndex;
        message & rangeTableIndex;
    }
};
 
} // namespace imu
 
class ImuConfig {
public:
    static CRL_CONSTEXPR IdType      ID      = ID_DATA_IMU_CONFIG;
    static CRL_CONSTEXPR VersionType VERSION = 1;
 
    uint8_t                  storeSettingsInFlash;  // boolean
    uint32_t                 samplesPerMessage;     // 0 to ignore
    std::vector<imu::Config> configs;
 
    //
    // Constructors
 
    ImuConfig(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    ImuConfig() : storeSettingsInFlash(0), samplesPerMessage(0) {};
 
    //
    // Serialization routine
 
    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        message & storeSettingsInFlash;
        message & samplesPerMessage;
        message & configs;
    }
};
 
}}}} // namespaces
 
#endif