ImuDataMessage.hh

Go to the documentation of this file.

 
#ifndef LibMultiSense_ImuDataMessage
#define LibMultiSense_ImuDataMessage
 
#include "utility/Portability.hh"
 
namespace crl {
namespace multisense {
namespace details {
namespace wire {
 
class WIRE_HEADER_ATTRIBS_ ImuSample {
public:
    static CRL_CONSTEXPR VersionType VERSION    = 2;
    static CRL_CONSTEXPR uint16_t    TYPE_ACCEL = 1;
    static CRL_CONSTEXPR uint16_t    TYPE_GYRO  = 2;
    static CRL_CONSTEXPR uint16_t    TYPE_MAG   = 3;
 
    uint16_t type;
    int64_t  timeNanoSeconds;
    float    x, y, z;
    uint64_t ptpNanoSeconds;
 
#ifndef SENSORPOD_FIRMWARE
    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        message & type;
        message & timeNanoSeconds;
        message & x;
        message & y;
        message & z;
 
        if (version >= 2)
        {
            message & ptpNanoSeconds;
        }
    }
#endif // !SENSORPOD_FIRMWARE
};
 
class ImuData  {
public:
    static CRL_CONSTEXPR IdType      ID      = ID_DATA_IMU;
    static CRL_CONSTEXPR VersionType VERSION = 1;
 
    uint32_t               sequence;
    std::vector<ImuSample> samples;
 
#ifndef SENSORPOD_FIRMWARE
 
    //
    // Constructors
 
    ImuData(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    ImuData() {};
 
    //
    // Serialization routine
 
    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        message & sequence;
        message & samples;
    }
#endif // !SENSORPOD_FIRMWARE
 
};
 
}}}} // namespaces
 
#endif