ImuInfoMessage.hh

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#ifndef LibMultiSense_ImuInfoMessage
#define LibMultiSense_ImuInfoMessage
 
#include <typeinfo>
 
#include "utility/Portability.hh"
 
namespace crl {
namespace multisense {
namespace details {
namespace wire {
namespace imu {
 
class RateType {
public:
    static CRL_CONSTEXPR VersionType VERSION = 1;
 
    float sampleRate;
    float bandwidthCutoff;
 
    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        message & sampleRate;
        message & bandwidthCutoff;
    }
};
 
class RangeType {
public:
    static CRL_CONSTEXPR VersionType VERSION = 1;
 
    float range;
    float resolution;
 
    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        message & range;
        message & resolution;
    }
};
 
class Details {
public:
    static CRL_CONSTEXPR VersionType VERSION = 1;
 
    std::string            name;
    std::string            device;
    std::string            units;
    std::vector<RateType>  rates;
    std::vector<RangeType> ranges;
 
    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        message & name;
        message & device;
        message & units;
        message & rates;
        message & ranges;
    }
};
 
} // namespace imu
 
class ImuInfo {
public:
    static CRL_CONSTEXPR IdType      ID      = ID_DATA_IMU_INFO;
    static CRL_CONSTEXPR VersionType VERSION = 1;
 
    //
    // IMU details per sensor
 
    uint32_t                  maxSamplesPerMessage;
    std::vector<imu::Details> details;
 
    //
    // Constructors
 
    ImuInfo(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    ImuInfo() {};
 
    //
    // Serialization routine
 
    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        message & maxSamplesPerMessage;
        message & details;
    }
};
 
}}}} // namespaces
 
#endif