xsdataidentifier.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#ifndef XSDATAIDENTIFIER_H
#define XSDATAIDENTIFIER_H

//////////////////////////////////////////////////////////////////////////////////////////
/*! \addtogroup enums Global enumerations
    @{
*/

/*! \enum XsDataIdentifier
    \brief Defines the data identifiers

    \internal
    IMPORTANT! How to add new TYPE values:
    Use the bit reverse of 1, 2, 3 .. etc..
    This way we have the possibility to play with the border between TYPE and
   FORMAT at a later stage
    so\n
    0 = 0b000000..00 = 0x0000\n
    1 = 0b100000..00 = 0x8000\n
    2 = 0b010000..00 = 0x4000\n
    3 = 0b110000..00 = 0xC000\n
    4 = 0b001000..00 = 0x2000\n
    etc\n
    8 = 0b000100..00 = 0x1000

    So the TYPE grows from left to right
    the FORMAT grows from right to left

    Data that is output in float, fixedpoint or double (etc...) a sub format
   range is used (currently the lowest 4 bits).
*/
enum XsDataIdentifier
{
    XDI_None = 0x0000,
    XDI_TypeMask = 0xFE00,
    XDI_FullTypeMask = 0xFFF0,
    XDI_FullMask = 0xFFFF,
    XDI_FormatMask = 0x01FF,
    XDI_DataFormatMask = 0x000F,

    XDI_SubFormatMask = 0x0003,  // determines, float, fp12.20, fp16.32, double
    // output... (where applicable)
    XDI_SubFormatFloat = 0x0000,
    XDI_SubFormatFp1220 = 0x0001,
    XDI_SubFormatFp1632 = 0x0002,
    XDI_SubFormatDouble = 0x0003,

    XDI_TemperatureGroup = 0x0800,
    XDI_Temperature = 0x0810,

    XDI_TimestampGroup = 0x1000,
    XDI_UtcTime = 0x1010,
    XDI_PacketCounter = 0x1020,
    XDI_Itow = 0x1030,
    XDI_GpsAge = 0x1040,
    XDI_PressureAge = 0x1050,
    XDI_SampleTimeFine = 0x1060,
    XDI_SampleTimeCoarse = 0x1070,
    XDI_FrameRange = 0x1080,  // add for MTw (if needed)
    XDI_PacketCounter8 = 0x1090,
    XDI_SampleTime64 = 0x10A0,

    XDI_OrientationGroup = 0x2000,
    XDI_CoordSysMask = 0x000C,
    XDI_CoordSysEnu = 0x0000,
    XDI_CoordSysNed = 0x0004,
    XDI_CoordSysNwu = 0x0008,
    XDI_Quaternion = 0x2010,
    XDI_RotationMatrix = 0x2020,
    XDI_EulerAngles = 0x2030,

    XDI_PressureGroup = 0x3000,
    XDI_BaroPressure = 0x3010,

    XDI_AccelerationGroup = 0x4000,
    XDI_DeltaV = 0x4010,
    XDI_Acceleration = 0x4020,
    XDI_FreeAcceleration = 0x4030,
#ifdef NOT_FOR_PUBLIC_RELEASE
// XDI_TransposedAcceleration   = 0x4040,
#endif  // NOT_FOR_PUBLIC_RELEASE

    XDI_PositionGroup = 0x5000,
    XDI_AltitudeMsl = 0x5010,
    XDI_AltitudeEllipsoid = 0x5020,
    XDI_PositionEcef = 0x5030,
    XDI_LatLon = 0x5040,

    XDI_AngularVelocityGroup = 0x8000,
    XDI_RateOfTurn = 0x8020,
    XDI_DeltaQ = 0x8030,

    XDI_GpsGroup = 0x8800,
    XDI_GpsDop = 0x8830,
    XDI_GpsSol = 0x8840,
    XDI_GpsTimeUtc = 0x8880,
    XDI_GpsSvInfo = 0x88A0,

    XDI_RawSensorGroup = 0xA000,
    XDI_RawAccGyrMagTemp = 0xA010,
    XDI_RawGyroTemp = 0xA020,
    XDI_RawAcc = 0xA030,
    XDI_RawGyr = 0xA040,
    XDI_RawMag = 0xA050,

    XDI_AnalogInGroup = 0xB000,
    XDI_AnalogIn1 = 0xB010,
    XDI_AnalogIn2 = 0xB020,

    XDI_MagneticGroup = 0xC000,
    XDI_MagneticField = 0xC020,

    XDI_VelocityGroup = 0xD000,
    XDI_VelocityXYZ = 0xD010,

    XDI_StatusGroup = 0xE000,
    XDI_StatusByte = 0xE010,
    XDI_StatusWord = 0xE020,
    XDI_Rssi = 0xE040,

    XDI_IndicationGroup =
        0x4800,  // 0100.1000 -> bit reverse = 0001.0010 -> type 18
    XDI_TriggerIn1 = 0x4810,
    XDI_TriggerIn2 = 0x4820,

#ifdef NOT_FOR_PUBLIC_RELEASE
/*
XDI_Accuracy                = 0xF000,
XDI_GpsHAcc                 = 0xF010,
XDI_GpsVAcc                 = 0xF020,
XDI_GpsSAcc                 = 0xF030,
*/
#endif  // NOT_FOR_PUBLIC_RELEASE
};
/*! @} */

typedef enum XsDataIdentifier XsDataIdentifier;

#define XDI_MAX_FREQUENCY ((uint16_t)0xFFFF)

#ifdef __cplusplus
inline XsDataIdentifier operator|(XsDataIdentifier a, XsDataIdentifier b)
{
    return (XsDataIdentifier)((int)a | (int)b);
}

inline XsDataIdentifier operator&(XsDataIdentifier a, XsDataIdentifier b)
{
    return (XsDataIdentifier)((int)a & (int)b);
}

inline XsDataIdentifier operator~(XsDataIdentifier a)
{
    return (XsDataIdentifier) ~((unsigned short)a);
}
#endif

#endif  // file guard