xsoutputconfiguration.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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 XSOUTPUTCONFIGURATION_H
#define XSOUTPUTCONFIGURATION_H

#include "pstdint.h"
#include "xsdataidentifier.h"
#include "xstypesconfig.h"

#define XS_MAX_OUTPUTCONFIGURATIONS (32)

#ifdef __cplusplus
extern "C"
{
#else
#define XSOUTPUTCONFIGURATION_INITIALIZER \
    {                                     \
        XDI_None, 0                       \
    }
#endif

    struct XsOutputConfiguration;

    XSTYPES_DLL_API void XsOutputConfiguration_swap(
        struct XsOutputConfiguration* a, struct XsOutputConfiguration* b);

#ifdef __cplusplus
}  // extern "C"
#endif

/*! \brief Single data type output configuration
    \details This structure contains a single data type and the frequency at
   which it should be produced.
    If m_frequency is 0xFFFF and the %XsOutputConfiguration is used for input,
   the device will configure
    itself to its maximum frequency for the data type. If it is 0xFFFF and
   reported by the device,
    the data has no maximum frequency, but is sent along with appropriate
   packets (ie. packet counter)
*/
struct XsOutputConfiguration
{
    /** The data identifier */
    XsDataIdentifier m_dataIdentifier;
    /** The frequency */
    uint16_t m_frequency;

#ifdef __cplusplus
    //! Constructor, initializes to an empty object
    XsOutputConfiguration() : m_dataIdentifier(XDI_None), m_frequency(0) {}
    //! Constructor, initializes to specified values
    XsOutputConfiguration(XsDataIdentifier di, uint16_t freq)
        : m_dataIdentifier(di), m_frequency(freq)
    {
    }

    //! Comparison operator
    bool operator==(const XsOutputConfiguration& other) const
    {
        return m_dataIdentifier == other.m_dataIdentifier &&
               m_frequency == other.m_frequency;
    }
#endif
};
typedef struct XsOutputConfiguration XsOutputConfiguration;

#endif  // file guard