xsoutputsettings.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 XSOUTPUTSETTINGS_H
#define XSOUTPUTSETTINGS_H

/*! \addtogroup enums Global enumerations
    @{
*/
//! Bit values for output settings
enum XsOutputSettings
{
    XOS_Timestamp_Mask = 0x00000003,
    XOS_Timestamp_None = 0x00000000,
    XOS_Timestamp_PacketCounter = 0x00000001,
    XOS_Timestamp_SampleUtc = 0x00000002,
    XOS_OrientationMode_Mask = 0x0000000C,
    XOS_OrientationMode_Quaternion = 0x00000000,
    XOS_OrientationMode_Euler = 0x00000004,
    XOS_OrientationMode_Matrix = 0x00000008,
    XOS_CalibratedMode_All = 0x00000000,
    XOS_CalibratedMode_AccGyrMag_Mask = 0x00000070,
    XOS_CalibratedMode_Mask = XOS_CalibratedMode_AccGyrMag_Mask,
    XOS_CalibratedMode_Acc_Mask = 0x00000010,
    XOS_CalibratedMode_AccOnly = 0x00000060,
    XOS_CalibratedMode_AccGyrOnly = 0x00000040,
    XOS_CalibratedMode_AccMagOnly = 0x00000020,
    XOS_CalibratedMode_Gyr_Mask = 0x00000020,
    XOS_CalibratedMode_GyrOnly = 0x00000050,
    XOS_CalibratedMode_GyrMagOnly = 0x00000010,
    XOS_CalibratedMode_Mag_Mask = 0x00000040,
    XOS_CalibratedMode_MagOnly = 0x00000030,
    XOS_Status_Compact = 0x00000000,
    XOS_Status_Detailed = 0x00000080,
    XOS_Dataformat_Mask = 0x00000300,
    XOS_Dataformat_Float = 0x00000000,
    XOS_Dataformat_F1220 = 0x00000100,
    XOS_Dataformat_Fp1632 = 0x00000200,
    XOS_Dataformat_Double = 0x00000300,

    XOS_AuxiliaryMode_Mask = 0x00000C00,
    XOS_AuxiliaryMode_Ain1_Mask = 0x00000400,
    XOS_AuxiliaryMode_Ain2_Mask = 0x00000800,
    XOS_AuxiliaryMode_Ain1 = 0x00000800,
    XOS_AuxiliaryMode_Ain2 = 0x00000400,
    XOS_PositionMode_Mask = 0x0001C000,
    XOS_PositionMode_Lla_Wgs84 = 0x00000000,
    XOS_VelocityMode_Mask = 0x00060000,
    XOS_VelocityMode_Ms_Xyz = 0x00000000,
    XOS_GpsInGpsPvt = 0x00000000,
    XOS_NoGpsInGpsPvt = 0x00080000,
    XOS_ExtendedTemperature_Mask = 0x01000000,
    XOS_Coordinates_Ned = 0x80000000

    // XOS_Uncertainty_Orient               = 0x00100000
    // XOS_Uncertainty_Pos                  = 0x00200000
    // XOS_Uncertainty_Vel                  = 0x00400000
    // XOS_Uncertainty_Mask             = 0x00F00000

};
/*! @} */
typedef enum XsOutputSettings XsOutputSettings;

#define XS_DEFAULT_OUTPUT_SETTINGS \
    (XsOutputSettings)(            \
        XOS_OrientationMode_Quaternion | XOS_Timestamp_PacketCounter)

#ifdef __cplusplus
/*! \brief Allow logical or of XsOutputSettings to be a valid XsOutputSettings
 * value */
inline XsOutputSettings operator|(XsOutputSettings a, XsOutputSettings b)
{
    return (XsOutputSettings)((unsigned long)a | (unsigned long)b);
}

/*! \brief Allow logical and of XsOutputSettings to be a valid XsOutputSettings
 * value */
inline XsOutputSettings operator&(XsOutputSettings a, XsOutputSettings b)
{
    return (XsOutputSettings)((unsigned long)a & (unsigned long)b);
}

/*! \brief Allow logical inversion of XsOutputSettings to be a valid
 * XsOutputSettings value */
inline XsOutputSettings operator~(XsOutputSettings a)
{
    return (XsOutputSettings) ~((unsigned long)a);
}

/*! \brief Allow &= operator on XsOutputSettings */
inline XsOutputSettings& operator&=(
    XsOutputSettings& left, XsOutputSettings const& right)
{
    return left = left & right;
}

/*! \brief Allow |= operator on XsOutputSettings */
inline XsOutputSettings& operator|=(
    XsOutputSettings& left, XsOutputSettings const& right)
{
    return left = left | right;
}

#endif

#endif  // file guard