xsoutputsettings.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://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