cmtpacket.h

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#ifndef XSENS_MONOLITHIC

#endif
#ifndef CMTPACKET_H
#define CMTPACKET_H

#ifndef XSENS_MONOLITHIC
#       include "cmtdef.h"
#       include "cmt2.h"
#endif


namespace xsens {


#define CMT_DATA_ITEM_NOT_AVAILABLE             65535

class Packet
{
        friend class Cmt4;
protected:
        mutable struct PacketInfo {
                uint16_t m_offset;
                uint16_t m_rawData;
                uint16_t m_rawAcc;
                uint16_t m_rawGyr;
                uint16_t m_rawMag;
                uint16_t m_rawTemp;
                uint16_t m_temp;
                uint16_t m_calData;
                uint16_t m_calAcc;
                uint16_t m_calGyr;
                uint16_t m_calMag;
                uint16_t m_oriQuat;
                uint16_t m_oriEul;
                uint16_t m_oriMat;
                uint16_t m_analogIn1;
                uint16_t m_analogIn2;
                uint16_t m_posLLA;
                uint16_t m_velNEDorNWU;
                uint16_t m_status;
                uint16_t m_sc;
                uint16_t m_utcTime;
                uint16_t m_utcNano;
                uint16_t m_utcYear;
                uint16_t m_utcMonth;
                uint16_t m_utcDay;
                uint16_t m_utcHour;
                uint16_t m_utcMinute;
                uint16_t m_utcSecond;
                uint16_t m_utcValid;
                uint16_t m_acc_g;
                uint16_t m_gpsPvtData;
                uint16_t m_gpsPvtPressure;
                uint16_t m_gpsPvtPressureAge;
                uint16_t m_gpsPvtGpsData;
                uint16_t m_gpsPvtItow;
                uint16_t m_gpsPvtLatitude;
                uint16_t m_gpsPvtLongitude;
                uint16_t m_gpsPvtHeight;
                uint16_t m_gpsPvtVeln;
                uint16_t m_gpsPvtVele;
                uint16_t m_gpsPvtVeld;
                uint16_t m_gpsPvtHacc;
                uint16_t m_gpsPvtVacc;
                uint16_t m_gpsPvtSacc;
                uint16_t m_gpsPvtGpsAge;
                uint16_t m_size;
                uint16_t m_doubleBoundary;
        }*      m_infoList;
        CmtDataFormat*  m_formatList;   
        bool m_xm;                                              

public:
        uint16_t                m_itemCount;    
        Message                 m_msg;                  
        TimeStamp               m_rtc;                  
        TimeStamp               m_toa;                  

        Packet(uint16_t items, bool xbus);
        Packet(const Packet& pack);
        ~Packet();

        void operator = (const Packet& pack);

        bool setDataFormat(const CmtDataFormat& format, const uint16_t index = 0);
        bool setDataFormat(const CmtOutputMode outputMode, const CmtOutputSettings outputSettings, const uint16_t index = 0);
        CmtDataFormat getDataFormat(const uint16_t index = 0) const;
        void setXbus(bool xbus, bool convert = false);
        bool getXbus(void) const;

        uint16_t getDataSize(const uint16_t index=0) const;

        uint16_t getFPValueSize(const uint16_t index) const;

        CmtShortVector getRawAcc(const uint16_t index=0) const;
        bool containsRawAcc(const uint16_t index=0) const;
        bool updateRawAcc(const CmtShortVector& vec, const uint16_t index=0);
        CmtShortVector getRawGyr(const uint16_t index=0) const;
        bool containsRawGyr(const uint16_t index=0) const;
        bool updateRawGyr(const CmtShortVector& vec, const uint16_t index=0);
        CmtShortVector getRawMag(const uint16_t index=0) const;
        bool containsRawMag(const uint16_t index=0) const;
        bool updateRawMag(const CmtShortVector& vec, const uint16_t index=0);
        uint16_t getRawTemp(const uint16_t index=0) const;
        bool containsRawTemp(const uint16_t index=0) const;
        bool updateRawTemp(uint16_t temp, const uint16_t index=0);
        CmtRawData getRawData(const uint16_t index=0) const;
        bool containsRawData(const uint16_t index=0) const;
        bool updateRawData(const CmtRawData& data, const uint16_t index=0);
        CmtGpsPvtData getGpsPvtData(const uint16_t index=0) const;
        bool containsGpsPvtData(const uint16_t index=0) const;
        bool updateGpsPvtData(const CmtGpsPvtData& data, const uint16_t index=0);

        #define getRawGpsData getGpsPvtData
        #define containsRawGpsData containsGpsPvtData
        #define updateRawGpsData updateGpsPvtData

        CmtRawPressureData getRawPressureData(const uint16_t index=0) const;
        bool containsRawPressureData(const uint16_t index=0) const;
        bool updateRawPressureData(const CmtRawPressureData& data, const uint16_t index=0);

        double getTemp(const uint16_t index=0) const;
        bool containsTemp(const uint16_t index=0) const;
        bool updateTemp(const double& temp, const uint16_t index=0);
        CmtVector getCalAcc(const uint16_t index=0) const;
        bool containsCalAcc(const uint16_t index=0) const;
        bool updateCalAcc(const CmtVector& vec, const uint16_t index=0);
        CmtVector getCalGyr(const uint16_t index=0) const;
        bool containsCalGyr(const uint16_t index=0) const;
        bool updateCalGyr(const CmtVector& vec, const uint16_t index=0);
        CmtVector getCalMag(const uint16_t index=0) const;
        bool containsCalMag(const uint16_t index=0) const;
        bool updateCalMag(const CmtVector& vec, const uint16_t index=0);
        CmtCalData getCalData(const uint16_t index=0) const;
        bool containsCalData(const uint16_t index=0) const;
        bool updateCalData(const CmtCalData& data, const uint16_t index=0);

        CmtQuat getOriQuat(const uint16_t index=0) const;
        bool containsOriQuat(const uint16_t index=0) const;
        bool updateOriQuat(const CmtQuat& data, const uint16_t index=0);
        CmtEuler getOriEuler(const uint16_t index=0) const;
        bool containsOriEuler(const uint16_t index=0) const;
        bool updateOriEuler(const CmtEuler& data, const uint16_t index=0);
        CmtMatrix getOriMatrix(const uint16_t index=0) const;
        bool containsOriMatrix(const uint16_t index=0) const;
        bool updateOriMatrix(const CmtMatrix& data, const uint16_t index=0);

        bool containsOri(const uint16_t index=0) const;

        CmtAnalogInData getAnalogIn1(const uint16_t index=0) const;
        bool containsAnalogIn1(const uint16_t index=0) const;
        bool updateAnalogIn1(const CmtAnalogInData& data, const uint16_t index=0);

        CmtAnalogInData getAnalogIn2(const uint16_t index=0) const;
        bool containsAnalogIn2(const uint16_t index=0) const;
        bool updateAnalogIn2(const CmtAnalogInData& data, const uint16_t index=0);

        CmtVector getPositionLLA(const uint16_t index=0) const;
        bool containsPositionLLA(const uint16_t index=0) const;
        bool updatePositionLLA(const CmtVector& data, const uint16_t index=0);

        CmtVector getVelocity(const uint16_t index=0) const;
        bool containsVelocity(const uint16_t index=0) const;
        bool updateVelocity(const CmtVector& data, const uint16_t index=0);

        uint8_t getStatus(const uint16_t index=0) const;
        bool containsStatus(const uint16_t index=0) const;
        bool updateStatus(const uint8_t data, const uint16_t index=0);

        uint16_t getSampleCounter(const uint16_t index=0) const;
        bool containsSampleCounter(const uint16_t index=0) const;
        bool updateSampleCounter(const uint16_t counter, const uint16_t index=0);

        CmtUtcTime getUtcTime(const uint16_t index=0) const;
        bool containsUtcTime(const uint16_t index=0) const;
        bool updateUtcTime(const CmtUtcTime& data, const uint16_t index=0);

        CmtTimeStamp getRtc(const uint16_t index=0) const;


        CmtVector getAccG(const uint16_t index=0) const;
        bool containsAccG(const uint16_t index=0) const;
        bool updateAccG(const CmtVector& g, const uint16_t index=0);

        #ifdef CMT_DLL_EXPORT
        void interpolate(const Packet& pa, const Packet& pb, const double f, int32_t interpolationMode = 1);
        #endif
};

}       // end of xsens namespace

#endif  // CMTPACKET_H