ulog_messages.h

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#pragma once

#include <cstdint>

enum class ULogMessageType : uint8_t {
        FORMAT = 'F',
        DATA = 'D',
        INFO = 'I',
        INFO_MULTIPLE = 'M',
        PARAMETER = 'P',
        ADD_LOGGED_MSG = 'A',
        REMOVE_LOGGED_MSG = 'R',
        SYNC = 'S',
        DROPOUT = 'O',
        LOGGING = 'L',
        FLAG_BITS = 'B',
};


/* declare message data structs with byte alignment (no padding) */
#pragma pack(push, 1)

struct ulog_file_header_s {
        uint8_t magic[8];
        uint64_t timestamp;
};

#define ULOG_MSG_HEADER_LEN 3 //accounts for msg_size and msg_type
struct ulog_message_header_s {
        uint16_t msg_size;
        uint8_t msg_type;
};

struct ulog_message_format_s {
        uint16_t msg_size; //size of message - ULOG_MSG_HEADER_LEN
        uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::FORMAT);

        char format[1500];
};

struct ulog_message_add_logged_s {
        uint16_t msg_size; //size of message - ULOG_MSG_HEADER_LEN
        uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::ADD_LOGGED_MSG);

        uint8_t multi_id;
        uint16_t msg_id;
        char message_name[255];
};

struct ulog_message_remove_logged_s {
        uint16_t msg_size; //size of message - ULOG_MSG_HEADER_LEN
        uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::REMOVE_LOGGED_MSG);

        uint16_t msg_id;
};

struct ulog_message_sync_s {
        uint16_t msg_size; //size of message - ULOG_MSG_HEADER_LEN
        uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::SYNC);

        uint8_t sync_magic[8];
};

struct ulog_message_dropout_s {
        uint16_t msg_size = sizeof(uint16_t); //size of message - ULOG_MSG_HEADER_LEN
        uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::DROPOUT);

        uint16_t duration; //in ms
};

struct ulog_message_data_header_s {
        uint16_t msg_size; //size of message - ULOG_MSG_HEADER_LEN
        uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::DATA);

        uint16_t msg_id;
};

struct ulog_message_info_header_s {
        uint16_t msg_size; //size of message - ULOG_MSG_HEADER_LEN
        uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::INFO);

        uint8_t key_len;
        char key[255];
};

struct ulog_message_info_multiple_header_s {
        uint16_t msg_size; //size of message - ULOG_MSG_HEADER_LEN
        uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::INFO_MULTIPLE);

        uint8_t is_continued; 
        uint8_t key_len;
        char key[255];
};

struct ulog_message_logging_s {
        uint16_t msg_size; //size of message - ULOG_MSG_HEADER_LEN
        uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::LOGGING);

        uint8_t log_level; //same levels as in the linux kernel
        uint64_t timestamp;
        char message[128]; //defines the maximum length of a logged message string
};

struct ulog_message_parameter_header_s {
        uint16_t msg_size;
        uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::PARAMETER);

        uint8_t key_len;
        char key[255];
};


#define ULOG_INCOMPAT_FLAG0_DATA_APPENDED_MASK (1<<0)

struct ulog_message_flag_bits_s {
        uint16_t msg_size;
        uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::FLAG_BITS);

        uint8_t compat_flags[8];
        uint8_t incompat_flags[8]; 
        uint64_t appended_offsets[3]; 
};

#pragma pack(pop)