ImuDataMessage.h

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#ifndef LibMultiSense_ImuDataMessage
#define LibMultiSense_ImuDataMessage

#include "details/utility/Portability.hh"

namespace crl {
namespace multisense {
namespace details {
namespace wire {

class WIRE_HEADER_ATTRIBS_ ImuSample {
public:
    static CRL_CONSTEXPR VersionType VERSION    = 2;
    static CRL_CONSTEXPR uint16_t    TYPE_ACCEL = 1;
    static CRL_CONSTEXPR uint16_t    TYPE_GYRO  = 2;
    static CRL_CONSTEXPR uint16_t    TYPE_MAG   = 3;

    uint16_t type;
    int64_t  timeNanoSeconds;
    float    x, y, z;
    uint64_t ptpNanoSeconds;

#ifndef SENSORPOD_FIRMWARE
    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        message & type;
        message & timeNanoSeconds;
        message & x;
        message & y;
        message & z;

        if (version >= 2)
        {
            message & ptpNanoSeconds;
        }
    }
#endif // !SENSORPOD_FIRMWARE
};

class ImuData  {
public:
    static CRL_CONSTEXPR IdType      ID      = ID_DATA_IMU;
    static CRL_CONSTEXPR VersionType VERSION = 1;

    uint32_t               sequence;
    std::vector<ImuSample> samples;

#ifndef SENSORPOD_FIRMWARE

    //
    // Constructors

    ImuData(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    ImuData() {};

    //
    // Serialization routine

    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        message & sequence;
        message & samples;
    }
#endif // !SENSORPOD_FIRMWARE

};

}}}} // namespaces

#endif