ImuInfoMessage.h

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#ifndef LibMultiSense_ImuInfoMessage
#define LibMultiSense_ImuInfoMessage

#include <typeinfo>

#include "details/utility/Portability.hh"

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

class RateType {
public:
    static CRL_CONSTEXPR VersionType VERSION = 1;

    float sampleRate;
    float bandwidthCutoff;

    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        message & sampleRate;
        message & bandwidthCutoff;
    }
};

class RangeType {
public:
    static CRL_CONSTEXPR VersionType VERSION = 1;

    float range;
    float resolution;

    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        message & range;
        message & resolution;
    }
};

class Details {
public:
    static CRL_CONSTEXPR VersionType VERSION = 1;

    std::string            name;
    std::string            device;
    std::string            units;
    std::vector<RateType>  rates;
    std::vector<RangeType> ranges;

    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        message & name;
        message & device;
        message & units;
        message & rates;
        message & ranges;
    }
};

} // namespace imu

class ImuInfo {
public:
    static CRL_CONSTEXPR IdType      ID      = ID_DATA_IMU_INFO;
    static CRL_CONSTEXPR VersionType VERSION = 1;

    //
    // IMU details per sensor

    uint32_t                  maxSamplesPerMessage;
    std::vector<imu::Details> details;

    //
    // Constructors

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

    //
    // Serialization routine

    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        message & maxSamplesPerMessage;
        message & details;
    }
};

}}}} // namespaces

#endif