StatusResponseMessage.h

Go to the documentation of this file.

#ifndef LibMultiSense_StatusResponseMessage
#define LibMultiSense_StatusResponseMessage

#include "details/utility/Portability.hh"

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

class StatusResponse {
public:
    static CRL_CONSTEXPR IdType      ID                  = ID_DATA_STATUS;
    static CRL_CONSTEXPR VersionType VERSION             = 3;
        static float INVALID_TEMPERATURE() { return -99999.0f; };

    //
    // Subsytem status

    static CRL_CONSTEXPR uint32_t STATUS_GENERAL_OK      = (1<<0);
    static CRL_CONSTEXPR uint32_t STATUS_LASER_OK        = (1<<1);
    static CRL_CONSTEXPR uint32_t STATUS_LASER_MOTOR_OK  = (1<<2);
    static CRL_CONSTEXPR uint32_t STATUS_CAMERAS_OK      = (1<<3);
    static CRL_CONSTEXPR uint32_t STATUS_IMU_OK          = (1<<4);
    static CRL_CONSTEXPR uint32_t STATUS_EXTERNAL_LED_OK = (1<<5);
    static CRL_CONSTEXPR uint32_t STATUS_PIPELINE_OK     = (1<<6);

    //
    // The reported uptime for the system
    //

    utility::TimeStamp uptime;
    uint32_t           status;
    float              temperature0; // celsius
    float              temperature1;

    //
    // Version 2 additions

    float              temperature2; // celsius
    float              temperature3;

    float              inputVolts;    // volts
    float              inputCurrent;  // amps
    float              fpgaPower;     // watts
    float              logicPower;
    float              imagerPower;

    //
    // Constructors

    StatusResponse(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    StatusResponse() : uptime(),
                       status(0),
                       temperature0(INVALID_TEMPERATURE()),
                       temperature1(INVALID_TEMPERATURE()),
                       temperature2(INVALID_TEMPERATURE()),
                       temperature3(INVALID_TEMPERATURE()),
                       inputVolts(-1.0),
                       inputCurrent(-1.0),
                       fpgaPower(-1.0),
                       logicPower(-1.0),
                       imagerPower(-1.0) {};

    //
    // Serialization routine

    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        message & uptime;
        message & status;
        message & temperature0;
        message & temperature1;

        if (version >= 2) {
            message & temperature2;
            message & temperature3;
            message & inputVolts;
            message & inputCurrent;
            message & fpgaPower;
            message & logicPower;
            message & imagerPower;
        }

        //
        // Enable the LED OK and pipeline OK status for older messages
        if (version < 3) {
            status |= STATUS_EXTERNAL_LED_OK;
            status |= STATUS_PIPELINE_OK;
        }
    }
};

}}}} // namespaces

#endif