sensors.hpp

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/*****************************************************************************
** Preprocessor
*****************************************************************************/

#ifndef XBOT_SENSORS_HPP__
#define XBOT_SENSORS_HPP__

/*****************************************************************************
** Include
*****************************************************************************/

#include "../packet_handler/payload_base.hpp"
#include "../macros.hpp"
#include <stdint.h>

/*****************************************************************************
** Namespaces
*****************************************************************************/

namespace xbot
{

/*****************************************************************************
** Interface
*****************************************************************************/

class xbot_PUBLIC Sensors : public packet_handler::payloadBase
{
public:
  Sensors() : packet_handler::payloadBase(false, 72) {};

  struct Data {
    unsigned char yaw_platform_degree;
    unsigned char pitch_platform_degree;
    bool sound_enabled;
    float acc_x;
    float acc_y;
    float acc_z;
    float gyro_x;
    float gyro_y;
    float gyro_z;
    float mag_x;
    float mag_y;
    float mag_z;

    float yaw;
    float pitch;
    float roll;
    float q1;
    float q2;
    float q3;
    float q4;
    unsigned char error_status;
    uint32_t timestamp;
    uint8_t version;


  } data;


  bool serialise(ecl::PushAndPop<unsigned char> & byteStream);
  bool deserialise(ecl::PushAndPop<unsigned char> & byteStream);
};

} // namespace xbot

#endif /* XBOT_SENSORS_HPP__ */