ImuConfigMessage.h

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#ifndef LibMultiSense_ImuConfigMessage
#define LibMultiSense_ImuConfigMessage

#include "details/utility/Portability.hh"

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

class Config {
public:
    static CRL_CONSTEXPR VersionType VERSION       = 1;
    static CRL_CONSTEXPR uint32_t    FLAGS_ENABLED = (1<<0);

    std::string name;
    uint32_t    flags;
    uint32_t    rateTableIndex;
    uint32_t    rangeTableIndex;

    //
    // Serialization routine

    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        message & name;
        message & flags;
        message & rateTableIndex;
        message & rangeTableIndex;
    }
};

} // namespace imu

class ImuConfig {
public:
    static CRL_CONSTEXPR IdType      ID      = ID_DATA_IMU_CONFIG;
    static CRL_CONSTEXPR VersionType VERSION = 1;

    uint8_t                  storeSettingsInFlash;  // boolean
    uint32_t                 samplesPerMessage;     // 0 to ignore
    std::vector<imu::Config> configs;

    //
    // Constructors

    ImuConfig(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    ImuConfig() : storeSettingsInFlash(0), samplesPerMessage(0) {};

    //
    // Serialization routine

    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        message & storeSettingsInFlash;
        message & samplesPerMessage;
        message & configs;
    }
};

}}}}; // namespaces

#endif