ulog_messages.h

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#pragma once

#include <cstdint>

enum class ULogMessageType : uint8_t
{
  FORMAT = 'F',
  DATA = 'D',
  INFO = 'I',
  INFO_MULTIPLE = 'M',
  PARAMETER = 'P',
  PARAMETER_DEFAULT = 'Q',
  ADD_LOGGED_MSG = 'A',
  REMOVE_LOGGED_MSG = 'R',
  SYNC = 'S',
  DROPOUT = 'O',
  LOGGING = 'L',
  LOGGING_TAGGED = 'C',
  FLAG_BITS = 'B',
};

/* declare message data structs with byte alignment (no padding) */
#pragma pack(push, 1)

struct ulog_file_header_s
{
  uint8_t magic[8];
  uint64_t timestamp;
};

#define ULOG_MSG_HEADER_LEN 3  // accounts for msg_size and msg_type
struct ulog_message_header_s
{
  uint16_t msg_size;
  uint8_t msg_type;
};

struct ulog_message_format_s
{
  uint16_t msg_size;  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::FORMAT);

  char format[1500];
};

struct ulog_message_add_logged_s
{
  uint16_t msg_size;  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::ADD_LOGGED_MSG);

  uint8_t multi_id;
  uint16_t msg_id;
  char message_name[255];
};

struct ulog_message_remove_logged_s
{
  uint16_t msg_size;  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::REMOVE_LOGGED_MSG);

  uint16_t msg_id;
};

struct ulog_message_sync_s
{
  uint16_t msg_size;  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::SYNC);

  uint8_t sync_magic[8];
};

struct ulog_message_dropout_s
{
  uint16_t msg_size = sizeof(uint16_t);  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::DROPOUT);

  uint16_t duration;  // in ms
};

struct ulog_message_data_header_s
{
  uint16_t msg_size;  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::DATA);

  uint16_t msg_id;
};

struct ulog_message_info_header_s
{
  uint16_t msg_size;  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::INFO);

  uint8_t key_len;
  char key[255];
};

struct ulog_message_info_multiple_header_s
{
  uint16_t msg_size;  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::INFO_MULTIPLE);

  uint8_t is_continued;  
  uint8_t key_len;
  char key[255];
};

struct ulog_message_logging_s
{
  uint16_t msg_size;  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::LOGGING);

  uint8_t log_level;  // same levels as in the linux kernel
  uint64_t timestamp;
  char message[128];  // defines the maximum length of a logged message string
};

struct ulog_message_logging_tagged_s
{
  uint16_t msg_size;  // size of message - ULOG_MSG_HEADER_LEN
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::LOGGING_TAGGED);

  uint8_t log_level;  // same levels as in the linux kernel
  uint16_t tag;
  uint64_t timestamp;
  char message[128];  // defines the maximum length of a logged message string
};

struct ulog_message_parameter_header_s
{
  uint16_t msg_size;
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::PARAMETER);

  uint8_t key_len;
  char key[255];
};

enum class ulog_parameter_default_type_t : uint8_t
{
  system = (1 << 0),
  current_setup = (1 << 1)  // airframe default
};

inline ulog_parameter_default_type_t operator|(ulog_parameter_default_type_t a,
                                               ulog_parameter_default_type_t b)
{
  return static_cast<ulog_parameter_default_type_t>(static_cast<uint8_t>(a) |
                                                    static_cast<uint8_t>(b));
}

struct ulog_message_parameter_default_header_s
{
  uint16_t msg_size;
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::PARAMETER_DEFAULT);

  ulog_parameter_default_type_t default_types;
  uint8_t key_len;
  char key[255];
};

#define ULOG_INCOMPAT_FLAG0_DATA_APPENDED_MASK (1 << 0)

#define ULOG_COMPAT_FLAG0_DEFAULT_PARAMETERS_MASK (1 << 0)

struct ulog_message_flag_bits_s
{
  uint16_t msg_size;
  uint8_t msg_type = static_cast<uint8_t>(ULogMessageType::FLAG_BITS);

  uint8_t compat_flags[8];
  uint8_t incompat_flags[8];     
  uint64_t appended_offsets[3];  
};

#pragma pack(pop)