MKDefines.cpp

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/*
 * MKDefines.cpp
 *
 *  Created on: Nov 29, 2011
 *      Author: mriedel
 */

#include <telekyb_defines/MKDefines.hpp>

//namespace TELEKYB_NAMESPACE {

// operators
bool operator==(const MKActiveIDs& lhs, const MKActiveIDs& rhs)
{
        for (int i = 0; i < ACTIVEDATA_SIZE; i++) {
                if (lhs.ids[i] != rhs.ids[i]) {
                        return false;
                }
        }

        // all equal
        return true;
}

bool operator==(const MKSingleValuePacket& lhs, const MKSingleValuePacket& rhs)
{
    return (lhs.id == rhs.id) && (lhs.value == rhs.value);
}


bool isValidMKActiveIDs(const MKActiveIDs& activeIDs)
{
        for (int i = 0; i < ACTIVEDATA_SIZE; i++) {
                if (activeIDs.ids[i] >= MKDataDefines::MKDATAIDS_NUM) {
                        return false;
                }
        }

        return true;
}

const char* MKDataDefines::MKDATAIDS_NAMES[] = {
        "RawAccX",//0
        "RawAccY",//1
        "RawAccZ",//2
        "RawGyroX",//3
        "RawGyroY",//4
        "RawGyroZ",//5

        "AccX",//6
        "AccY",//7
        "AccZ",//8
        "OmegaX",//9
        "OmegaY",//10
        "OmegaZ",//11

        "BattVolt",//12

        "OffsRAccX",//13
        "OffsRAccY",//14
        "OffsRAccZ",//15
        "GyrDriftX",//16
        "GyrDriftY",//17
        "GyrDriftZ",//18

        "EstPitch",//19
        "EstRoll",//20
        "EstPitRat",//21
        "EstRolRat",//22

        "PropGain",//23
        "DerivGain",//24
        "IntegGain",//25
        "YawRatGain",//26
        "YawAccGain",//27

        "YawCtrTyp",//28
        "MirrPriod",//29

        "TimeMs60",//30

        "MirrActiv",//31

        "MotState",//32

        "DriftActiv",//33

        "RcvCmdSec",//34
        "MaxRcvPer",//35
        "SenPktSec",//36
        "MaxSenPer",//37
        "FcStepSec",//38
        "MaxFcPer",//39

        "RobotId",//40
        "FirmRev"//41
};


//}