MKDefines.hpp

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/*
 * MKDefines.hpp
 *
 *  Created on: Nov 23, 2011
 *      Author: mriedel
 */

#ifndef MKDEFINES_HPP_
#define MKDEFINES_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <telekyb_defines/telekyb_enums.hpp>


// ACTIVEDATA
#define ACTIVEDATA_SIZE 10
//#define NR_MKDATA 42 // nr of Values

//namespace TELEKYB_NAMESPACE {

// Type Definition of Mikrokopterdata
typedef char MKChar;
typedef short int MKInt;
//typedef unsigned short int MKUInt;


struct MKActiveValues{
        MKInt values[ACTIVEDATA_SIZE];
};
// Chars!!!
struct MKActiveIDs{
        MKChar ids[ACTIVEDATA_SIZE];
};

// Value only ID
//struct MKSingleIdPacket{
//      MKInt id;
//};

// Value: ID and Value
struct MKSingleValuePacket{
        MKInt id;
        MKInt value;

        MKSingleValuePacket(MKInt id_, MKInt value_) {
                id = id_;
                value = value_;
        }
};

struct MKCommandsPacket {
        MKChar pitch;
        MKChar roll;
        MKChar yawrate;
        MKChar thrust;

        // NULL Initialized
        MKCommandsPacket(){
                pitch = 0;
                roll = 0;
                yawrate = 0;
                thrust = 0;
        }
};


// operators
bool operator==(const MKActiveIDs& lhs, const MKActiveIDs& rhs);

bool operator==(const MKSingleValuePacket& lhs, const MKSingleValuePacket& rhs);

// functions
bool isValidMKActiveIDs(const MKActiveIDs& activeIDs);

TELEKYB_ENUM(MotorState,
                (Init) // 0
                (On) // 1
                (Emer) // 2
                (Off) // 3
                (UnDef) // don;t use this one
)

TELEKYB_ENUM(MKDataPattern,
                (RawImuAttEst)
                (CompFilt)
                (Stats)
                (AccOffsetGyroDrift)
                (Default) // 0-9.
)

//
enum SendQueue {
        SENDQUEUE_ACTIVEDATAIDS,
        SENDQUEUE_SET,
        SENDQUEUE_UPDATE,
        SENDQUEUE_SIZE
};


// Unfortunately TELEKYB_ENUM cannot handle 42 values. e.g. Eclipse cannot handle them. -> old school endum
class MKDataDefines
{
public:

enum MKIntMapping {
        MKINT_LOGICAL_OFF = 0,
        MKINT_LOGICAL_ON = 1
};

enum MKDataIds{
        RAW_ACC_X = 0,
        RAW_ACC_Y = 1,
        RAW_ACC_Z = 2,
        RAW_GYRO_X = 3,
        RAW_GYRO_Y = 4,
        RAW_GYRO_Z = 5,

        ACC_X = 6,
        ACC_Y = 7,
        ACC_Z = 8,
        OMEGA_X = 9,
        OMEGA_Y = 10,
        OMEGA_Z = 11,

        BATT_VOLT = 12,

        OFFSET_RAW_ACC_X = 13,
        OFFSET_RAW_ACC_Y = 14,
        OFFSET_RAW_ACC_Z = 15,
        DRIFT_GYRO_X = 16,
        DRIFT_GYRO_Y = 17,
        DRIFT_GYRO_Z = 18,

        PITCH = 19,
        ROLL  = 20,
        PITCH_RATE = 21,
        ROLL_RATE  = 22,

        PROP_GAIN     = 23,
        DERIV_GAIN    = 24,
        INTEG_GAIN    = 25,
        YAW_RATE_GAIN = 26,
        YAW_ACC_GAIN  = 27,

        YAW_CTRL_TYPE = 28,
        MIRROR_TIME_PERIOD = 29,

        TIME_MS_MOD_60S  = 30,

        MIRROR_DATA_ACTIVE = 31,

        MOTOR_STATE = 32,

        DRIFT_ESTIM_ACTIVE = 33,

        RCVD_CMD_PER_SEC = 34,
        MAX_RCVD_PERIOD_MS = 35,
        SENT_PKT_PER_SEC = 36,
        MAX_SENT_PERIOD_MS = 37,

        CTRL_STEPS_PER_SEC = 38,
        MAX_FLIGHT_CTRL_PERIOD_MS = 39,

        ROBOT_ID = 40,
        FIRMWARE_REVISION = 41,

        MKDATAIDS_NUM = 42
};

static const char* MKDATAIDS_NAMES[MKDATAIDS_NUM];
};
// = {
//      "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
//};




//}

#endif /* MKDEFINES_HPP_ */