packet_structure.h
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00001 // Copyright (c) 2014, Pepperl+Fuchs GmbH, Mannheim
00002 // Copyright (c) 2014, Denis Dillenberger
00003 // All rights reserved.
00004 //
00005 // Use, modification, and distribution is subject to the
00006 // 3-clause BSD license ("Revised BSD License",
00007 // "New BSD License", or "Modified BSD License")
00008 // You should have received a copy of this license
00009 // in a file named COPYING or LICENSE.
00010 
00011 #ifndef PACKET_STRUCTURE_H
00012 #define PACKET_STRUCTURE_H
00013 #include <cstdint>
00014 #include <vector>
00015 
00016 namespace pepperl_fuchs {
00017 
00018 #pragma pack(1)
00019 
00020 
00021 struct PacketHeader
00022 {
00024     std::uint16_t magic;
00025 
00027     std::uint16_t packet_type;
00028 
00030     std::uint32_t packet_size;
00031 
00033     std::uint16_t header_size;
00034 
00036     std::uint16_t scan_number;
00037 
00039     std::uint16_t packet_number;
00040 
00042     std::uint64_t timestamp_raw;
00043 
00045     std::uint64_t timestamp_sync;
00046 
00048     std::uint32_t status_flags;
00049 
00051     std::uint32_t scan_frequency;
00052 
00054     std::uint16_t num_points_scan;
00055 
00057     std::uint16_t num_points_packet;
00058 
00060     std::uint16_t first_index;
00061 
00063     std::int32_t first_angle;
00064 
00066     std::int32_t angular_increment;
00067 
00069     std::uint32_t output_status;
00070 
00072     std::uint32_t field_status;
00073 
00075     //std::uint8 padding[0];
00076 };
00077 
00080 struct PacketTypeC
00081 {
00082     PacketHeader header;
00083     std::uint32_t distance_amplitude_payload; // distance 20 bit, amplitude 12 bit
00084 };
00085 #pragma pack()
00086 
00089 struct ScanData
00090 {
00092     std::vector<std::uint32_t> distance_data;
00093 
00095     std::vector<std::uint32_t> amplitude_data;
00096 
00098     std::vector<PacketHeader> headers;
00099 };
00100 
00101 }
00102 
00103 #endif // PACKET_STRUCTURE_H


pepperl_fuchs_r2000
Author(s): Denis Dillenberger
autogenerated on Thu Jun 6 2019 19:34:11