t265-messages.h

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// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.

#pragma once

#include <stdint.h>
#include <math.h>

#pragma pack(push, 1)

#ifdef _WIN32
#pragma warning (push)
#pragma warning (disable : 4200)
#else
#pragma GCC diagnostic ignored "-Wpedantic"
#endif

#define MAX_VIDEO_STREAMS 8
#define MAX_FW_LOG_BUFFER_ENTRIES (512)
#define MAX_LOG_PAYLOAD_SIZE (44)
#define MAX_MESSAGE_LEN 1024
#define MAX_EEPROM_BUFFER_SIZE (MAX_MESSAGE_LEN - sizeof(bulk_message_request_header) - 4)
#define MAX_TABLE_SIZE (MAX_MESSAGE_LEN - sizeof(bulk_message_response_header))
#define MAX_EEPROM_CONFIGURATION_SIZE 1200
#define MAX_GUID_LENGTH 128
#define MAX_FW_UPDATE_FILE_COUNT 6
#define MAX_SLAM_CALIBRATION_SIZE 10000

// Added from TrackingCommon.h
namespace t265
{
    enum SensorType
    {
        Color = 0,
        Depth = 1,
        IR = 2,
        Fisheye = 3,
        Gyro = 4,
        Accelerometer = 5,
        Controller = 6,
        Rssi = 7,
        Velocimeter = 8,
        Stereo = 9,
        Pose = 10,
        ControllerProperty = 11,
        Mask = 12,
        Max
    };

    enum PixelFormat
    {
        ANY = 0,         
        Z16 = 1,         
        DISPARITY16 = 2, 
        XYZ32F = 3,      
        YUYV = 4,        
        RGB8 = 5,        
        BGR8 = 6,        
        RGBA8 = 7,       
        BGRA8 = 8,       
        Y8 = 9,          
        Y16 = 10,        
        RAW8 = 11,       
        RAW10 = 12,      
        RAW16 = 13       
    };

    typedef enum {
        SIXDOF_MODE_NORMAL = 0X0000,
        SIXDOF_MODE_FAST_PLAYBACK = 0x0001,
        SIXDOF_MODE_ENABLE_MAPPING = 0x0002,
        SIXDOF_MODE_ENABLE_RELOCALIZATION = 0x0004,
        SIXDOF_MODE_DISABLE_JUMPING = 0x0008,
        SIXDOF_MODE_DISABLE_DYNAMIC_CALIBRATION = 0x0010,
        SIXDOF_MODE_ENABLE_MAP_PRESERVATION = 0x0020,
        SIXDOF_MODE_MAX = ((SIXDOF_MODE_FAST_PLAYBACK | SIXDOF_MODE_ENABLE_MAPPING | SIXDOF_MODE_ENABLE_RELOCALIZATION | SIXDOF_MODE_DISABLE_JUMPING | SIXDOF_MODE_DISABLE_DYNAMIC_CALIBRATION | SIXDOF_MODE_ENABLE_MAP_PRESERVATION) + 1)
    } SIXDOF_MODE;

    inline SIXDOF_MODE &operator|=(SIXDOF_MODE &x, SIXDOF_MODE y) {
        return x = static_cast<SIXDOF_MODE>(static_cast<typename std::underlying_type<SIXDOF_MODE>::type>(x) |
                                            static_cast<typename std::underlying_type<SIXDOF_MODE>::type>(y));
    }
    inline SIXDOF_MODE &operator&=(SIXDOF_MODE &x, SIXDOF_MODE y) {
        return x = static_cast<SIXDOF_MODE>(static_cast<typename std::underlying_type<SIXDOF_MODE>::type>(x) &
                                            static_cast<typename std::underlying_type<SIXDOF_MODE>::type>(y));
    }
    inline SIXDOF_MODE operator~(SIXDOF_MODE x) {
        return static_cast<SIXDOF_MODE>(~static_cast<typename std::underlying_type<SIXDOF_MODE>::type>(x));
    }
    inline SIXDOF_MODE operator|(SIXDOF_MODE x, SIXDOF_MODE y) { return x |= y; }
    inline SIXDOF_MODE operator&(SIXDOF_MODE x, SIXDOF_MODE y) { return x &= y; }

    typedef enum {

        /* Core device messages */
        DEV_GET_DEVICE_INFO = 0x0001,
        DEV_GET_TIME = 0x0002,
        DEV_GET_AND_CLEAR_EVENT_LOG = 0x0003,
        DEV_GET_SUPPORTED_RAW_STREAMS = 0x0004,
        DEV_RAW_STREAMS_CONTROL = 0x0005,
        DEV_GET_CAMERA_INTRINSICS = 0x0006,
        DEV_GET_MOTION_INTRINSICS = 0x0007,
        DEV_GET_EXTRINSICS = 0x0008,
        DEV_SET_CAMERA_INTRINSICS = 0x0009,
        DEV_SET_MOTION_INTRINSICS = 0x000A,
        DEV_SET_EXTRINSICS = 0x000B,
        DEV_LOG_CONTROL = 0x000C,
        DEV_STREAM_CONFIG = 0x000D,
        DEV_RAW_STREAMS_PLAYBACK_CONTROL = 0x000E,
        DEV_READ_EEPROM = 0x000F,
        DEV_WRITE_EEPROM = 0x0010,
        DEV_SAMPLE = 0x0011,
        DEV_START = 0x0012,
        DEV_STOP = 0x0013,
        DEV_STATUS = 0x0014,
        DEV_GET_POSE = 0x0015,
        DEV_EXPOSURE_MODE_CONTROL = 0x0016,
        DEV_SET_EXPOSURE = 0x0017,
        DEV_GET_TEMPERATURE = 0x0018,
        DEV_SET_TEMPERATURE_THRESHOLD = 0x0019,
        DEV_FIRMWARE_UPDATE = 0x001C,
        DEV_GPIO_CONTROL = 0x001D,
        DEV_TIMEOUT_CONFIGURATION = 0x001E,
        DEV_SNAPSHOT = 0x001F,
        DEV_READ_CONFIGURATION = 0x0020,
        DEV_WRITE_CONFIGURATION = 0x0021,
        DEV_RESET_CONFIGURATION = 0x0022,
        DEV_LOCK_CONFIGURATION = 0x0023,
        DEV_LOCK_EEPROM = 0x0024,
        DEV_SET_LOW_POWER_MODE = 0x0025,

        /* SLAM messages */
        SLAM_STATUS = 0x1001,
        SLAM_GET_OCCUPANCY_MAP_TILES = 0x1002,
        SLAM_GET_LOCALIZATION_DATA = 0x1003,
        SLAM_SET_LOCALIZATION_DATA_STREAM = 0x1004,
        SLAM_SET_6DOF_INTERRUPT_RATE = 0x1005,
        SLAM_6DOF_CONTROL = 0x1006,
        SLAM_OCCUPANCY_MAP_CONTROL = 0x1007,
        SLAM_GET_LOCALIZATION_DATA_STREAM = 0x1009,
        SLAM_SET_STATIC_NODE = 0x100A,
        SLAM_GET_STATIC_NODE = 0x100B,
        SLAM_APPEND_CALIBRATION = 0x100C,
        SLAM_CALIBRATION = 0x100D,
        SLAM_RELOCALIZATION_EVENT = 0x100E,
        SLAM_REMOVE_STATIC_NODE = 0x100F,

        /* Error messages */
        DEV_ERROR = 0x8000,
        SLAM_ERROR = 0x9000,

        /* Message IDs are 16-bits */
        MAX_MESSAGE_ID = 0xFFFF,
    } BULK_MESSAGE_ID;


    typedef enum {
        SUCCESS = 0X0000,
        UNKNOWN_MESSAGE_ID = 0x0001,
        INVALID_REQUEST_LEN = 0x0002,
        INVALID_PARAMETER = 0x0003,
        INTERNAL_ERROR = 0x0004,
        UNSUPPORTED = 0x0005,
        LIST_TOO_BIG = 0x0006,
        MORE_DATA_AVAILABLE = 0x0007,
        DEVICE_BUSY = 0x0008,         /* Indicates that this command is not supported in the current device state, e.g.trying to change configuration after START */
        TIMEOUT = 0x0009,
        TABLE_NOT_EXIST = 0x000A,     /* The requested configuration table does not exists on the EEPROM */
        TABLE_LOCKED = 0x000B,        /* The configuration table is locked for writing or permanently locked from unlocking */
        DEVICE_STOPPED = 0x000C,      /* Used with DEV_STATUS messages to mark the last message over an endpoint after a DEV_STOP command */
        TEMPERATURE_WARNING = 0x0010, /* The device temperature reached 10 % from its threshold */
        TEMPERATURE_STOP = 0x0011,    /* The device temperature reached its threshold, and the device stopped tracking */
        CRC_ERROR = 0x0012,           /* CRC Error in firmware update */
        INCOMPATIBLE = 0x0013,        /* Controller version is incompatible with TM2 version */
        AUTH_ERROR = 0x0014,          /* Authentication error in firmware update */
        DEVICE_RESET = 0x0015,        /* A device reset has occurred. The user may read the FW log for additional detail */
        SLAM_NO_DICTIONARY = 0x9001,  /* No relocalization dictionary was loaded */
    } MESSAGE_STATUS;

    typedef enum {
        EEPROM_LOCK_STATE_WRITEABLE = 0x0000,
        EEPROM_LOCK_STATE_LOCKED = 0x0001,
        EEPROM_LOCK_STATE_PERMANENT_LOCKED = 0x0003,
        EEPROM_LOCK_STATE_MAX = 0xFFFF,
    } EEPROM_LOCK_STATE;
    
    typedef enum {
        SKU_INFO_TYPE_WITHOUT_BLUETOOTH = 0x0000,
        SKU_INFO_TYPE_WITH_BLUETOOTH = 0x0001,
        SKU_INFO_TYPE_MAX = 0xFFFF,
    } SKU_INFO_TYPE;
    
    typedef enum {
        CONTROL_USB_RESET = 0x0010,
        CONTROL_GET_INTERFACE_VERSION = 0x0011,

        /* Message IDs are 16-bits */
        MAX_CONTROL_ID = 0xFFFF,
    } CONTROL_MESSAGE_ID;

    typedef enum {
        FW_STATUS_CODE_OK = 0,
        FW_STATUS_CODE_FAIL = 1,
        FW_STATUS_CODE_NO_CALIBRATION_DATA = 1000
    } FW_STATUS_CODE;

    typedef enum {
        SLAM_STATUS_CODE_SUCCESS = 0,                       
        SLAM_STATUS_CODE_LOCALIZATION_DATA_SET_SUCCESS = 1, 
    } SLAM_STATUS_CODE;

    typedef enum {
        SLAM_ERROR_CODE_NONE = 0,   
        SLAM_ERROR_CODE_VISION = 1, 
        SLAM_ERROR_CODE_SPEED = 2,  
        SLAM_ERROR_CODE_OTHER = 3,  
    } SLAM_ERROR_CODE;

    typedef struct {
        uint32_t dwLength;   
        uint16_t wMessageID; 
    } bulk_message_request_header;


    typedef struct {
        uint32_t dwLength;   
        uint16_t wMessageID; 
        uint16_t wStatus;    
    } bulk_message_response_header;


    typedef struct {
        uint8_t bDeviceType;                    
        uint8_t bHwVersion;                     
        uint8_t bStatus;                        
        uint8_t bEepromDataMajor;               
        uint8_t bEepromDataMinor;               
        uint8_t bFWVersionMajor;                
        uint8_t bFWVersionMinor;                
        uint8_t bFWVersionPatch;                
        uint32_t dwFWVersionBuild;              
        uint32_t dwRomVersion;                  
        uint32_t dwStatusCode;                  
        uint32_t dwExtendedStatus;              
        uint64_t llSerialNumber;                
        uint8_t bCentralProtocolVersion;        
        uint8_t bCentralAppVersionMajor;        
        uint8_t bCentralAppVersionMinor;        
        uint8_t bCentralAppVersionPatch;        
        uint8_t bCentralSoftdeviceVersion;      
        uint8_t bCentralBootloaderVersionMajor; 
        uint8_t bCentralBootloaderVersionMinor; 
        uint8_t bCentralBootloaderVersionPatch; 
        uint32_t dwCentralAppVersionBuild;      
        uint8_t bEepromLocked;                  
        uint8_t bSKUInfo;                       
    } device_info_libtm_message;


    typedef struct {
        bulk_message_request_header header; 
    } bulk_message_request_get_device_info;

    typedef struct {
        bulk_message_response_header header; 
        device_info_libtm_message message;   
    } bulk_message_response_get_device_info;


    typedef struct {
        bulk_message_request_header header; 
        uint16_t wReserved;                 
        uint32_t dwMaxSize;                 
    } bulk_message_request_stream_config;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_stream_config;

    typedef struct {
        bulk_message_request_header header; 
    } bulk_message_request_get_time;

    typedef struct {
        bulk_message_response_header header; 
        uint64_t llNanoseconds;              
    } bulk_message_response_get_time;


    typedef struct {
        bulk_message_request_header header; 
    } bulk_message_request_get_and_clear_event_log;

    typedef struct {
        uint8_t source;                        
        uint8_t timestamp[7];                  
        uint16_t eventID;                      
        uint8_t payloadSize;                   
        uint8_t threadID;                      
        uint16_t moduleID;                     
        uint16_t lineNumber;                   
        uint32_t functionSymbol;               
        uint8_t payload[MAX_LOG_PAYLOAD_SIZE]; 
    } device_event_log;

    typedef struct {
        bulk_message_response_header header;                   
        device_event_log bEventLog[MAX_FW_LOG_BUFFER_ENTRIES]; 
    } bulk_message_response_get_and_clear_event_log;


    typedef struct {
        uint8_t bSensorID;         
        uint8_t bReserved;         
        uint16_t wWidth;           
        uint16_t wHeight;          
        uint8_t bPixelFormat;      
        union {                    
            uint8_t bOutputMode;   
            uint8_t bReserved2;    
        };                         
        uint16_t wStride;          
        uint16_t wFramesPerSecond; 
    } supported_raw_stream_libtm_message;

    typedef struct {
        bulk_message_request_header header; 
    } bulk_message_request_get_supported_raw_streams;

    typedef struct {
        bulk_message_response_header header;         
        uint16_t wNumSupportedStreams;               
        uint16_t wReserved;                          
        supported_raw_stream_libtm_message stream[]; 
    } bulk_message_response_get_supported_raw_streams;


    typedef struct {
        bulk_message_request_header header;          
        uint16_t wNumEnabledStreams;                 
        supported_raw_stream_libtm_message stream[]; 
    } bulk_message_request_raw_streams_control;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_raw_streams_control;


    typedef struct {
        bulk_message_request_header header;          
        uint16_t wNumEnabledStreams;                 
        supported_raw_stream_libtm_message stream[]; 
    } bulk_message_request_raw_streams_playback_control;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_raw_streams_playback_control;


    typedef struct {
        uint32_t dwWidth;           
        uint32_t dwHeight;          
        float_t flPpx;              
        float_t flPpy;              
        float_t flFx;               
        float_t flFy;               
        uint32_t dwDistortionModel; 
        float_t flCoeffs[5];        
    } camera_intrinsics;

    typedef struct {
        bulk_message_request_header header; 
        uint8_t bCameraID;                  
    } bulk_message_request_get_camera_intrinsics;

    typedef struct {
        bulk_message_response_header header; 
        camera_intrinsics intrinsics;        
    } bulk_message_response_get_camera_intrinsics;


    typedef struct {
        float_t flData[3][4];        
        float_t flNoiseVariances[3]; 
        float_t flBiasVariances[3];  
    } motion_intrinsics;

    typedef struct {
        bulk_message_request_header header; 
        uint8_t bMotionID;                  
    } bulk_message_request_get_motion_intrinsics;

    typedef struct {
        bulk_message_response_header header; 
        motion_intrinsics intrinsics;        
    } bulk_message_response_get_motion_intrinsics;


    typedef struct {
        float_t flRotation[9];      
        float_t flTranslation[3];   
        uint8_t bReferenceSensorID; 
    } sensor_extrinsics;

    typedef struct {
        bulk_message_request_header header; 
        uint8_t bSensorID;                  
    } bulk_message_request_get_extrinsics;

    typedef struct {
        bulk_message_response_header header; 
        sensor_extrinsics extrinsics;        
    } bulk_message_response_get_extrinsics;

    typedef struct {
        bulk_message_request_header header;
        uint8_t bSensorID;
        sensor_extrinsics extrinsics;
    } bulk_message_request_set_extrinsics;

    typedef struct {
        bulk_message_response_header header;
    } bulk_message_response_set_extrinsics;

    typedef struct {
        bulk_message_request_header header; 
        uint8_t bCameraID;                  
        uint8_t bReserved;                  
        camera_intrinsics intrinsics;       
    } bulk_message_request_set_camera_intrinsics;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_set_camera_intrinsics;


    typedef struct {
        bulk_message_request_header header; 
        uint8_t bMotionID;                  
        uint8_t bReserved;                  
        motion_intrinsics intrinsics;       
    } bulk_message_request_set_motion_intrinsics;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_set_motion_intrinsics;


    typedef struct {
        bulk_message_request_header header; 
        uint8_t bVerbosity;                 
        uint8_t bLogMode;                   
    } bulk_message_request_log_control;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_log_control;


    typedef struct {
        bulk_message_request_header header; 
        uint8_t bVerbosity;                 
        uint8_t bReserved;                  
    } bulk_message_request_reset;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_reset;


    typedef struct {
        bulk_message_request_header header; 
        uint16_t wOffset;                   
        uint16_t wSize;                     
    } bulk_message_request_read_eeprom;

    typedef struct {
        bulk_message_response_header header;   
        uint16_t wSize;                        
        uint8_t bData[MAX_EEPROM_BUFFER_SIZE]; 
    } bulk_message_response_read_eeprom;


    typedef struct {
        bulk_message_request_header header;    
        uint16_t wOffset;                      
        uint16_t wSize;                        
        uint8_t bData[MAX_EEPROM_BUFFER_SIZE]; 
    } bulk_message_request_write_eeprom;

    typedef struct {
        bulk_message_response_header header; 
        uint16_t wSize;                      
    } bulk_message_response_write_eeprom;


    typedef struct {
        bulk_message_request_header header; 
    } bulk_message_request_start;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_start;


    typedef struct {
        bulk_message_request_header header; 
    } bulk_message_request_stop;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_stop;


    typedef struct {
        float_t flX;                  
        float_t flY;                  
        float_t flZ;                  
        float_t flQi;                 
        float_t flQj;                 
        float_t flQk;                 
        float_t flQr;                 
        float_t flVx;                 
        float_t flVy;                 
        float_t flVz;                 
        float_t flVAX;                
        float_t flVAY;                
        float_t flVAZ;                
        float_t flAx;                 
        float_t flAy;                 
        float_t flAz;                 
        float_t flAAX;                
        float_t flAAY;                
        float_t flAAZ;                
        uint64_t llNanoseconds;       
        uint32_t dwTrackerConfidence; 
        uint32_t dwMapperConfidence;  
        uint32_t dwTrackerState;      
    } pose_data;

    typedef struct {
        bulk_message_request_header header; 
        uint8_t bIndex;                     
    } bulk_message_request_get_pose;

    typedef struct {
        bulk_message_response_header header; 
        pose_data pose;                      
    } bulk_message_response_get_pose;


    typedef struct {
        bulk_message_request_header header; 
        uint8_t bVideoStreamsMask;          
        uint8_t bAntiFlickerMode;           
    } bulk_message_request_set_exposure_mode_control;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_set_exposure_mode_control;


    typedef struct {
        uint8_t bCameraID;          
        uint8_t  bReserved[3];      
        uint32_t dwIntegrationTime; 
        float_t fGain;              
    } stream_exposure;

    typedef struct {
        bulk_message_request_header header;        
        uint8_t bNumOfVideoStreams;                
        uint8_t bReserved;                         
        stream_exposure stream[MAX_VIDEO_STREAMS]; 
    } bulk_message_request_set_exposure;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_set_exposure;


    typedef struct {
        uint32_t dwIndex;     
        float_t fTemperature; 
        float_t fThreshold;   
    } sensor_temperature;

    typedef struct {
        bulk_message_request_header header; 
    } bulk_message_request_get_temperature;

    typedef struct {
        bulk_message_response_header header; 
        uint32_t dwCount;                    
        sensor_temperature temperature[];    
    } bulk_message_response_get_temperature;


    typedef struct {
        uint32_t dwIndex;     
        float_t fThreshold;   
    } sensor_set_temperature;

    typedef struct {
        bulk_message_request_header header;   
        uint16_t wForceToken;                 
        uint32_t dwCount;                     
        sensor_set_temperature temperature[]; 
    } bulk_message_request_set_temperature_threshold;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_set_temperature_threshold;

    typedef struct {
        bulk_message_request_header header; 
        uint8_t bGpioControl;               
    } bulk_message_request_gpio_control;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_gpio_control;


    typedef struct {
        bulk_message_request_header header; 
        uint16_t wTableType;                
        uint32_t dwLock;                    
    } bulk_message_request_lock_configuration;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_lock_configuration;


    typedef struct {
        bulk_message_request_header header; 
        uint16_t wReserved;                 
        uint32_t dwLock;                    
    } bulk_message_request_lock_eeprom;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_lock_eeprom;


    typedef struct {
        bulk_message_request_header header; 
        uint16_t wTableId;                  
    } bulk_message_request_read_configuration;

    typedef struct {
        bulk_message_response_header header; 
        uint8_t bTable[MAX_TABLE_SIZE];      
    } bulk_message_response_read_configuration;
    

    typedef struct {
        bulk_message_request_header header; 
        uint16_t wTableId;                  
        uint8_t bTable[MAX_TABLE_SIZE];     
    } bulk_message_request_write_configuration;

    typedef struct {
        bulk_message_response_header header;        
    } bulk_message_response_write_configuration;


    typedef struct {
        bulk_message_request_header header; 
        uint16_t wTableId;                  
    } bulk_message_request_reset_configuration;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_reset_configuration;


    typedef struct {
        bulk_message_request_header header; 
        uint16_t wTimeoutInMillis;          
    } bulk_message_request_timeout_configuration;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_timeout_configuration;

    
    typedef struct {
        bulk_message_request_header header; 
        uint8_t bEnabled;                   
        uint8_t bReserved;                  
    } bulk_message_request_set_low_power_mode;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_set_low_power_mode;

    typedef struct {
        bulk_message_request_header header; 
        uint8_t bReserved;                  
    } bulk_message_request_get_localization_data;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_get_localization_data;

    typedef struct {
        bulk_message_request_header header; 
        uint16_t wStatus;                   
        uint16_t wIndex;                    
        uint8_t bPayload[];                 
    } bulk_message_large_stream;


    typedef struct {
        float_t flX;  
        float_t flY;  
        float_t flZ;  
        float_t flQi; 
        float_t flQj; 
        float_t flQk; 
        float_t flQr; 
    } static_node_data;

    typedef struct {
        bulk_message_request_header header; 
        uint16_t wReserved;                 
        uint8_t bGuid[MAX_GUID_LENGTH];     
        static_node_data data;              
    } bulk_message_request_set_static_node;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_set_static_node;

    typedef struct {
        bulk_message_request_header header; 
        uint16_t wReserved;                 
        uint8_t bGuid[MAX_GUID_LENGTH];     
    } bulk_message_request_remove_static_node;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_remove_static_node;

    typedef struct {
        bulk_message_request_header header; 
        uint16_t wReserved;                 
        uint8_t bGuid[MAX_GUID_LENGTH];     
    } bulk_message_request_get_static_node;

    typedef struct {
        bulk_message_response_header header; 
        static_node_data data;               
    } bulk_message_response_get_static_node;

    typedef struct {
        bulk_message_request_header header;                           
        uint8_t calibration_append_string[MAX_SLAM_CALIBRATION_SIZE]; 
    } bulk_message_request_slam_append_calibration;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_slam_append_calibration;


    typedef struct {
        bulk_message_request_header header;                    
        uint8_t calibration_string[MAX_SLAM_CALIBRATION_SIZE]; 
    } bulk_message_request_slam_calibration;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_slam_calibration;

    typedef struct {
        uint8_t bInterruptRate; 
    } sixdof_interrupt_rate_libtm_message;

    typedef struct {
        bulk_message_request_header header;          
        sixdof_interrupt_rate_libtm_message message; 
    } bulk_message_request_set_6dof_interrupt_rate;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_set_6dof_interrupt_rate;


    typedef struct {
        bulk_message_request_header header; 
        uint8_t bEnable;                    
        uint8_t bMode;                      
    } bulk_message_request_6dof_control;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_6dof_control;


    typedef struct {
        bulk_message_request_header header; 
        uint8_t bEnable;                    
    } bulk_message_request_occupancy_map_control;

    typedef struct {
        bulk_message_response_header header; 
    } bulk_message_response_occupancy_map_control;


    typedef struct {
        bulk_message_request_header header; 
        uint8_t bSensorID;                  
        uint8_t bReserved;                  
        uint64_t llNanoseconds;             
        uint64_t llArrivalNanoseconds;      
        uint32_t dwFrameId;                 
    } bulk_message_raw_stream_header;


    typedef struct
    {
        uint32_t dwMetadataLength; 
        uint32_t dwExposuretime;   
        float_t fGain;             
        uint32_t dwFrameLength;    
        uint8_t bFrameData[];      
    } bulk_message_video_stream_metadata;


    typedef struct
    {
        bulk_message_raw_stream_header rawStreamHeader;
        bulk_message_video_stream_metadata metadata;
    } bulk_message_video_stream;


    typedef struct
    {
        uint32_t dwMetadataLength; 
        float_t flTemperature;     
        uint32_t dwFrameLength;    
        float_t flAx;              
        float_t flAy;              
        float_t flAz;              
    } bulk_message_accelerometer_stream_metadata;

    typedef struct
    {
        bulk_message_raw_stream_header rawStreamHeader;
        bulk_message_accelerometer_stream_metadata metadata;
    } bulk_message_accelerometer_stream;


    typedef struct
    {
        uint32_t dwMetadataLength; 
        float_t flTemperature;     
        uint32_t dwFrameLength;    
        float_t flGx;              
        float_t flGy;              
        float_t flGz;              
    } bulk_message_gyro_stream_metadata;

    typedef struct
    {
        bulk_message_raw_stream_header rawStreamHeader;
        bulk_message_gyro_stream_metadata metadata;
    } bulk_message_gyro_stream;

    typedef struct
    {
        uint32_t dwMetadataLength; 
        float_t flTemperature;     
        uint32_t dwFrameLength;    
        float_t flVx;              
        float_t flVy;              
        float_t flVz;              
    } bulk_message_velocimeter_stream_metadata;

    typedef struct
    {
        bulk_message_raw_stream_header rawStreamHeader;
        bulk_message_velocimeter_stream_metadata metadata;
    } bulk_message_velocimeter_stream;

    typedef struct {
        uint32_t dwLength;    
        uint16_t wMessageID;  
    } interrupt_message_header;


    typedef struct {
        interrupt_message_header header; 
        uint16_t wStatus;                
    } interrupt_message_general_error;


    typedef struct {
        interrupt_message_header header; 
        uint16_t wStatus;                
    } interrupt_message_status;

    typedef struct {
        interrupt_message_header header; 
        uint8_t bIndex;                  
        uint8_t wReserved;               
        pose_data pose;                  
    } interrupt_message_get_pose;


    typedef struct {
        interrupt_message_header header; 
        uint8_t bSensorID;               
        uint8_t bReserved;               
        uint64_t llNanoseconds;          
        uint64_t llArrivalNanoseconds;   
        uint32_t dwFrameId;              
    } interrupt_message_raw_stream_header;


    typedef struct
    {
        uint32_t dwMetadataLength; 
        float_t flTemperature;     
        uint32_t dwFrameLength;    
        float_t flAx;              
        float_t flAy;              
        float_t flAz;              
    } interrupt_message_accelerometer_stream_metadata;


    typedef struct
    {
        interrupt_message_raw_stream_header rawStreamHeader;
        interrupt_message_accelerometer_stream_metadata metadata;
    } interrupt_message_accelerometer_stream;


    typedef struct
    {
        uint32_t dwMetadataLength; 
        float_t flTemperature;     
        uint32_t dwFrameLength;    
        float_t flGx;              
        float_t flGy;              
        float_t flGz;              
    } interrupt_message_gyro_stream_metadata;


    typedef struct
    {
        interrupt_message_raw_stream_header rawStreamHeader;
        interrupt_message_gyro_stream_metadata metadata;
    } interrupt_message_gyro_stream;


    typedef struct
    {
        uint32_t dwMetadataLength; 
        float_t flTemperature;     
        uint32_t dwFrameLength;    
        float_t flVx;              
        float_t flVy;              
        float_t flVz;              
    } interrupt_message_velocimeter_stream_metadata;


    typedef struct
    {
        interrupt_message_raw_stream_header rawStreamHeader;
        interrupt_message_velocimeter_stream_metadata metadata;
    } interrupt_message_velocimeter_stream;

    typedef struct {
        interrupt_message_header header; 
        uint16_t wStatus;                
    } interrupt_message_slam_error;

    typedef struct {
        interrupt_message_header header; 
        uint16_t wStatus;                
        uint16_t wIndex;                 
        uint8_t bLocalizationData[];     
    } interrupt_message_get_localization_data_stream;


    typedef struct {
        interrupt_message_header header; 
        uint16_t wStatus;                
        uint8_t bReserved;               
    } interrupt_message_set_localization_data_stream;


    typedef struct {
        interrupt_message_header header; 
        uint64_t llNanoseconds;          
        uint16_t wSessionId;             
    } interrupt_message_slam_relocalization_event;

    typedef struct {
        uint8_t bmRequestType; 
        uint8_t bRequest;      
        uint8_t wValueL;       
        uint8_t wValueH;       
        uint8_t wIndexL;       
        uint8_t wIndexH;       
        uint8_t wLengthL;      
        uint8_t wLengthH;      
    } control_message_request_header;

    typedef struct {
        control_message_request_header header; 
    } control_message_request_reset;

    typedef struct {
        uint32_t dwMajor; 
        uint32_t dwMinor; 
    } interface_version_libtm_message;

    typedef struct {
        control_message_request_header header; 
    } control_message_request_get_interface_version;

    typedef struct {
        interface_version_libtm_message message; 
    } control_message_response_get_interface_version;


#pragma pack(pop)

}
#ifdef _WIN32
#pragma warning (pop)
#endif