packet_structure.h

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// Copyright (c) 2014, Pepperl+Fuchs GmbH, Mannheim
// Copyright (c) 2014, Denis Dillenberger
// All rights reserved.
//
// Use, modification, and distribution is subject to the
// 3-clause BSD license ("Revised BSD License",
// "New BSD License", or "Modified BSD License")
// You should have received a copy of this license
// in a file named COPYING or LICENSE.

#ifndef PACKET_STRUCTURE_H
#define PACKET_STRUCTURE_H
#include <cstdint>
#include <vector>

namespace pepperl_fuchs {

#pragma pack(1)
struct PacketHeader
{
    std::uint16_t magic;

    std::uint16_t packet_type;

    std::uint32_t packet_size;

    std::uint16_t header_size;

    std::uint16_t scan_number;

    std::uint16_t packet_number;

    std::uint64_t timestamp_raw;

    std::uint64_t timestamp_sync;

    std::uint32_t status_flags;

    std::uint32_t scan_frequency;

    std::uint16_t num_points_scan;

    std::uint16_t num_points_packet;

    std::uint16_t first_index;

    std::int32_t first_angle;

    std::int32_t angular_increment;

    std::uint32_t output_status;

    std::uint32_t field_status;

    //std::uint8 padding[0];
};

struct PacketTypeC
{
    PacketHeader header;
    std::uint32_t distance_amplitude_payload; // distance 20 bit, amplitude 12 bit
};
#pragma pack()

struct ScanData
{
    std::vector<std::uint32_t> distance_data;

    std::vector<std::uint32_t> amplitude_data;

    std::vector<PacketHeader> headers;
};

}

#endif // PACKET_STRUCTURE_H