xssnapshot.h

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//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//  
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//  
//  1.  Redistributions of source code must retain the above copyright notice,
//      this list of conditions, and the following disclaimer.
//  
//  2.  Redistributions in binary form must reproduce the above copyright notice,
//      this list of conditions, and the following disclaimer in the documentation
//      and/or other materials provided with the distribution.
//  
//  3.  Neither the names of the copyright holders nor the names of their contributors
//      may be used to endorse or promote products derived from this software without
//      specific prior written permission.
//  
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
//  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  
 
 
//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//  
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//  
//  1.  Redistributions of source code must retain the above copyright notice,
//      this list of conditions, and the following disclaimer.
//  
//  2.  Redistributions in binary form must reproduce the above copyright notice,
//      this list of conditions, and the following disclaimer in the documentation
//      and/or other materials provided with the distribution.
//  
//  3.  Neither the names of the copyright holders nor the names of their contributors
//      may be used to endorse or promote products derived from this software without
//      specific prior written permission.
//  
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
//  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  
 
#ifndef XSSNAPSHOT_H
#define XSSNAPSHOT_H
 
#include "xstypesconfig.h"
#include "xsdeviceid.h"
 
struct XsSnapshot;
 
#ifdef __cplusplus
extern "C" {
#endif
#ifndef __cplusplus
#define XSSNAPSHOT_INITIALIZER { XSDEVICEID_INITIALIZER, 0, 0, 0,0,0,0, 0,0,0, 0,0,0, 0, 0, 0, 0 }
#endif
 
XSTYPES_DLL_API void XsSnapshot_construct(struct XsSnapshot* thisPtr);
XSTYPES_DLL_API void XsSnapshot_destruct(struct XsSnapshot* thisPtr);
 
#ifdef __cplusplus
} // extern "C"
#endif
 
enum SnapshotType
{
        ST_Awinda = 0, //
        ST_Full
};
typedef enum SnapshotType SnapshotType;
struct XsSnapshot
{
        XsDeviceId m_deviceId;  
        uint32_t m_frameNumber;         
        uint64_t m_timestamp;   
        int32_t m_iQ[4];                
        int64_t m_iV[3];                
        int32_t m_mag[3];               
        int32_t m_baro;                 
        uint16_t m_status;              
        uint8_t m_accClippingCounter;   
        uint8_t m_gyrClippingCounter;   
        SnapshotType m_type; 
#ifdef __cplusplus
 
        inline bool operator == (const XsSnapshot& other) const
        {
                if (m_frameNumber != other.m_frameNumber ||
                        m_baro != other.m_baro ||
                        m_status != other.m_status ||
                        m_accClippingCounter != other.m_accClippingCounter ||
                        m_gyrClippingCounter != other.m_gyrClippingCounter ||
                        m_type != other.m_type)
                        return false;
 
                for (int i = 0; i < 3; ++i)
                {
                        if (m_iQ[i] != other.m_iQ[i] ||
                                m_iV[i] != other.m_iV[i] ||
                                m_mag[i] != other.m_mag[i])
                                return false;
                }
                if (m_type == ST_Full)
                {
                        if (m_iQ[3] != other.m_iQ[3] || m_timestamp != other.m_timestamp)
                                return false;
                }
                return true;
        }
#endif
};
typedef struct XsSnapshot XsSnapshot;
 
enum SnapshotStatusFlag
{
        FSFL_ClipAccX           = 0x0001,
        FSFL_ClipAccY           = 0x0002,
        FSFL_ClipAccZ           = 0x0004,
        FSFL_ClipAccMask        = 0x0007,
        FSFL_ClipGyrX           = 0x0008,
        FSFL_ClipGyrY           = 0x0010,
        FSFL_ClipGyrZ           = 0x0020,
        FSFL_ClipGyrMask        = 0x0038,
        FSFL_ClipMagX           = 0x0040,
        FSFL_ClipMagY           = 0x0080,
        FSFL_ClipMagZ           = 0x0100,
        FSFL_ClipMagMask        = 0x01C0,
        FSFL_MagIsNew           = 0x0200,
        FSFL_BaroIsNew          = 0x0400,
        FSFL_RotationMask       = 0x1800
};
typedef enum SnapshotStatusFlag SnapshotStatusFlag;
 
 
 
#define FSFL_ClipAccShift                       0
#define FSFL_ClipGyrShift                       04
#define FSFL_ClipMagshift                       6
#define FSFL_RotationShift              11
 
#endif