xsstatusflag.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 XSSTATUSFLAG_H
#define XSSTATUSFLAG_H
 
#include "pstdint.h"
 
enum XsStatusFlag
{
        XSF_SelfTestOk                                  = 0x01          
        , XSF_OrientationValid                  = 0x02          
        , XSF_GpsValid                                  = 0x04          
 
        , XSF_NoRotationMask                            = 0x18          
        , XSF_NoRotationAborted                 = 0x10          
        , XSF_NoRotationSamplesRejected = 0x08          
        , XSF_NoRotationRunningNormally = 0x18          
 
        , XSF_RepresentativeMotion              = 0x20          
 
        , XSF_ExternalClockSynced               = 0x40          
 
        , XSF_FilterInputStart                  = 0x80          
 
        , XSF_ClipAccX                                  = 0x00000100
        , XSF_ClipAccY                                  = 0x00000200
        , XSF_ClipAccZ                                  = 0x00000400
        , XSF_ClipGyrX                                  = 0x00000800
        , XSF_ClipGyrY                                  = 0x00001000
        , XSF_ClipGyrZ                                  = 0x00002000
        , XSF_ClipMagX                                  = 0x00004000
        , XSF_ClipMagY                                  = 0x00008000
        , XSF_ClipMagZ                                  = 0x00010000
 
        , XSF_Retransmitted                             = 0x00040000    
        , XSF_ClippingDetected                  = 0x00080000    
        , XSF_Interpolated                              = 0x00100000    
        , XSF_SyncIn                                            = 0x00200000    
        , XSF_SyncOut                                   = 0x00400000    
 
        , XSF_FilterMode                                        = 0x03800000    
        , XSF_HaveGnssTimePulse                 = 0x04000000    
 
        , XSF_RtkStatus                                 = 0x18000000    
};
 
enum XsStatusFlagOffset
{
        XSFO_OffsetSelfTestOk                   = 0
        , XSFO_OffsetOrientationValid   = 1
        , XSFO_OffsetGpsValid                   = 2
        , XSFO_OffsetNoRotation                 = 3
 
        , XSFO_OffsetRepresentativeMotion       = 5
        , XSFO_OffsetExternalClockSynced        = 6
 
        , XSFO_OffsetClipAccX                   = 8
        , XSFO_OffsetClipAccY                   = 9
        , XSFO_OffsetClipAccZ                   = 10
        , XSFO_OffsetClipGyrX                   = 11
        , XSFO_OffsetClipGyrY                   = 12
        , XSFO_OffsetClipGyrZ                   = 13
        , XSFO_OffsetClipMagX                   = 14
        , XSFO_OffsetClipMagY                   = 15
        , XSFO_OffsetClipMagZ                   = 16
 
        , XSFO_Retransmitted                            = 18
        , XSFO_ClippingDetected                 = 19
        , XSFO_Interpolated                             = 20
        , XSFO_SyncIn                                   = 21
        , XSFO_SyncOut                                  = 22
 
        , XSFO_FilterMode                               = 23    // bits 23 -> 23 + XSFO_FilterModeNrOfBits - 1
        , XSFO_FilterModeNrOfBits               = 3             // note: bit 26 is reserved for future use
 
        , XSFO_HaveGnssTimePulse                        = 26
        , XSFO_RtkStatus                                        = 27
        , XSFO_RtkStatusNrOfBits                        = 2
};
 
typedef enum XsStatusFlag XsStatusFlag;
typedef enum XsStatusFlagOffset XsStatusFlagOffset;
 
inline static bool anyAccClipped(int status)
{
        return 0 != (status & (XSF_ClipAccX | XSF_ClipAccY | XSF_ClipAccZ));
}
 
inline static bool anyGyrClipped(int status)
{
        return 0 != (status & (XSF_ClipGyrX | XSF_ClipGyrY | XSF_ClipGyrZ));
}
 
inline static bool anyMagClipped(int status)
{
        return 0 != (status & (XSF_ClipMagX | XSF_ClipMagY | XSF_ClipMagZ));
}
 
 
class XsStatus
{
public:
        inline XsStatus(const XsStatus& s) : m_status(s.m_status)
        {
        }
 
        inline XsStatus(int status) : m_status((uint32_t)status)
        {
        }
 
        inline XsStatus() : m_status(0)
        {
        }
 
        inline XsStatusFlag get() const
        {
                return (XsStatusFlag) m_status;
        }
 
        inline void set(XsStatus const& a)
        {
                m_status = a.m_status;
        }
 
        inline void set(uint32_t a)
        {
                m_status = a;
        }
 
        inline void set(int a)
        {
                m_status = (uint32_t)(a & 0x1FFFF);
        }
 
        inline XsStatus const& operator = (XsStatus const& a)
        {
                m_status = a.m_status;
                return *this;
        }
 
        inline XsStatus const& operator = (int a)
        {
                m_status = (uint32_t)(a & 0x1FFFF);
                return *this;
        }
 
        inline XsStatus const& operator |= (XsStatus const& a)
        {
                m_status |= a.m_status;
                return *this;
        }
 
        inline XsStatus const& operator |= (int a)
        {
                m_status |= (uint32_t)(a & 0x1FFFF);
                return *this;
        }
 
        inline XsStatus const& operator &= (XsStatus const& a)
        {
                m_status &= a.m_status;
                return *this;
        }
 
        inline XsStatus const& operator &= (int a)
        {
                m_status &= (uint32_t)(a & 0x1FFFF);
                return *this;
        }
 
        inline bool anyAccClipped() const
        {
                return ::anyAccClipped((int)m_status);
        }
 
        inline bool anyGyrClipped() const
        {
                return ::anyGyrClipped((int)m_status);
        }
 
        inline bool anyMagClipped() const
        {
                return ::anyMagClipped((int)m_status);
        }
 
        inline void clear()
        {
                m_status = 0;
        }
 
protected:
        uint32_t m_status;      
};
 
#endif