UlogFileFormat.hpp

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// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 
#include <array>
#include <cstdint>
#include <vector>
#include <string>
 
namespace NAV::vendor::pixhawk
{
#ifndef __clang__
    #pragma pack(push, 1) // Syntax for gcc for #pragma pack
#endif
// --------------------------------------------------------------- Header ------------------------------------------------------------------
struct ulog_Header_s
{
    std::array<char, 7> fileMagic{}; 
    char version{ 0 };               
    uint64_t timeStamp{};            
};
 
// --------------------------------------------------------- Definitions Section ---------------------------------------------------
struct message_header_s
{
    uint16_t msg_size{ 0 }; 
    char msg_type{ 0 };     
};
 
struct ulog_message_flag_bits_s
{
    message_header_s header;                    
    std::array<uint8_t, 8> compat_flags{};      
    std::array<uint8_t, 8> incompat_flags{};    
    std::array<uint64_t, 3> appended_offsets{}; 
};
 
struct message_format_s
{
    message_header_s header; 
    std::string format;      
};
 
struct message_info_s
{
    message_header_s header; 
    uint8_t key_len{ 1 };    
    std::string key;         
    std::string value;       
};
 
struct ulog_message_info_multiple_header_s
{
    message_header_s header;   
    uint8_t is_continued{ 0 }; 
    uint8_t key_len{ 0 };      
    std::string key;           
    std::string value;         
};
 
struct ulog_message_parameter_default_header_s
{
    message_header_s header;    
    uint8_t default_types{ 0 }; 
    uint8_t key_len{ 0 };       
    std::string key;            
    std::string value;          
};
 
// ------------------------------------------------------------ Data Section --------------------------------------------------------
 
struct message_add_logged_s
{
    message_header_s header; 
    uint8_t multi_id{ 0 };   
    uint16_t msg_id{ 0 };    
    std::string msg_name;    
};
 
struct message_remove_logged_s
{
    message_header_s header; 
    uint16_t msg_id{ 0 };    
};
 
struct message_data_s
{
    message_header_s header; 
    uint16_t msg_id{ 0 };    
    std::string data;        
};
 
struct message_logging_s
{
    message_header_s header; 
    uint8_t log_level{ 0 };  
    uint64_t timestamp{ 0 }; 
    std::string message;     
};
 
struct message_logging_tagged_s
{
    message_header_s header; 
    uint8_t log_level{ 0 };  
    uint16_t tag{ 0 };       
    uint64_t timestamp{ 0 }; 
    std::string message;     
};
 
enum class ulog_tag : uint16_t
{
    unassigned,      
    mavlink_handler, 
    ppk_handler,     
    camera_handler,  
    ptp_handler,     
    serial_handler,  
    watchdog,        
    io_service,      
    cbuf,            
    ulg              
};
 
struct message_sync_s
{
    message_header_s header;          
    std::array<uint8_t, 8> syncMsg{}; 
};
 
struct message_dropout_s
{
    message_header_s header; 
    uint16_t duration{ 0 };  
};
 
#ifndef __clang__
    #pragma pack(pop)
#endif
 
} // namespace NAV::vendor::pixhawk