messages.hpp

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#ifndef WATERLINKEDSONAR_MESSAGES_HPP
#define WATERLINKEDSONAR_MESSAGES_HPP
 
#include <cstdint>
#include <waterlinkedsonar/span.hpp>
 
namespace waterlinked::sonar {
 
struct MessageHeader {
  std::int64_t timestamp_ns{0};
  std::uint32_t sequence_id{0};
};
 
struct RangeImageView {
  MessageHeader header;
  float speed_of_sound{0.0F};  
  float range{0.0F};           
  std::uint32_t frequency{0};  
  std::uint32_t width{0};      
  std::uint32_t height{0};     
  float fov_horizontal{0.0F};  
  float fov_vertical{0.0F};    
  float image_pixel_scale{0.0F};
  Span<const std::uint32_t> image_pixel_data;
};
 
enum class BitmapImageType : std::uint8_t {
  SIGNAL_STRENGTH,
 
  SHADED,
};
 
struct BitmapImageView {
  MessageHeader header;
  float speed_of_sound{0.0F};  
  float range{0.0F};           
  std::uint32_t frequency{0};  
  BitmapImageType type{BitmapImageType::SIGNAL_STRENGTH};
  std::uint32_t width{0};      
  std::uint32_t height{0};     
  float fov_horizontal{0.0F};  
  float fov_vertical{0.0F};    
  Span<const std::uint8_t> image_pixel_data;
};
 
struct ImuBatchView {
  std::uint32_t batch_sequence_id{0};
  std::uint32_t samples{0};
  Span<const std::int64_t> timestamps_ns;
  Span<const float> specific_force;
  Span<const float> rate_of_turn;
};
 
}  // namespace waterlinked::sonar
 
#endif  // WATERLINKEDSONAR_MESSAGES_HPP