uwrov-packet.h

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//
// Copyright (c) 2014 Regents of the SIGNET lab, University of Padova.
// 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 name of the University of Padova (SIGNET lab) nor the
//    names of its 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 OWNER 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.
//
 
#include <packet.h>
 
extern packet_t PT_UWROV;
extern packet_t PT_UWROV_CTR;
 
typedef struct hdr_uwROV_ctr {
    float x_;
    float y_;
    float z_;
    float speed_;
    double sn_; // sequence number
 
    static int offset_; 
    static int &
    offset()
    {
        return offset_;
    }
 
    static struct hdr_uwROV_ctr *
    access(const Packet *p)
    {
        return (struct hdr_uwROV_ctr *) p->access(offset_);
    }
 
    float &
    x()
    {
        return x_;
    }
 
    float &
    y()
    {
        return y_;
    }
 
    float &
    z()
    {
        return z_;
    }
 
    float &
    speed()
    {
        return speed_;
    }
    double &
    sn()
    {
        return sn_;
    }
} hdr_uwROV_ctr;
 
typedef struct hdr_uwROV_monitoring {
    float x_;
    float y_;
    float z_;
    double ack_; // ack piggybacked of a ctr message. If =0 is not ack, if =b>0
                 // is cumulative ack untill b, if c<0 is cumulative ack untill
                 // c-1 and NACK c.
 
    static int offset_; 
    static int &
    offset()
    {
        return offset_;
    }
 
    static struct hdr_uwROV_monitoring *
    access(const Packet *p)
    {
        return (struct hdr_uwROV_monitoring *) p->access(offset_);
    }
 
    float &
    x()
    {
        return x_;
    }
 
    float &
    y()
    {
        return y_;
    }
 
    float &
    z()
    {
        return z_;
    }
 
    double &
    ack()
    {
        return ack_;
    }
 
} hdr_uwROV_monitoring;