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// File Name: setCameraPoseMessage.h
//
// Written By: Danny Kent (jaus AT dannykent DOT com), Tom Galluzzo 
//
// Version: 3.3.0a
//
// Date: 08/07/08
//
// Description: This file defines the attributes of a SetCameraPoseMessage

#ifndef SET_CAMERA_POSE_MESSAGE_H
#define SET_CAMERA_POSE_MESSAGE_H

#include "jaus.h"

#ifndef JAUS_CAMERA_POSE_PV
#define JAUS_CAMERA_POSE_PV
#define JAUS_CAMERA_POSE_PV_X_LINEAR_BIT	0
#define JAUS_CAMERA_POSE_PV_Y_LINEAR_BIT	1
#define JAUS_CAMERA_POSE_PV_Z_LINEAR_BIT	2
#define JAUS_CAMERA_POSE_PV_X_ANGULAR_BIT	3
#define JAUS_CAMERA_POSE_PV_Y_ANGULAR_BIT	4
#define JAUS_CAMERA_POSE_PV_Z_ANGULAR_BIT	5
#endif

#ifndef JAUS_CAMERA_POSE_MODE_BF
#define JAUS_CAMERA_POSE_MODE_BF
#define JAUS_CAMERA_POSE_MODE_BF_X_LINEAR_BIT	0
#define JAUS_CAMERA_POSE_MODE_BF_Y_LINEAR_BIT	1
#define JAUS_CAMERA_POSE_MODE_BF_Z_LINEAR_BIT	2
#define JAUS_CAMERA_POSE_MODE_BF_X_ANGULAR_BIT	3
#define JAUS_CAMERA_POSE_MODE_BF_Y_ANGULAR_BIT	4
#define JAUS_CAMERA_POSE_MODE_BF_Z_ANGULAR_BIT	5
#endif

#ifndef JAUS_CAMERA_POSE_MODE_ENUM
#define JAUS_CAMERA_POSE_MODE_ENUM
typedef enum
{
	RATE_MODE = 1,
	POSITION_MODE = 0
} JausCameraPoseModeEnum;
#endif

typedef struct
{
	// Include all parameters from a JausMessage structure:
	// Header Properties
	struct
	{
		// Properties by bit fields
		#ifdef JAUS_BIG_ENDIAN
			JausUnsignedShort reserved:2;
			JausUnsignedShort version:6;
			JausUnsignedShort expFlag:1;
			JausUnsignedShort scFlag:1;
			JausUnsignedShort ackNak:2;
			JausUnsignedShort priority:4; 
		#elif JAUS_LITTLE_ENDIAN
			JausUnsignedShort priority:4; 
			JausUnsignedShort ackNak:2;
			JausUnsignedShort scFlag:1; 
			JausUnsignedShort expFlag:1;
			JausUnsignedShort version:6; 
			JausUnsignedShort reserved:2;
		#else
			#error "Please define system endianess (see jaus.h)"
		#endif
	}properties;

	JausUnsignedShort commandCode; 

	JausAddress destination;

	JausAddress source;

	JausUnsignedInteger dataSize;

	JausUnsignedInteger dataFlag;
	
	JausUnsignedShort sequenceNumber;

	// MESSAGE DATA MEMBERS GO HERE
	JausByte presenceVector;
	JausByte cameraID;
	JausCameraPoseModeEnum xLinearMode;
	JausCameraPoseModeEnum yLinearMode;
	JausCameraPoseModeEnum zLinearMode;
	JausCameraPoseModeEnum xAngularMode;
	JausCameraPoseModeEnum yAngularMode;
	JausCameraPoseModeEnum zAngularMode;
	JausDouble xLinearPositionOrRatePercent; // Scaled Short (-100, 100)
	JausDouble yLinearPositionOrRatePercent; // Scaled Short (-100, 100)
	JausDouble zLinearPositionOrRatePercent; // Scaled Short (-100, 100)
	JausDouble xAngularPositionOrRatePercent; // Scaled Short (-100, 100)
	JausDouble yAngularPositionOrRatePercent; // Scaled Short (-100, 100)
	JausDouble zAngularPositionOrRatePercent; // Scaled Short (-100, 100)

}SetCameraPoseMessageStruct;

typedef SetCameraPoseMessageStruct* SetCameraPoseMessage;

JAUS_EXPORT SetCameraPoseMessage setCameraPoseMessageCreate(void);
JAUS_EXPORT void setCameraPoseMessageDestroy(SetCameraPoseMessage);

JAUS_EXPORT JausBoolean setCameraPoseMessageFromBuffer(SetCameraPoseMessage message, unsigned char* buffer, unsigned int bufferSizeBytes);
JAUS_EXPORT JausBoolean setCameraPoseMessageToBuffer(SetCameraPoseMessage message, unsigned char *buffer, unsigned int bufferSizeBytes);

JAUS_EXPORT SetCameraPoseMessage setCameraPoseMessageFromJausMessage(JausMessage jausMessage);
JAUS_EXPORT JausMessage setCameraPoseMessageToJausMessage(SetCameraPoseMessage message);

JAUS_EXPORT unsigned int setCameraPoseMessageSize(SetCameraPoseMessage message);

#endif // SET_CAMERA_POSE_MESSAGE_H