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// File Name: reportVelocityStateMessage.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 ReportVelocityStateMessage

#ifndef REPORT_VELOCITY_STATE_MESSAGE_H
#define REPORT_VELOCITY_STATE_MESSAGE_H

#include "jaus.h"

#ifndef JAUS_VELOCITY_PV
#define JAUS_VELOCITY_PV
#define JAUS_VELOCITY_PV_VELOCITY_X_BIT		0
#define JAUS_VELOCITY_PV_VELOCITY_Y_BIT		1
#define JAUS_VELOCITY_PV_VELOCITY_Z_BIT		2
#define JAUS_VELOCITY_PV_VELOCITY_RMS_BIT	3
#define JAUS_VELOCITY_PV_ROLL_RATE_BIT		4
#define JAUS_VELOCITY_PV_PITCH_RATE_BIT		5
#define JAUS_VELOCITY_PV_YAW_RATE_BIT		6
#define JAUS_VELOCITY_PV_RATE_RMS_BIT		7
#define JAUS_VELOCITY_PV_TIME_STAMP_BIT		8
#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;

	JausUnsignedShort presenceVector;
	JausDouble velocityXMps;	// Scaled Int (-65.534, 65.534) 	Mps = Meters per Second
	JausDouble velocityYMps;	// Scaled Int (-65.534, 65.534) 	Mps = Meters per Second
	JausDouble velocityZMps;	// Scaled Int (-65.534, 65.534) 	Mps = Meters per Secon
	JausDouble velocityRmsMps;	// Scaled UInt (0, 100) 			Mps = Meters per Second
	JausDouble rollRateRps;		// Scaled Short (-32.767, 32.767) 	Rps = Radians per Second
	JausDouble pitchRateRps;	// Scaled Short (-32.767, 32.767) 	Rps = Radians per Second
	JausDouble yawRateRps;		// Scaled Short (-32.767, 32.767) 	Rps = Radians per Second
	JausDouble rateRmsRps;		// Scaled UShort (0, JAUS_PI) 		Rps = Radians per Second
	JausTime time;
	
}ReportVelocityStateMessageStruct;

typedef ReportVelocityStateMessageStruct* ReportVelocityStateMessage;

JAUS_EXPORT ReportVelocityStateMessage reportVelocityStateMessageCreate(void);
JAUS_EXPORT void reportVelocityStateMessageDestroy(ReportVelocityStateMessage);

JAUS_EXPORT JausBoolean reportVelocityStateMessageFromBuffer(ReportVelocityStateMessage message, unsigned char* buffer, unsigned int bufferSizeBytes);
JAUS_EXPORT JausBoolean reportVelocityStateMessageToBuffer(ReportVelocityStateMessage message, unsigned char *buffer, unsigned int bufferSizeBytes);

JAUS_EXPORT ReportVelocityStateMessage reportVelocityStateMessageFromJausMessage(JausMessage jausMessage);
JAUS_EXPORT JausMessage reportVelocityStateMessageToJausMessage(ReportVelocityStateMessage message);

JAUS_EXPORT unsigned int reportVelocityStateMessageSize(ReportVelocityStateMessage message);

#endif // REPORT_VELOCITY_STATE_MESSAGE_H