tracker-hatire/ftnoir_arduino_type.h


1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28

#pragma once

#include <QDataStream>

// Arduino frame structure
#pragma pack(push,2)
struct TArduinoData
{
    quint16  Begin;    // Header frame 0xAAAA;
    quint16  Code;     // 0->999 Num frame  >=2000  Info >=3000 Init  >=5000 Start Command  >=9000 Error
    float Rot[3];
    float Trans[3];
    quint16  End;     // End frame   0x5555;
} ;
#pragma pack(pop) 

inline QDataStream & operator >> ( QDataStream& in, TArduinoData& out )
{
    in.setFloatingPointPrecision(QDataStream::SinglePrecision );

    in >> out.Begin  >> out.Code
       >> out.Rot[0] >> out.Rot[1]  >> out.Rot[2]
       >> out.Trans[0] >> out.Trans[1] >> out.Trans[2]
       >> out.End;
    return in;
}

static_assert(sizeof(TArduinoData) == 30, "sizeof packet != 30");