#ifndef PROTOCOL_H
#define PROTOCOL_H

#include <stdint.h>

#define DEFAULT_PORT    9870
#define DEFAULT_IP      "127.0.0.1"
#define SEND_RATE_HZ    20
#define SEND_INTERVAL_US (1000000 / SEND_RATE_HZ)

#pragma pack(push, 1)
typedef struct {
    float lx, ly, lz;  /* linear  velocity (m/s)   */
    float ax, ay, az;   /* angular velocity (rad/s) */
} twist_cmd_t;
#pragma pack(pop)

#define TWIST_CMD_SIZE sizeof(twist_cmd_t)  /* 24 bytes */

static inline void twist_cmd_zero(twist_cmd_t *cmd)
{
    cmd->lx = cmd->ly = cmd->lz = 0.0f;
    cmd->ax = cmd->ay = cmd->az = 0.0f;
}

#endif /* PROTOCOL_H */