cmtpacket.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#ifndef _CMTPACKET_H_2006_05_10
#define _CMTPACKET_H_2006_05_10
 
#ifndef _CMT_MONOLITHIC
#include "cmtdef.h"
#include "cmt2.h"
#endif
 
namespace xsens
{
//! Indicates that a data item is not available in the packet
#define CMT_DATA_ITEM_NOT_AVAILABLE 65535
 
//! A structure containing MT data + timestamp and formatting information.
class Packet
{
   protected:
        //! Contains information about data in the packet and the format of that
        //! data
        mutable struct PacketInfo
        {
                uint16_t m_offset;
                uint16_t m_rawData;
                uint16_t m_rawAcc;
                uint16_t m_rawGyr;
                uint16_t m_rawMag;
                uint16_t m_rawTemp;
                uint16_t m_temp;
                uint16_t m_calData;
                uint16_t m_calAcc;
                uint16_t m_calGyr;
                uint16_t m_calMag;
                uint16_t m_oriQuat;
                uint16_t m_oriEul;
                uint16_t m_oriMat;
                uint16_t m_analogIn1;
                uint16_t m_analogIn2;
                uint16_t m_posLLA;
                uint16_t m_velNEDorNWU;
                uint16_t m_status;
                uint16_t m_sc;
                uint16_t m_acc_g;
                uint16_t m_rawGpsData;
                uint16_t m_rawGpsPressure;
                uint16_t m_rawGpsPressureAge;
                uint16_t m_rawGpsGpsData;
                uint16_t m_rawGpsItow;
                uint16_t m_rawGpsLatitude;
                uint16_t m_rawGpsLongitude;
                uint16_t m_rawGpsHeight;
                uint16_t m_rawGpsVeln;
                uint16_t m_rawGpsVele;
                uint16_t m_rawGpsVeld;
                uint16_t m_rawGpsHacc;
                uint16_t m_rawGpsVacc;
                uint16_t m_rawGpsSacc;
                uint16_t m_rawGpsGpsAge;
                uint16_t m_size;
        } * m_infoList;
        /** A list of the formats of the data items */
        CmtDataFormat* m_formatList;
        /** Indicates that xbus-formatting is used */
        bool m_xm;
 
   public:
        /** The number of data items in the message */
        uint16_t m_itemCount;
        /** The message */
        Message m_msg;
        /** Sample time in ms, based on the sample counter */
        TimeStamp m_rtc;
        /** Time of arrival */
        TimeStamp m_toa;
 
        Packet(uint16_t items, bool xbus);
        Packet(const Packet& pack);
        ~Packet();
 
        void operator=(const Packet& pack);
 
        bool setDataFormat(const CmtDataFormat& format, const uint16_t index = 0);
        bool setDataFormat(
                const CmtOutputMode outputMode, const CmtOutputSettings outputSettings,
                const uint16_t index = 0);
        CmtDataFormat getDataFormat(const uint16_t index = 0) const;
        void setXbus(bool xbus, bool convert = false);
        bool getXbus(void) const;
 
        /*! \brief Return the data size.
 
                \param index The index of the item of which the size should be returned.
        */
        uint16_t getDataSize(const uint16_t index = 0) const;
 
        /*! \brief Return the floating/fixed point value size
 
                \param index The index of the item whose fp size should be returned.
        */
        uint16_t getFPValueSize(const uint16_t index) const;
 
        /*! \brief Return the Raw Accelerometer component of a data item.
 
                \param index The index of the item of which the data should be returned.
        */
        CmtShortVector getRawAcc(const uint16_t index = 0) const;
        //! Check if data item contains Raw Accelerometer data
        bool containsRawAcc(const uint16_t index = 0) const;
        //! Add/update Raw Accelerometer data for the item
        bool updateRawAcc(const CmtShortVector& vec, const uint16_t index = 0);
        /*! \brief Return the Raw Gyroscope component of a data item.
 
                \param index The index of the item of which the data should be returned.
        */
        CmtShortVector getRawGyr(const uint16_t index = 0) const;
        //! Check if data item contains Raw Gyroscope data
        bool containsRawGyr(const uint16_t index = 0) const;
        //! Add/update Raw Gyroscope data for the item
        bool updateRawGyr(const CmtShortVector& vec, const uint16_t index = 0);
        /*! \brief Return the Raw Magnetometer component of a data item.
 
                \param index The index of the item of which the data should be returned.
        */
        CmtShortVector getRawMag(const uint16_t index = 0) const;
        //! Check if data item contains Raw Magnetometer data
        bool containsRawMag(const uint16_t index = 0) const;
        //! Add/update Raw Magnetometer data for the item
        bool updateRawMag(const CmtShortVector& vec, const uint16_t index = 0);
        /*! \brief Return the Raw Temperature component of a data item.
 
                \param index The index of the item of which the data should be returned.
        */
        uint16_t getRawTemp(const uint16_t index = 0) const;
        //! Check if data item contains Raw Temperature data
        bool containsRawTemp(const uint16_t index = 0) const;
        //! Add/update Raw Temperature data for the item
        bool updateRawTemp(uint16_t temp, const uint16_t index = 0);
        /*! \brief Return the Raw Data component of a data item.
 
                \param index The index of the item of which the data should be returned.
        */
        CmtRawData getRawData(const uint16_t index = 0) const;
        //! Check if data item contains Raw Data
        bool containsRawData(const uint16_t index = 0) const;
        //! Add/update Raw Data for the item
        bool updateRawData(const CmtRawData& data, const uint16_t index = 0);
        /*! \brief Return the Raw GpsPrint Data component of a data item.
        // TODO: Implement in COM interface!!!
        \param index The index of the item of which the data should be returned.
        */
        CmtRawGpsData getRawGpsData(const uint16_t index = 0) const;
        //! Check if data item contains Raw GpsPrint Data
        bool containsRawGpsData(const uint16_t index = 0) const;
        //! Add/update Raw GpsPrint Data for the item
        bool updateRawGpsData(const CmtRawGpsData& data, const uint16_t index = 0);
        /*! \brief Return the Temperature component of a data item.
 
        \param index The index of the item of which the data should be returned.
        */
        double getTemp(const uint16_t index = 0) const;
        //! Check if data item contains Temperature data
        bool containsTemp(const uint16_t index = 0) const;
        //! Add/update Calibrated Accelerometer data for the item
        bool updateTemp(const double& temp, const uint16_t index = 0);
        /*! \brief Return the Calibrated Accelerometer component of a data item.
 
                \param index The index of the item of which the data should be returned.
        */
        CmtVector getCalAcc(const uint16_t index = 0) const;
        //! Check if data item contains Calibrated Accelerometer data
        bool containsCalAcc(const uint16_t index = 0) const;
        //! Add/update Calibrated Accelerometer data for the item
        bool updateCalAcc(const CmtVector& vec, const uint16_t index = 0);
        /*! \brief Return the Calibrated Gyroscope component of a data item.
 
                \param index The index of the item of which the data should be returned.
        */
        CmtVector getCalGyr(const uint16_t index = 0) const;
        //! Check if data item contains Calibrated Gyroscope data
        bool containsCalGyr(const uint16_t index = 0) const;
        //! Add/update Calibrated Gyroscope data for the item
        bool updateCalGyr(const CmtVector& vec, const uint16_t index = 0);
        /*! \brief Return the Calibrated Magnetometer component of a data item.
 
                \param index The index of the item of which the data should be returned.
        */
        CmtVector getCalMag(const uint16_t index = 0) const;
        //! Check if data item contains Calibrated Magnetometer data
        bool containsCalMag(const uint16_t index = 0) const;
        //! Add/update Calibrated Magnetometer data for the item
        bool updateCalMag(const CmtVector& vec, const uint16_t index = 0);
        /*! \brief Return the Calibrated Data component of a data item.
 
                \param index The index of the item of which the data should be returned.
        */
        CmtCalData getCalData(const uint16_t index = 0) const;
        //! Check if data item contains Calibrated Data
        bool containsCalData(const uint16_t index = 0) const;
        //! Add/update Calibrated Data for the item
        bool updateCalData(const CmtCalData& data, const uint16_t index = 0);
 
        /*! \brief Return the Orientation component of a data item as a Quaternion.
 
                \param index The index of the item of which the data should be returned.
        */
        CmtQuat getOriQuat(const uint16_t index = 0) const;
        //! Check if data item contains Quaternion Orientation data
        bool containsOriQuat(const uint16_t index = 0) const;
        //! Add/update Quaternion Orientation data for the item
        bool updateOriQuat(const CmtQuat& data, const uint16_t index = 0);
        /*! \brief Return the Orientation component of a data item as Euler angles.
 
                \param index The index of the item of which the data should be returned.
        */
        CmtEuler getOriEuler(const uint16_t index = 0) const;
        //! Check if data item contains Euler Orientation data
        bool containsOriEuler(const uint16_t index = 0) const;
        //! Add/update Euler Orientation data for the item
        bool updateOriEuler(const CmtEuler& data, const uint16_t index = 0);
        /*! \brief Return the Orientation component of a data item as an Orientation
           Matrix.
 
                \param index The index of the item of which the data should be returned.
        */
        CmtMatrix getOriMatrix(const uint16_t index = 0) const;
        //! Check if data item contains Matrix Orientation data
        bool containsOriMatrix(const uint16_t index = 0) const;
        //! Add/update Matrix Orientation data for the item
        bool updateOriMatrix(const CmtMatrix& data, const uint16_t index = 0);
 
        /*! \brief Return the AnalogIn 1 component of a data item.
 
        \param index The index of the item of which the data should be returned.
        */
        CmtAnalogInData getAnalogIn1(const uint16_t index = 0) const;
        //! Check if data item contains AnalogIn 1
        bool containsAnalogIn1(const uint16_t index = 0) const;
        //! Add/update AnalogIn 1 for the item
        bool updateAnalogIn1(const CmtAnalogInData& data, const uint16_t index = 0);
 
        /*! \brief Return the AnalogIn 2 component of a data item.
 
        \param index The index of the item of which the data should be returned.
        */
        CmtAnalogInData getAnalogIn2(const uint16_t index = 0) const;
        //! Check if data item contains AnalogIn 2
        bool containsAnalogIn2(const uint16_t index = 0) const;
        //! Add/update AnalogIn 2 for the item
        bool updateAnalogIn2(const CmtAnalogInData& data, const uint16_t index = 0);
 
        /*! \brief Return the Position Lat Lon Alt component of a data item.
 
        \param index The index of the item of which the data should be returned.
        */
        CmtVector getPositionLLA(const uint16_t index = 0) const;
        //! Check if data item contains Position Lat Lon Alt
        bool containsPositionLLA(const uint16_t index = 0) const;
        //! Add/update Position Lat Lon Alt for the item
        bool updatePositionLLA(const CmtVector& data, const uint16_t index = 0);
 
        /*! \brief Return the Velocity component of a data item.
 
        \param index The index of the item of which the data should be returned.
        */
        CmtVector getVelocity(const uint16_t index = 0) const;
        //! Check if data item contains Velocity
        bool containsVelocity(const uint16_t index = 0) const;
        //! Add/update Velocity for the item
        bool updateVelocity(const CmtVector& data, const uint16_t index = 0);
 
        /*! \brief Return the Status component of a data item.
 
        \param index The index of the item of which the data should be returned.
        */
        uint8_t getStatus(const uint16_t index = 0) const;
        //! Check if data item contains Velocity
        bool containsStatus(const uint16_t index = 0) const;
        //! Add/update Status information for the item
        bool updateStatus(const uint8_t data, const uint16_t index = 0);
 
        /*! \brief Return the Sample Counter component of the packet.
 
                \param index The index of the item of which the data should be returned.
           (ignored)
        */
        uint16_t getSampleCounter(const uint16_t index = 0) const;
        //! Check if data item contains Sample Counter
        bool containsSampleCounter(const uint16_t index = 0) const;
        //! Add/update Sample Counter for all items
        bool updateSampleCounter(uint16_t counter, const uint16_t index = 0);
        /*! \brief Return the RTC of the packet.
 
                \param index The index of the item of which the data should be returned.
           (ignored)
        */
        CmtTimeStamp getRtc(const uint16_t index = 0) const;
 
        /*! \brief Return the XKF-3 Acc-G component of the packet.
 
                \param index The index of the item of which the data should be returned.
        */
        CmtVector getAccG(const uint16_t index = 0) const;
        //! Check if data item contains XKF-3 Acc-G data
        bool containsAccG(const uint16_t index = 0) const;
        //! Add/update XKF-3 Acc-G data for the item
        bool updateAccG(const CmtVector& g, const uint16_t index = 0);
 
#ifdef _CMT_DLL_EXPORT
        //! Interpolate so resulting packet is (1-f)*pa + pb OR pb if pa and pb are
        //! non-matching types
        void interpolate(const Packet& pa, const Packet& pb, const double f);
#endif
};
 
}  // end of xsens namespace
 
#endif  // _CMTPACKET_H_2006_05_10