legacydatapacket.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 LEGACYDATAPACKET_H
#define LEGACYDATAPACKET_H
 
#include <xsens/pstdint.h>
#include <xsens/xstypedefs.h>
#include <xsens/xsdataformat.h>
#include <xsens/xsdeviceid.h>
#include <xsens/xstimestamp.h>
#include <xsens/xsmessage.h>
 
//! Indicates that a data item is not available in the packet
#define XS_DATA_ITEM_NOT_AVAILABLE 65535
 
struct XsVector;
struct PacketInfo;
struct XsUShortVector;
struct XsScrData;
struct XsCalibratedData;
struct XsGpsPvtData;
struct XsPressure;
struct MtwSdiData;
struct XsQuaternion;
struct XsMatrix;
struct XsEuler;
struct XsAnalogInData;
struct XsUtcTime;
 
//! \brief An MT timestamp (sample count)
typedef uint16_t XsMtTimeStamp;
 
struct PacketFixedData;
 
struct LegacyDataPacket
{
   public:
        LegacyDataPacket();
        LegacyDataPacket(uint16_t count, bool xbus);
        LegacyDataPacket(const LegacyDataPacket& pack);
        ~LegacyDataPacket();
 
        const LegacyDataPacket& operator=(const LegacyDataPacket& pack);
 
        uint16_t itemCount(void) const;
        void setItemCount(uint16_t count);
 
        XsTimeStamp timeOfArrival(void) const;
        void setTimeOfArrival(XsTimeStamp timeOfArrival);
 
        XsTimeStamp rtc(void) const;
        void setRtc(XsTimeStamp rtc);
 
        int64_t largePacketCounter(void) const;
        void setLargePacketCounter(int64_t sc);
 
        XsMessage message(void) const;
        void setMessage(const XsMessage& message);
        XsMessage originalMessage(void) const;
 
        PacketInfo packetInfo(int32_t index) const;
 
        bool setDataFormat(const XsDataFormat& format, int32_t index = 0);
        bool setDataFormat(
                XsOutputMode outputMode, XsOutputSettings outputSettings,
                int32_t index = 0);
        XsDataFormat dataFormat(int32_t index = 0) const;
 
        void setXbusSystem(bool xbus, bool convert = false);
        bool isXbusSystem(void) const;
 
        int32_t findDeviceId(XsDeviceId dev) const;
        void setDeviceId(XsDeviceId deviceId, int32_t index);
        XsDeviceId deviceId(int32_t index) const;
 
        uint16_t frameCounter() const;
 
        XsSize dataSize(int32_t index = 0) const;
 
        void updateInfoList();
 
        // PacketFixedData takePacketFixedData();
        // void putPacketFixedData(const PacketFixedData& data);
 
        uint16_t getFPValueSize(int32_t index) const;
 
        XsUShortVector rawAcceleration(int32_t index = 0) const;
        bool containsRawAcceleration(int32_t index = 0) const;
        bool setRawAcceleration(const XsUShortVector& vec, int32_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.
                \returns The Raw Gyroscope component of a data item.
        */
        XsUShortVector rawGyroscopeData(int32_t index = 0) const;
        //! Check if data item contains Raw Gyroscope data
        bool containsRawGyroscopeData(int32_t index = 0) const;
        //! Add/update Raw Gyroscope data for the item
        bool setRawGyroscopeData(const XsUShortVector& vec, int32_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.
                \returns The Raw Magnetometer component of a data item.
        */
        XsUShortVector rawMagneticField(int32_t index = 0) const;
        //! Check if data item contains Raw Magnetometer data
        bool containsRawMagneticField(int32_t index = 0) const;
        //! Add/update Raw Magnetometer data for the item
        bool setRawMagneticField(const XsUShortVector& vec, int32_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.
                \param channel The Temperature channel to return
                \returns The Raw Temperature component of a data item.
        */
        uint16_t rawTemperature(int32_t index = 0, int channel = 0) const;
        //! Check if data item contains Raw Temperature data
        bool containsRawTemperature(int32_t index = 0, int channel = 0) const;
        //! Add/update Raw Temperature data for the item
        bool setRawTemperature(uint16_t temp, int32_t index = 0, int channel = 0);
        //! Returns the number of available Raw Temperature channels
        int rawTemperatureChannelCount(int32_t index = 0) const;
        /*! \brief Return the Raw Data component of a data item.
                \param index The index of the item of which the data should be returned.
                \returns The Raw Data component of a data item.
        */
        XsScrData rawData(int32_t index = 0) const;
        //! Check if data item contains Raw Data
        bool containsRawData(int32_t index = 0) const;
        //! Add/update Raw Data for the item
        bool setRawData(const XsScrData& data, int32_t index = 0);
        /*! \brief Return the Gps PVT data component of a data item.
                \param index The index of the item of which the data should be returned.
                \returns The Gps PVT data component of a data item.
        */
        XsGpsPvtData gpsPvtData(int32_t index = 0) const;
        //! Check if data item contains Gps PVT Data
        bool containsGpsPvtData(int32_t index = 0) const;
        //! Add/update Gps PVT Data for the item
        bool setGpsPvtData(const XsGpsPvtData& data, int32_t index = 0);
 
        XsPressure pressure(int32_t index = 0) const;
        bool containsPressure(int32_t index = 0) const;
        bool setPressure(const XsPressure& data, int32_t index = 0);
 
        MtwSdiData mtwSdiData(int32_t index = 0) const;
        bool containsMtwSdiData(int32_t index = 0) const;
        bool setMtwSdiData(const MtwSdiData& data, int32_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.
                \param channel The Temperature channel to return
                \returns The Temperature component of a data item.
        */
        double temperature(int32_t index = 0, int channel = 0) const;
        //! Check if data item contains Temperature data
        bool containsTemperature(int32_t index = 0, int channel = 0) const;
        //! Add/update Calibrated Accelerometer data for the item
        bool setTemperature(const double& temp, int32_t index = 0, int channel = 0);
        //! Returns the number of temperature channels
        int temperatureChannelCount(int32_t index = 0) const;
 
        /*! \brief Return the Calibrated Accelerometer component of a data item.
                \param index The index of the item of which the data should be returned.
                \returns The Calibrated Accelerometer component of a data item.
        */
        XsVector calibratedAcceleration(int32_t index = 0) const;
        //! Check if data item contains Calibrated Accelerometer data
        bool containsCalibratedAcceleration(int32_t index = 0) const;
        //! Add/update Calibrated Accelerometer data for the item
        bool setCalibratedAcceleration(const XsVector& vec, int32_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.
                \returns The Calibrated Gyroscope component of a data item.
        */
        XsVector calibratedGyroscopeData(int32_t index = 0) const;
        //! Check if data item contains Calibrated Gyroscope data
        bool containsCalibratedGyroscopeData(int32_t index = 0) const;
        //! Add/update Calibrated Gyroscope data for the item
        bool setCalibratedGyroscopeData(const XsVector& vec, int32_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.
                \returns The Calibrated Magnetometer component of a data item.
        */
        XsVector calibratedMagneticField(int32_t index = 0) const;
        //! Check if data item contains Calibrated Magnetometer data
        bool containsCalibratedMagneticField(int32_t index = 0) const;
        //! Add/update Calibrated Magnetometer data for the item
        bool setCalibratedMagneticField(const XsVector& vec, int32_t index = 0);
 
        XsCalibratedData calibratedData(int32_t index = 0) const;
        bool containsCalibratedData(int32_t index = 0) const;
        bool setCalibratedData(const XsCalibratedData& data, int32_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.
                \returns The Orientation component of a data item as a Quaternion.
        */
        XsQuaternion orientationQuaternion(int32_t index = 0) const;
        //! Check if data item contains Quaternion Orientation data
        bool containsOrientationQuaternion(int32_t index = 0) const;
        //! Add/update Quaternion Orientation data for the item
        bool setOrientationQuaternion(const XsQuaternion& data, int32_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.
                \returns The Orientation component of a data item as Euler angles.
        */
        XsEuler orientationEuler(int32_t index = 0) const;
        //! Check if data item contains Euler Orientation data
        bool containsOrientationEuler(int32_t index = 0) const;
        //! Add/update Euler Orientation data for the item
        bool setOrientationEuler(const XsEuler& data, int32_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.
                \returns The Orientation component of a data item as an Orientation
           Matrix.
        */
        XsMatrix orientationMatrix(int32_t index = 0) const;
        //! Check if data item contains Matrix Orientation data
        bool containsOrientationMatrix(int32_t index = 0) const;
        //! Add/update Matrix Orientation data for the item
        bool setOrientationMatrix(const XsMatrix& data, int32_t index = 0);
 
        //! Check if data item contains Orientation Data of any kind
        bool containsOrientation(int32_t index = 0) const;
 
        /*! \brief Return the AnalogIn 1 component of a data item.
                \param index The index of the item of which the data should be returned.
                \returns The AnalogIn 1 component of a data item.
        */
        XsAnalogInData analogIn1Data(int32_t index = 0) const;
        //! Check if data item contains AnalogIn 1
        bool containsAnalogIn1Data(int32_t index = 0) const;
        //! Add/update AnalogIn 1 for the item
        bool setAnalogIn1Data(const XsAnalogInData& data, int32_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.
                \returns The AnalogIn 2 component of a data item.
        */
        XsAnalogInData analogIn2Data(int32_t index = 0) const;
        //! Check if data item contains AnalogIn 2
        bool containsAnalogIn2Data(int32_t index = 0) const;
        //! Add/update AnalogIn 2 for the item
        bool setAnalogIn2Data(const XsAnalogInData& data, int32_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.
                \returns The Position Lat Lon Alt component of a data item.
        */
        XsVector positionLLA(int32_t index = 0) const;
        //! Check if data item contains Position Lat Lon Alt
        bool containsPositionLLA(int32_t index = 0) const;
        //! Add/update Position Lat Lon Alt for the item
        bool setPositionLLA(const XsVector& data, int32_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.
                \returns The Velocity component of a data item.
        */
        XsVector velocity(int32_t index = 0) const;
        //! Check if data item contains Velocity
        bool containsVelocity(int32_t index = 0) const;
        //! Add/update Velocity for the item
        bool setVelocity(const XsVector& data, int32_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.
                \param[out] outIsDetailed pointer to boolean. After call, the boolean is
           true if the status is detailed
                \returns The Status component of a data item.
        */
        uint32_t status(int32_t index, bool* outIsDetailed) const;
        //! Check if data item contains Status
        bool containsStatus(int32_t index = 0) const;
        //! Check if data item contains detailed Status information
        bool containsDetailedStatus(int32_t index = 0) const;
        //! Add/update Status information for the item
        bool setStatus(const uint32_t data, int32_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)
                \returns The Sample Counter component of the packet.
        */
        uint16_t packetCounter(int32_t index = 0) const;
        //! Check if data item contains Sample Counter
        bool containsPacketCounter(int32_t index = 0) const;
        //! Add/update Sample Counter for all items
        bool setPacketCounter(const uint16_t counter, int32_t index = 0);
 
        /*! \brief Return the UTC Time component of the packet.
                \param index The index of the item of which the data should be returned.
           (ignored)
                \returns The UTC Time component of the packet.
        */
        XsUtcTime utcTime(int32_t index = 0) const;
        //! Check if data item contains UTC Time
        bool containsUtcTime(int32_t index = 0) const;
        //! Add/update UTC Time for all items
        bool setUtcTime(const XsUtcTime& data, int32_t index = 0);
 
        /*! \brief Return the Acc-G component of the packet.
                \param index The index of the item of which the data should be returned.
                \returns The Acc-G component of the packet.
        */
        XsVector freeAcceleration(int32_t index = 0) const;
        //! Check if data item contains XKF-3 Acc-G data
        bool containsFreeAcceleration(int32_t index = 0) const;
        //! Add/update XKF-3 Acc-G data for the item
        bool setFreeAcceleration(const XsVector& g, int32_t index = 0);
 
        /*! \brief Return the synhcronization time recorded by the station.
                \param channelID The synchronization channel number, where the output
           signal is connected.
                \returns The synhcronization time recorded by the station.
        */
        XsTimeStamp triggerIndication(int channelID) const;
        //! Check if data item contains indication time on the given line
        bool containsTriggerIndication(int channelID = 0) const;
        //! Add/update trigger indication time for the item to the given line
        bool setTriggerIndication(int channelID, const XsTimeStamp& t);
 
        /*! \brief Returns a const pointer to the contained fixed data, mostly used
         * for debugging */
        inline const PacketFixedData* fixedData() const { return m_fixedData; }
   private:
        /** Fixed packet data */
        PacketFixedData* m_fixedData;
        /** Last found deviceId, speeds up searches */
        mutable XsDeviceId m_lastFoundId;
        /** Index of last found deviceId, speeds up searches */
        mutable uint16_t m_lastFoundIndex;
        /** The message */
        XsMessage m_msg;
        /** Sample time in ms, based on the sample counter */
        XsTimeStamp m_rtc;
        /** Time of arrival */
        XsTimeStamp m_toa;
        /** 64 bit sample counter */
        XsTimeStamp m_packetId;
        /** Trigger indication on line 1        \todo remove this */
        XsTimeStamp m_triggerIn1;
        /** Trigger indication on line 2        \todo remove this */
        XsTimeStamp m_triggerIn2;
};
 
#endif  // file guard