cmtpacket.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, 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;
        CmtDataFormat*  m_formatList;   //!< A list of the formats of the data items
        bool m_xm;                                              //!< Indicates that xbus-formatting is used

public:
        uint16_t        m_itemCount;    //!< The number of data items in the message
        Message                 m_msg;                  //!< The message
        TimeStamp               m_rtc;                  //!< Sample time in ms, based on the sample counter
        TimeStamp               m_toa;                  //!< Time of arrival

        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