cmtpacket.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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