cmtpacket.h

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00001 #ifndef _CMT_MONOLITHIC
00002 /*! \file
00003         \brief        Contains the CMT Packet interface
00004 
00005         This level contains the packet interface of Cmt.
00006         All code should be OS-independent.
00007 
00008         \section FileCopyright Copyright Notice 
00009         Copyright (C) Xsens Technologies B.V., 2006.  All rights reserved.
00010 
00011         This source code is intended for use only by Xsens Technologies BV and
00012         those that have explicit written permission to use it from
00013         Xsens Technologies BV.
00014 
00015         THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY
00016         KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
00017         IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
00018         PARTICULAR PURPOSE.
00019 
00020         \section FileChangelog        Changelog
00021         \par 2006-05-10, v0.0.1
00022         \li Job Mulder:        Created Cmtpacket.h
00023         \par 2006-07-21, v0.1.0
00024         \li Job Mulder:        Updated file for release 0.1.0
00025 */
00026 #endif
00027 #ifndef _CMTPACKET_H_2006_05_10
00028 #define _CMTPACKET_H_2006_05_10
00029 
00030 #ifndef _CMT_MONOLITHIC
00031 #        include "cmtdef.h"
00032 #        include "cmt2.h"
00033 #endif
00034 
00035 namespace xsens {
00036 
00037 
00038         //! Indicates that a data item is not available in the packet
00039 #define CMT_DATA_ITEM_NOT_AVAILABLE                65535
00040 
00041         //! A structure containing MT data + timestamp and formatting information.
00042 class Packet
00043 {
00044         friend class Cmt4;
00045 protected:
00046                 //! Contains information about data in the packet and the format of that data
00047         mutable struct PacketInfo {
00048                 uint16_t m_offset;
00049                 uint16_t m_rawData;
00050                 uint16_t m_rawAcc;
00051                 uint16_t m_rawGyr;
00052                 uint16_t m_rawMag;
00053                 uint16_t m_rawTemp;
00054                 uint16_t m_temp;
00055                 uint16_t m_calData;
00056                 uint16_t m_calAcc;
00057                 uint16_t m_calGyr;
00058                 uint16_t m_calMag;
00059                 uint16_t m_oriQuat;
00060                 uint16_t m_oriEul;
00061                 uint16_t m_oriMat;
00062                 uint16_t m_analogIn1;
00063                 uint16_t m_analogIn2;
00064                 uint16_t m_posLLA;
00065                 uint16_t m_velNEDorNWU;
00066                 uint16_t m_status;
00067                 uint16_t m_sc;
00068                 uint16_t m_utcTime;
00069                 uint16_t m_utcNano;
00070                 uint16_t m_utcYear;
00071                 uint16_t m_utcMonth;
00072                 uint16_t m_utcDay;
00073                 uint16_t m_utcHour;
00074                 uint16_t m_utcMinute;
00075                 uint16_t m_utcSecond;
00076                 uint16_t m_utcValid;
00077                 uint16_t m_acc_g;
00078                 uint16_t m_gpsPvtData;
00079                 uint16_t m_gpsPvtPressure;
00080                 uint16_t m_gpsPvtPressureAge;
00081                 uint16_t m_gpsPvtGpsData;
00082                 uint16_t m_gpsPvtItow;
00083                 uint16_t m_gpsPvtLatitude;
00084                 uint16_t m_gpsPvtLongitude;
00085                 uint16_t m_gpsPvtHeight;
00086                 uint16_t m_gpsPvtVeln;
00087                 uint16_t m_gpsPvtVele;
00088                 uint16_t m_gpsPvtVeld;
00089                 uint16_t m_gpsPvtHacc;
00090                 uint16_t m_gpsPvtVacc;
00091                 uint16_t m_gpsPvtSacc;
00092                 uint16_t m_gpsPvtGpsAge;
00093                 uint16_t m_size;
00094                 uint16_t m_doubleBoundary;
00095         }*        m_infoList;
00096         CmtDataFormat*        m_formatList;        //!< A list of the formats of the data items
00097         bool m_xm;                                                //!< Indicates that xbus-formatting is used
00098 
00099 public:
00100         uint16_t                m_itemCount;        //!< The number of data items in the message
00101         Message                        m_msg;                        //!< The message
00102         TimeStamp                m_rtc;                        //!< Sample time in ms, based on the sample counter
00103         TimeStamp                m_toa;                        //!< Time of arrival
00104 
00105         Packet(uint16_t items, bool xbus);
00106         Packet(const Packet& pack);
00107         ~Packet();
00108 
00109         void operator = (const Packet& pack);
00110 
00111         bool setDataFormat(const CmtDataFormat& format, const uint16_t index = 0);
00112         bool setDataFormat(const CmtOutputMode outputMode, const CmtOutputSettings outputSettings, const uint16_t index = 0);
00113         CmtDataFormat getDataFormat(const uint16_t index = 0) const;
00114         void setXbus(bool xbus, bool convert = false);
00115         bool getXbus(void) const;
00116 
00117         /*! \brief Return the data size.
00118 
00119                 \param index The index of the item of which the size should be returned.
00120         */
00121         uint16_t getDataSize(const uint16_t index=0) const;
00122 
00123         /*! \brief Return the floating/fixed point value size
00124 
00125                 \param index The index of the item whose fp size should be returned.
00126         */
00127         uint16_t getFPValueSize(const uint16_t index) const;
00128 
00129         /*! \brief Return the Raw Accelerometer component of a data item.
00130         
00131                 \param index The index of the item of which the data should be returned.
00132         */
00133         CmtShortVector getRawAcc(const uint16_t index=0) const;
00134                 //! Check if data item contains Raw Accelerometer data
00135         bool containsRawAcc(const uint16_t index=0) const;
00136                 //! Add/update Raw Accelerometer data for the item
00137         bool updateRawAcc(const CmtShortVector& vec, const uint16_t index=0);
00138         /*! \brief Return the Raw Gyroscope component of a data item.
00139         
00140                 \param index The index of the item of which the data should be returned.
00141         */
00142         CmtShortVector getRawGyr(const uint16_t index=0) const;
00143                 //! Check if data item contains Raw Gyroscope data
00144         bool containsRawGyr(const uint16_t index=0) const;
00145                 //! Add/update Raw Gyroscope data for the item
00146         bool updateRawGyr(const CmtShortVector& vec, const uint16_t index=0);
00147         /*! \brief Return the Raw Magnetometer component of a data item.
00148         
00149                 \param index The index of the item of which the data should be returned.
00150         */
00151         CmtShortVector getRawMag(const uint16_t index=0) const;
00152                 //! Check if data item contains Raw Magnetometer data
00153         bool containsRawMag(const uint16_t index=0) const;
00154                 //! Add/update Raw Magnetometer data for the item
00155         bool updateRawMag(const CmtShortVector& vec, const uint16_t index=0);
00156         /*! \brief Return the Raw Temperature component of a data item.
00157         
00158                 \param index The index of the item of which the data should be returned.
00159         */
00160         uint16_t getRawTemp(const uint16_t index=0) const;
00161                 //! Check if data item contains Raw Temperature data
00162         bool containsRawTemp(const uint16_t index=0) const;
00163                 //! Add/update Raw Temperature data for the item
00164         bool updateRawTemp(uint16_t temp, const uint16_t index=0);
00165         /*! \brief Return the Raw Data component of a data item.
00166         
00167                 \param index The index of the item of which the data should be returned.
00168         */
00169         CmtRawData getRawData(const uint16_t index=0) const;
00170                 //! Check if data item contains Raw Data
00171         bool containsRawData(const uint16_t index=0) const;
00172                 //! Add/update Raw Data for the item
00173         bool updateRawData(const CmtRawData& data, const uint16_t index=0);
00174         /*! \brief Return the Gps PVT data component of a data item.
00175         \param index The index of the item of which the data should be returned.
00176         */
00177         CmtGpsPvtData getGpsPvtData(const uint16_t index=0) const;
00178         //! Check if data item contains Gps PVT Data
00179         bool containsGpsPvtData(const uint16_t index=0) const;
00180         //! Add/update Gps PVT Data for the item
00181         bool updateGpsPvtData(const CmtGpsPvtData& data, const uint16_t index=0);
00182 
00183         //! This function is obsolete, use getGpsPvtData instead. This function will be removed in future versions of the MT SDK. \see getGpsPvtData
00184         #define        getRawGpsData getGpsPvtData
00185         //! This function is obsolete, use containsGpsPvtData instead. This function will be removed in future versions of the MT SDK. \see containsGpsPvtData
00186         #define        containsRawGpsData containsGpsPvtData
00187         //! This function is obsolete, use updateGpsPvtData instead. This function will be removed in future versions of the MT SDK. \see updateGpsPvtData
00188         #define        updateRawGpsData updateGpsPvtData
00189 
00190         /*! \brief Return the Raw Pressure Data component of a data item.
00191         \param index The index of the item of which the data should be returned.
00192         */
00193         CmtRawPressureData getRawPressureData(const uint16_t index=0) const;
00194         //! Check if data item contains Raw Pressure Data
00195         bool containsRawPressureData(const uint16_t index=0) const;
00196         //! Add/update Raw Pressure Data for the item
00197         bool updateRawPressureData(const CmtRawPressureData& data, const uint16_t index=0);
00198 
00199         /*! \brief Return the Temperature component of a data item.
00200 
00201         \param index The index of the item of which the data should be returned.
00202         */
00203         double getTemp(const uint16_t index=0) const;
00204         //! Check if data item contains Temperature data
00205         bool containsTemp(const uint16_t index=0) const;
00206         //! Add/update Calibrated Accelerometer data for the item
00207         bool updateTemp(const double& temp, const uint16_t index=0);
00208         /*! \brief Return the Calibrated Accelerometer component of a data item.
00209         
00210                 \param index The index of the item of which the data should be returned.
00211         */
00212         CmtVector getCalAcc(const uint16_t index=0) const;
00213                 //! Check if data item contains Calibrated Accelerometer data
00214         bool containsCalAcc(const uint16_t index=0) const;
00215                 //! Add/update Calibrated Accelerometer data for the item
00216         bool updateCalAcc(const CmtVector& vec, const uint16_t index=0);
00217         /*! \brief Return the Calibrated Gyroscope component of a data item.
00218         
00219                 \param index The index of the item of which the data should be returned.
00220         */
00221         CmtVector getCalGyr(const uint16_t index=0) const;
00222                 //! Check if data item contains Calibrated Gyroscope data
00223         bool containsCalGyr(const uint16_t index=0) const;
00224                 //! Add/update Calibrated Gyroscope data for the item
00225         bool updateCalGyr(const CmtVector& vec, const uint16_t index=0);
00226         /*! \brief Return the Calibrated Magnetometer component of a data item.
00227         
00228                 \param index The index of the item of which the data should be returned.
00229         */
00230         CmtVector getCalMag(const uint16_t index=0) const;
00231                 //! Check if data item contains Calibrated Magnetometer data
00232         bool containsCalMag(const uint16_t index=0) const;
00233                 //! Add/update Calibrated Magnetometer data for the item
00234         bool updateCalMag(const CmtVector& vec, const uint16_t index=0);
00235         /*! \brief Return the Calibrated Data component of a data item.
00236         
00237                 \param index The index of the item of which the data should be returned.
00238         */
00239         CmtCalData getCalData(const uint16_t index=0) const;
00240                 //! Check if data item contains Calibrated Data
00241         bool containsCalData(const uint16_t index=0) const;
00242                 //! Add/update Calibrated Data for the item
00243         bool updateCalData(const CmtCalData& data, const uint16_t index=0);
00244 
00245         /*! \brief Return the Orientation component of a data item as a Quaternion.
00246         
00247                 \param index The index of the item of which the data should be returned.
00248         */
00249         CmtQuat getOriQuat(const uint16_t index=0) const;
00250                 //! Check if data item contains Quaternion Orientation data
00251         bool containsOriQuat(const uint16_t index=0) const;
00252                 //! Add/update Quaternion Orientation data for the item
00253         bool updateOriQuat(const CmtQuat& data, const uint16_t index=0);
00254         /*! \brief Return the Orientation component of a data item as Euler angles.
00255         
00256                 \param index The index of the item of which the data should be returned.
00257         */
00258         CmtEuler getOriEuler(const uint16_t index=0) const;
00259                 //! Check if data item contains Euler Orientation data
00260         bool containsOriEuler(const uint16_t index=0) const;
00261                 //! Add/update Euler Orientation data for the item
00262         bool updateOriEuler(const CmtEuler& data, const uint16_t index=0);
00263         /*! \brief Return the Orientation component of a data item as an Orientation Matrix.
00264         
00265                 \param index The index of the item of which the data should be returned.
00266         */
00267         CmtMatrix getOriMatrix(const uint16_t index=0) const;
00268                 //! Check if data item contains Matrix Orientation data
00269         bool containsOriMatrix(const uint16_t index=0) const;
00270                 //! Add/update Matrix Orientation data for the item
00271         bool updateOriMatrix(const CmtMatrix& data, const uint16_t index=0);
00272 
00273                 //! Check if data item contains Orientation Data of any kind
00274         bool containsOri(const uint16_t index=0) const;
00275 
00276         /*! \brief Return the AnalogIn 1 component of a data item.
00277 
00278         \param index The index of the item of which the data should be returned.
00279         */
00280         CmtAnalogInData getAnalogIn1(const uint16_t index=0) const;
00281         //! Check if data item contains AnalogIn 1
00282         bool containsAnalogIn1(const uint16_t index=0) const;
00283         //! Add/update AnalogIn 1 for the item
00284         bool updateAnalogIn1(const CmtAnalogInData& data, const uint16_t index=0);
00285 
00286         /*! \brief Return the AnalogIn 2 component of a data item.
00287 
00288         \param index The index of the item of which the data should be returned.
00289         */
00290         CmtAnalogInData getAnalogIn2(const uint16_t index=0) const;
00291         //! Check if data item contains AnalogIn 2
00292         bool containsAnalogIn2(const uint16_t index=0) const;
00293         //! Add/update AnalogIn 2 for the item
00294         bool updateAnalogIn2(const CmtAnalogInData& data, const uint16_t index=0);
00295 
00296         /*! \brief Return the Position Lat Lon Alt component of a data item.
00297 
00298         \param index The index of the item of which the data should be returned.
00299         */
00300         CmtVector getPositionLLA(const uint16_t index=0) const;
00301         //! Check if data item contains Position Lat Lon Alt
00302         bool containsPositionLLA(const uint16_t index=0) const;
00303         //! Add/update Position Lat Lon Alt for the item
00304         bool updatePositionLLA(const CmtVector& data, const uint16_t index=0);
00305 
00306         /*! \brief Return the Velocity component of a data item.
00307 
00308         \param index The index of the item of which the data should be returned.
00309         */
00310         CmtVector getVelocity(const uint16_t index=0) const;
00311         //! Check if data item contains Velocity
00312         bool containsVelocity(const uint16_t index=0) const;
00313         //! Add/update Velocity for the item
00314         bool updateVelocity(const CmtVector& data, const uint16_t index=0);
00315 
00316         /*! \brief Return the Status component of a data item.
00317 
00318         \param index The index of the item of which the data should be returned.
00319         */
00320         uint8_t getStatus(const uint16_t index=0) const;
00321         //! Check if data item contains Status
00322         bool containsStatus(const uint16_t index=0) const;
00323         //! Add/update Status information for the item
00324         bool updateStatus(const uint8_t data, const uint16_t index=0);
00325 
00326         /*! \brief Return the Sample Counter component of the packet.
00327         
00328                 \param index The index of the item of which the data should be returned. (ignored)
00329         */
00330         uint16_t getSampleCounter(const uint16_t index=0) const;
00331                 //! Check if data item contains Sample Counter
00332         bool containsSampleCounter(const uint16_t index=0) const;
00333                 //! Add/update Sample Counter for all items
00334         bool updateSampleCounter(const uint16_t counter, const uint16_t index=0);
00335 
00336         /*! \brief Return the UTC Time component of the packet.
00337         
00338                 \param index The index of the item of which the data should be returned. (ignored)
00339         */
00340         CmtUtcTime getUtcTime(const uint16_t index=0) const;
00341                 //! Check if data item contains UTC Time
00342         bool containsUtcTime(const uint16_t index=0) const;
00343                 //! Add/update UTC Time for all items
00344         bool updateUtcTime(const CmtUtcTime& data, const uint16_t index=0);
00345 
00346         /*! \brief Return the RTC of the packet.
00347         
00348                 \param index The index of the item of which the data should be returned. (ignored)
00349         */
00350         CmtTimeStamp getRtc(const uint16_t index=0) const;
00351 
00352 
00353         /*! \brief Return the XKF-3 Acc-G component of the packet.
00354         
00355                 \param index The index of the item of which the data should be returned.
00356         */
00357         CmtVector getAccG(const uint16_t index=0) const;
00358                 //! Check if data item contains XKF-3 Acc-G data
00359         bool containsAccG(const uint16_t index=0) const;
00360                 //! Add/update XKF-3 Acc-G data for the item
00361         bool updateAccG(const CmtVector& g, const uint16_t index=0);
00362 
00363         #ifdef _CMT_DLL_EXPORT
00364                 //! Interpolate so resulting packet is (1-f)*pa + pb OR pb if pa and pb are non-matching types
00365         void interpolate(const Packet& pa, const Packet& pb, const double f);
00366         #endif
00367 };
00368 
00369 }        // end of xsens namespace
00370 
00371 #endif        // _CMTPACKET_H_2006_05_10