initial
This commit is contained in:
r.koeppe
245
vnproglib/c/include/vn/sensors/compositedata.h
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245
vnproglib/c/include/vn/sensors/compositedata.h
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#ifndef _VNCOMPOSITEDATA_H_
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#define _VNCOMPOSITEDATA_H_
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#include "vn/bool.h"
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#include "vn/xplat/criticalsection.h"
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#include "vn/enum.h"
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#include "vn/int.h"
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#include "vn/math/vector.h"
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#include "vn/math/matrix.h"
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#include "vn/protocol/upack.h"
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#include "vn/math/vector.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifdef _WIN32
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#pragma warning(push)
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#pragma warning(disable : 4820)
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#endif
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/** \brief Composite structure of all available data types from VectorNav sensors. */
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typedef struct
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{
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vec3f yawPitchRoll; /**< Yaw, pitch, roll data. */
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vec4f quaternion; /**< Quaternion data. */
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mat3f directionCosineMatrix; /**< Direction cosine matrix data. */
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vec3d positionGpsLla; /**< GPS latitude, longitude, altitude data. */
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vec3d positionGpsEcef; /**< GPS earth-centered, earth-fixed data. */
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vec3d positionEstimatedLla; /**< Estimated latitude, longitude, altitude data. */
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vec3d positionEstimatedEcef; /**< Estimated earth-centered, earth-fixed position data. */
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VelocityType velocityType; /**< Type of velocity in the struct. */
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vec3f velocityGpsNed; /**< GPS velocity NED data. */
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vec3f velocityGpsEcef; /**< GPS velocity ECEF data. */
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vec3f velocityEstimatedBody; /**< Estimated velocity body data. */
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vec3f velocityEstimatedNed; /**< Estimated velocity NED data. */
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vec3f velocityEstimatedEcef; /**< Estimated velocity ECEF data. */
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vec3f magnetic; /**< Magnetic data. */
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vec3f magneticUncompensated; /**< Magnetic uncompensated data. */
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vec3f magneticNed; /**< Magnetic NED data. */
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vec3f magneticEcef; /**< Magnetic ECEF data. */
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#ifdef EXTRA
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vec3f magneticRaw; /**< Magnetic raw data. */
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#endif
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vec3f acceleration; /**< Acceleration data. */
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vec3f accelerationUncompensated; /**< Acceleration uncompensated data. */
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vec3f accelerationNed; /**< Acceleration NED data. */
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vec3f accelerationEcef; /**< Acceleration ECEF data. */
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vec3f accelerationLinearBody; /**< Acceleration linear body data. */
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vec3f accelerationLinearNed; /**< Acceleration linear NED data. */
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vec3f accelerationLinearEcef; /**< Acceleration linear ECEF data. */
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#ifdef EXTRA
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vec3f accelerationRaw; /**< Acceleration raw data. */
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#endif
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vec3f angularRate; /**< Angular rate data. */
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vec3f angularRateUncompensated; /**< Angular rate uncompensated data. */
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#ifdef EXTRA
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vec3f angularRateRaw; /**< Angular rate raw data. */
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#endif
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float temperature; /**< Temperature data. */
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#ifdef EXTRA
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float temperatureRaw; /**< Temperature raw data. */
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#endif
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float pressure; /**< Pressure data. */
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uint64_t timeStartup; /**< Time startup data. */
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float deltaTime; /**< Delta time data. */
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vec3f deltaTheta; /**< Delta theta data. */
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vec3f deltaVelocity; /**< Delta velocity data. */
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double tow; /**< GPS time of week data. */
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uint16_t week; /**< Week data. */
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uint8_t gpsFix; /**< GPS fix data. */
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uint8_t numSats; /**< NumSats data. */
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uint64_t timeGps; /**< TimeGps data. */
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uint64_t timeGpsPps; /**< TimeGpsPps data. */
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TimeUtc timeUtc; /**< TimeUtc data. */
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uint64_t gpsTow; /**< GpsTow data. */
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vec3f attitudeUncertainty; /**< Attitude uncertainty data. */
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vec3f positionUncertaintyGpsNed; /**< GPS position uncertainty NED data. */
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vec3f positionUncertaintyGpsEcef; /**< GPS position uncertainty ECEF data. */
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float positionUncertaintyEstimated; /**< Estimated position uncertainty data. */
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float velocityUncertaintyGps; /**< GPS velocity uncertainty data. */
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float velocityUncertaintyEstimated; /**< Estimated velocity uncertainty data. */
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uint32_t timeUncertainty; /**< Time uncertainty data. */
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uint16_t vpeStatus; /**< VpeStatus data. */
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uint16_t insStatus; /**< InsStatus data. */
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uint64_t timeSyncIn; /**< TimeSyncIn data. */
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uint32_t syncInCnt; /**< SyncInCnt data. */
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uint32_t syncOutCnt; /**< SyncInCnt data. */
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uint16_t sensSat; /**< SensSat data. */
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#ifdef EXTRA
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vec3f yprRates; /**< YprRates data. */
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#endif
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vec3d positionGps2Lla; /**< GPS2 latitude, longitude, altitude data. */
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vec3d positionGps2Ecef; /**< GPS2 earth-centered, earth-fixed data. */
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vec3f velocityGps2Ned; /**< GPS2 velocity NED data. */
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vec3f velocityGps2Ecef; /**< GPS2 velocity ECEF data. */
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uint16_t weekGps2; /**< GPS2 Week data. */
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uint8_t fixGps2; /**< GPS2 fix data. */
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uint8_t numSatsGps2; /**< GPS2 NumSats data. */
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uint64_t timeGps2; /**< GPS2 TimeGps data. */
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uint64_t timeGps2Pps; /**< GPS2 TimeGpsPps data. */
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uint64_t gps2Tow; /**< GPS2 GpsTow data. */
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float velocityUncertaintyGps2; /**< GPS2velocity uncertainty data. */
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vec3f positionUncertaintyGps2Ned; /**< GPS2 position uncertainty NED data. */
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vec3f positionUncertaintyGps2Ecef; /**< GPS2 position uncertainty ECEF data. */
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uint32_t timeUncertaintyGps2; /**< GPS2 Time uncertainty data. */
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TimeInfo timeInfo;
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GpsDop dop;
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} VnCompositeData;
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#ifdef _WIN32
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#pragma warning(pop)
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#endif
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/** \brief Indicates if course over ground has valid data
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*
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* \param[in] compositeData The associated VnCompositeData structure.
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* \return Flag indicating if the course over ground data is available. */
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bool VnCompositeData_hasCourseOverGround(VnCompositeData* compositeData);
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/** \brief Computers the course over ground from any velocity data available
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*
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* \param[in] compositeData The associated VnCompositeData structure.
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* \param[out] courseOverGroundOut The computered course over ground.
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* \return Flag indicating if the calculation was successful. */
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bool VnCompositeData_courseOverGround(VnCompositeData* compositeData, float* courseOverGroundOut);
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/** \brief Indicates if speed over ground has valid data..
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*
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* \param[in] compositeData The associated VnCompositeData structure.
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* \return Flag indicating if the speed over ground data is available. */
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bool VnCompositeData_hasSpeedOverGround(VnCompositeData* compositeData);
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/** \brief Computers the speed over ground from any velocity data available
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*
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* \param[in] compositeData The associated VnCompositeData structure.
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* \param[out] speedOverGroundOut The computered course over ground.
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* \return Flag indicating if the calculation was successful. */
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bool VnCompositeData_speedOverGround(VnCompositeData* compositeData, float* speedOverGroundOut);
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/** \brief
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*
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* \param[in]
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* \param[out]
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* \return
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*/
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void VnCompositeData_initialize(VnCompositeData* compositeData);
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/** \brief
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*
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* \param[in]
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* \param[out]
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* \return
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*/
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void VnCompositeData_processBinaryPacket(VnCompositeData* compositeData, VnUartPacket* packet, VnCriticalSection* criticalSection);
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/** \brief
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*
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* \param[in]
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* \param[out]
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* \return
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*/
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void VnCompositeData_processAsciiAsyncPacket(VnCompositeData* compositeData, VnUartPacket* packet, VnCriticalSection* criticalSection);
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/** \brief
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*
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* \param[in]
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* \param[out]
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* \return
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*/
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void VnCompositeData_processBinaryPacketCommonGroup(
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VnCompositeData* compositeData,
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VnUartPacket* packet,
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CommonGroup groupFlags);
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/** \brief
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*
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* \param[in]
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* \param[out]
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* \return
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*/
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void VnCompositeData_processBinaryPacketTimeGroup(
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VnCompositeData* compositeData,
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VnUartPacket* packet,
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TimeGroup groupFlags);
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/** \brief
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*
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* \param[in]
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* \param[out]
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* \return
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*/
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void VnCompositeData_processBinaryPacketImuGroup(
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VnCompositeData* compositeData,
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VnUartPacket* packet,
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ImuGroup groupFlags);
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/** \brief
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*
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* \param[in]
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* \param[out]
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* \return
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*/
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void VnCompositeData_processBinaryPacketGpsGroup(
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VnCompositeData* compositeData,
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VnUartPacket* packet,
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GpsGroup groupFlags);
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/** \brief
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*
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* \param[in]
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* \param[out]
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* \return
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*/
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void VnCompositeData_processBinaryPacketAttitudeGroup(
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VnCompositeData* compositeData,
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VnUartPacket* packet,
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AttitudeGroup groupFlags);
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/** \brief
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*
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* \param[in]
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* \param[out]
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* \return
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*/
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void VnCompositeData_processBinaryPacketInsGroup(
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VnCompositeData* compositeData,
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VnUartPacket* packet,
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InsGroup groupFlags);
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/** \brief
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*
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* \param[in]
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* \param[out]
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* \return
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*/
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void VnCompositeData_processBinaryPacketGps2Group(
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VnCompositeData* compositeData,
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VnUartPacket* packet,
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GpsGroup groupFlags);
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#ifdef __cplusplus
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}
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#endif
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#endif
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60
vnproglib/c/include/vn/sensors/ezasyncdata.h
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60
vnproglib/c/include/vn/sensors/ezasyncdata.h
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#ifndef _VNEZASYNCDATA_H_
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#define _VNEZASYNCDATA_H_
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#include "vn/int.h"
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#include "vn/error.h"
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#include "vn/sensors/compositedata.h"
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#include "vn/sensors.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/** \brief Structure supporting easy and reliable access to asynchronous data
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* from a VectorNav sensor at the cost of a slight performance hit. */
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typedef struct
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{
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/** \brief The associated connected sensor. */
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VnSensor* sensor;
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/** \brief Critical section for accessing the current data. */
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VnCriticalSection* curDataCS;
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/** \brief The current data received from asynchronous data packets. */
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VnCompositeData* curData;
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} VnEzAsyncData;
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/** \brief Initializes and connects to a VectorNav sensor with the specified
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* connection parameters.
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*
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* \param[in] ezAsyncData The associated VnEzAsyncData structure.
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* \param]in] portName The name of the serial port to connect to.
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* \param[in] baudrate The baudrate to connect at.
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* \return Any errors encountered. */
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VnError VnEzAsyncData_initializeAndConnect(VnEzAsyncData* ezAsyncData, const char* portName, uint32_t baudrate);
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/** \brief Disconnects from a VectorNav sensor.
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*
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* \param[in] ezAsyncData The associated VnEzAsyncData structure.
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* \return Any errors encountered. */
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VnError VnEzAsyncData_disconnectAndUninitialize(VnEzAsyncData* ezAsyncData);
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/** \brief Returns the most recent asynchronous data the VnEzAsyncData structure
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* has processed.
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*
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* \param[in] ezAsyncData The associated VnEzAsyncData structure.
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* \return The latest data processed. */
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VnCompositeData VnEzAsyncData_currentData(VnEzAsyncData* ezAsyncData);
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/** \brief Returns the underlying VnSensor referenced.
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*
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* \param[in] ezAsyncData The associated VnEzAsyncData structure.
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* \return The underlying VnSensor reference. */
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VnSensor* VnEzAsyncData_sensor(VnEzAsyncData* ezAsyncData);
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#ifdef __cplusplus
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}
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#endif
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#endif
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94
vnproglib/c/include/vn/sensors/searcher.h
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94
vnproglib/c/include/vn/sensors/searcher.h
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#ifndef _SEARCHER_H_
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#define _SEARCHER_H_
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#include "vn/bool.h"
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#include "vn/int.h"
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#include "vn/xplat/serialport.h"
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#include "vn/xplat/thread.h"
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/* These defines are used to enable a single function name while implementing */
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/* different solutions given the OS. */
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#if defined __linux__ || defined __CYGWIN__
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#define VnSearcher_findPorts VnSearcher_findPorts_LINUX
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#elif defined _WIN32
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#define VnSearcher_findPorts VnSearcher_findPorts_WIN32
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#else
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#error ERROR: System not yet supported in VnSearcher
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#endif
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#ifdef _WIN32
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#pragma warning(push)
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#pragma warning(disable : 4820)
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#endif
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/** \brief containing information about the port to be searched. */
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typedef struct
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{
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/** \brief Contains the name of the port. */
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char* portName;
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/** \brief VnThread object for callback purposes. */
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VnThread thread;
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/** \brief Baud of the attached senosr, -1 for no sensor, -2 for error. */
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int32_t baud;
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/** \brief size of the data array */
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size_t dataSize;
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/** \brief VnSerialPort object to handle communication to the sensor. */
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VnSerialPort* port;
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/** \brief Array to store partial/completed communication data from the sensor. */
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char data[255];
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} VnPortInfo;
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#ifdef _WIN32
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#pragma warning(pop)
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#endif
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/** \brief Takes a VnPortInfo and returns the name of the port.
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* \parm[in] portInfo Pointer to a VnPortInfo struct
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* \return The name of the port
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*/
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char* VnSearcher_getPortName(VnPortInfo* portInfo);
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/** \brief Takes a VnPortInfo and returns the baud rate or error code.
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* \parm[in] portInfo Pointer to a VnPortInfo struct
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* \return The baud rate of the port or an error code.
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* -1 indicates no sensor on the port.
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* -2 indicates an error trying to find a sensor.
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*/
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int32_t VnSearcher_getPortBaud(VnPortInfo* portInfo);
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/** \brief Function to find the names of all of the system's serial ports.
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* \parm[out] portNames Array containing the names of all of the serial ports.
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* \parm[out] numPortsFound Number of serial ports found.
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*/
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void VnSearcher_findPorts(char*** portNames, int32_t* numPortsFound);
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/** \brief Function to search an input port and return either the baud rate of the connected
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* sensor or an error code.
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* \parm[in] portName The system name of the port to be searched.
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* \parm[out] foundBaudrate Baud rate of the attacked sensor, -1 for no sensor, -2 for error
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*/
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void VnSearcher_findPortBaud(char* portName, int32_t* foundBaudrate);
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/** \brief Convenience function to find all available sensors currently attached
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* to the system.
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* \parm[out] sensorsFound Pointer to an array of sensors attached to the system.
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* \parm[out] numSensors The number of sensors found.
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*/
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void VnSearcher_findAllSensors(VnPortInfo*** sensorsFound, int32_t* numSensors);
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/** \brief Function that will search all of the input ports to see if an available sensor is attached to it.
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* NOTE: The OS will not allow the detection of sensor that is in use.
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* \parm[in] portsToCheck Array containing the names of all the ports to check.
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* \parm[in] Number of ports to check.
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* \parm[out] An array of VnPortInfo structs the same size as numPortsToCheck. The baud rate will indicate
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* if a sensor is attached. baud > 0 is the sensor baudrate, baud = -1 no sensor attached, and baud = -2
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* an error occured while detecting the sensor.
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*/
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void VnSearcher_searchInputPorts(char*** portsToCheck, int32_t numPortsToCheck, VnPortInfo*** sensorsFound);
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#endif
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