From fe4c2d918436fe5e4dcca19a495c716716293a69 Mon Sep 17 00:00:00 2001 From: waltjohnson Date: Fri, 24 Aug 2018 18:11:11 -0600 Subject: [PATCH] Update for release 1.6.4. 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100644 pySDK/pybind11-2.1.1/tools/pybind11Tools.cmake delete mode 100644 pySDK/setup.py delete mode 100644 pySDK/src/cltool.py create mode 100644 src/DataJSON.cpp create mode 100644 src/DataJSON.h create mode 100644 src/DeviceLogJSON.cpp create mode 100644 src/DeviceLogJSON.h diff --git a/CLTool/README.md b/CLTool/README.md index fa0de1656..e995728ab 100644 --- a/CLTool/README.md +++ b/CLTool/README.md @@ -1,13 +1,13 @@ -# C++ API - Inertial Sense Class and Cltool Example Project +# C++ API - Inertial Sense Class and CLTool Example Project -The InertialSense C++ class, defined in InertialSense.h/.cpp, provides all SDK capabilities including serial communications, data logging to file, and embedded firmware update for InertialSense products. +The InertialSense C++ class, defined in InertialSense.h/.cpp, provides all SDK capabilities including serial communications, data logging to file, and embedded firmware update for InertialSense products. -## Cltool Example +## CLTool Example -The Command Line Tool (cltool) is a light weight open source project designed to illustrate InertialSense class implementation. The cltool project can be compiled on most operating systems using cmake and gcc. A Visual Studio project for Windows is also included. See [Using CLTool](../App_Usage/cltool.md) section for details on compiling and runing the cltool. +The Command Line Tool (CLTool) is an open source project designed to illustrate InertialSense C++ class implementation. The CLTool project can be compiled on most operating systems using cmake and gcc and can be used to communicate, log data, and update firmware for Inertial Sense products. A Visual Studio project for Windows is also included. See [Using CLTool](../App_Usage/cltool.md) for details on compiling and running the CLTool. ### Implementation Keywords -The following keywords are found in the cltool soure code identify the steps for InertialSense class implementation. +The following keywords are found in the CLTool soure code identify the steps for InertialSense class implementation. ```C++ /* SDK Implementation Keywords: @@ -31,9 +31,9 @@ Include the InertialSense header file. Create InertialSense object. InertialSense inertialSenseInterface(cltool_dataCallback); ``` -### Step 2: Open serial port +### Step 2: Open serial port -Open the serial by specifying the com port number, buadrate, and and The serial port used for communications +Open the serial by specifying the com port number, buadrate, and and The serial port used for communications ```C++ if (!inertialSenseInterface.Open(g_commandLineOptions.comPort.c_str(), @@ -130,10 +130,22 @@ if (!cltool_setupLogger(inertialSenseInterface)) } ``` +### Run () + +```c +// [LOGGER INSTRUCTION] Setup and start data logger +if (!cltool_setupLogger(inertialSenseInterface)) +{ + cout << "Failed to setup logger!" << endl; + return -1; +} +``` + ## Compile & Run (Linux/Mac) + 1. Create build directory ``` bash -$ cd InertialSenseCLTool +$ cd CLTool $ mkdir build ``` 2. Run cmake from within build directory @@ -157,14 +169,15 @@ $ ./bin/cltool ``` ## Compile & Run (Windows MS Visual Studio) -1. Open Visual Studio solution file (InertialSenseSDK/InertialSenseCLTool/VS_project/InertialSenseCLTool.sln) -2. Build (F7) -3. Run executable +1. [Install and Configure Visual Studio](../getting-started/#installing-and-configuring-visual-studio) +2. Open Visual Studio solution file (InertialSenseSDK/CLTool/VS_project/CLTool.sln) +3. Build (F7) +4. Run executable ``` bash -C:\InertialSenseSDK\InertialSenseCLTool\VS_project\Release\cltool.exe +C:\InertialSenseSDK\CLTool\VS_project\Release\cltool.exe ``` ## Summary -That covers all the basic functionality you need to set up and talk to InertialSense products. If this doesn't cover everything you need, feel free to reach out to us on the InertialSenseSDK github repository, and we will be happy to help. +This section has covered the basic functionality you need to set up and communicate with Inertial Sense products. 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a/CLTool/VS_project/IS_logs/20180801_225926/diagnostic_30235.txt b/CLTool/VS_project/IS_logs/20180801_225926/diagnostic_30235.txt new file mode 100644 index 000000000..1ec2180d8 --- /dev/null +++ b/CLTool/VS_project/IS_logs/20180801_225926/diagnostic_30235.txt @@ -0,0 +1,42 @@ +RTK: 2018-08-02T04:59:47.00Z age of differential error (age=7653.5) +RTK: 2018-08-02T04:59:50.80Z age of differential error (age=7657.3) +RTK: 2018-08-02T04:59:58.40Z age of differential error (age=7664.9) +RTK: 2018-08-02T05:00:09.60Z age of differential error (age=7676.1) +RTK: 2018-08-02T05:00:12.40Z age of differential error (age=7678.9) +RTK: 2018-08-02T05:00:28.20Z age of differential error (age=7694.7) +RTK: 2018-08-02T05:00:31.00Z age of differential error (age=7697.5) +RTK: 2018-08-02T05:00:34.60Z age of differential error (age=7701.1) +RTK: 2018-08-02T05:00:47.80Z age of differential error (age=7714.3) +RTK: 2018-08-02T05:00:57.60Z age of differential error (age=7724.1) +RTK: 2018-08-02T05:01:01.20Z 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2018-08-02T05:03:52.40Z age of differential error (age=7898.9) +RTK: 2018-08-02T05:03:56.60Z age of differential error (age=7903.1) +RTK: 2018-08-02T05:04:01.00Z age of differential error (age=7907.5) diff --git a/CLTool/VS_project/IS_logs/20180801_225926/errors.txt b/CLTool/VS_project/IS_logs/20180801_225926/errors.txt new file mode 100644 index 000000000..e69de29bb diff --git a/CLTool/VS_project/IS_logs/20180801_225926/stats.txt b/CLTool/VS_project/IS_logs/20180801_225926/stats.txt new file mode 100644 index 000000000..1413b0567 --- /dev/null +++ b/CLTool/VS_project/IS_logs/20180801_225926/stats.txt @@ -0,0 +1,143 @@ +Count: 5247 +Errors: 0 + +Data Id: 1 - devInfo +Count: 2 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 3 - preintegratedImu +Count: 2298 +Errors: 0 +Average Timestamp Delta: 0.111184 +Max Timestamp Delta: 5.947603 +Timestamp Drops: 168 + +Data Id: 5 - ins2 +Count: 87 +Errors: 0 +Average Timestamp Delta: 2.918792 +Max Timestamp Delta: 6.000001 +Timestamp Drops: 27 + +Data Id: 6 - gpsPos +Count: 41 +Errors: 0 +Average Timestamp Delta: 6.385000 +Max Timestamp Delta: 28.200000 +Timestamp Drops: 25 + +Data Id: 7 - config +Count: 1 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 10 - sysParams +Count: 1 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 12 - flashCfg +Count: 3 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 21 - gpsRtkRel +Count: 40 +Errors: 0 +Average Timestamp Delta: 6.512795 +Max Timestamp Delta: 18.400000 +Timestamp Drops: 21 + +Data Id: 30 - DID_GPS1_VEL +Count: 45 +Errors: 0 +Average Timestamp Delta: 5.804545 +Max Timestamp Delta: 23.200000 +Timestamp Drops: 26 + +Data Id: 35 - userpage0 +Count: 1 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 36 - userpage1 +Count: 1 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 48 - inl2States +Count: 51 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 50 - inl2Status +Count: 1 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 51 - inl2Misc +Count: 1 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 52 - magnetometer1 +Count: 773 +Errors: 0 +Average Timestamp Delta: 0.330806 +Max Timestamp Delta: 5.959603 +Timestamp Drops: 257 + +Data Id: 53 - barometer +Count: 912 +Errors: 0 +Average Timestamp Delta: 0.280319 +Max Timestamp Delta: 5.963603 +Timestamp Drops: 298 + +Data Id: 55 - magnetometer2 +Count: 808 +Errors: 0 +Average Timestamp Delta: 0.316459 +Max Timestamp Delta: 5.959603 +Timestamp Drops: 239 + +Data Id: 59 - inl2MagObs +Count: 49 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 67 - inl2Variance +Count: 90 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 72 - diagnosticMsg +Count: 42 +Errors: 0 +Average Timestamp Delta: 6.195195 +Max Timestamp Delta: 18.399000 +Timestamp Drops: 22 + diff --git a/CLTool/VS_project/IS_logs/20180801_225926/stats_SN30235.txt b/CLTool/VS_project/IS_logs/20180801_225926/stats_SN30235.txt new file mode 100644 index 000000000..1413b0567 --- /dev/null +++ b/CLTool/VS_project/IS_logs/20180801_225926/stats_SN30235.txt @@ -0,0 +1,143 @@ +Count: 5247 +Errors: 0 + +Data Id: 1 - devInfo +Count: 2 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 3 - preintegratedImu +Count: 2298 +Errors: 0 +Average Timestamp Delta: 0.111184 +Max Timestamp Delta: 5.947603 +Timestamp Drops: 168 + +Data Id: 5 - ins2 +Count: 87 +Errors: 0 +Average Timestamp Delta: 2.918792 +Max Timestamp Delta: 6.000001 +Timestamp Drops: 27 + +Data Id: 6 - gpsPos +Count: 41 +Errors: 0 +Average Timestamp Delta: 6.385000 +Max Timestamp Delta: 28.200000 +Timestamp Drops: 25 + +Data Id: 7 - config +Count: 1 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 10 - sysParams +Count: 1 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 12 - flashCfg +Count: 3 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 21 - gpsRtkRel +Count: 40 +Errors: 0 +Average Timestamp Delta: 6.512795 +Max Timestamp Delta: 18.400000 +Timestamp Drops: 21 + +Data Id: 30 - DID_GPS1_VEL +Count: 45 +Errors: 0 +Average Timestamp Delta: 5.804545 +Max Timestamp Delta: 23.200000 +Timestamp Drops: 26 + +Data Id: 35 - userpage0 +Count: 1 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 36 - userpage1 +Count: 1 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 48 - inl2States +Count: 51 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 50 - inl2Status +Count: 1 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 51 - inl2Misc +Count: 1 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 52 - magnetometer1 +Count: 773 +Errors: 0 +Average Timestamp Delta: 0.330806 +Max Timestamp Delta: 5.959603 +Timestamp Drops: 257 + +Data Id: 53 - barometer +Count: 912 +Errors: 0 +Average Timestamp Delta: 0.280319 +Max Timestamp Delta: 5.963603 +Timestamp Drops: 298 + +Data Id: 55 - magnetometer2 +Count: 808 +Errors: 0 +Average Timestamp Delta: 0.316459 +Max Timestamp Delta: 5.959603 +Timestamp Drops: 239 + +Data Id: 59 - inl2MagObs +Count: 49 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 67 - inl2Variance +Count: 90 +Errors: 0 +Average Timestamp Delta: 0.000000 +Max Timestamp Delta: 0.000000 +Timestamp Drops: 0 + +Data Id: 72 - diagnosticMsg +Count: 42 +Errors: 0 +Average Timestamp Delta: 6.195195 +Max Timestamp Delta: 18.399000 +Timestamp Drops: 22 + diff --git a/CMakeLists.txt b/CMakeLists.txt index 15273bee5..a8b088e14 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -6,9 +6,11 @@ add_library(InertialSense src/DataChunk.cpp src/DataChunkSorted.cpp src/DataCSV.cpp + src/DataJSON.cpp src/DataKML.cpp src/DeviceLog.cpp src/DeviceLogCSV.cpp + src/DeviceLogJSON.cpp src/DeviceLogKML.cpp src/DeviceLogSerial.cpp src/DeviceLogSorted.cpp diff --git a/ExampleProjects/Communications/ISCommunicationsExample.c b/ExampleProjects/Communications/ISCommunicationsExample.c index 4fbe624b8..17b32fcce 100644 --- a/ExampleProjects/Communications/ISCommunicationsExample.c +++ b/ExampleProjects/Communications/ISCommunicationsExample.c @@ -27,9 +27,9 @@ static void handleInsMessage(ins_1_t* ins) ins->theta[0] * C_RAD2DEG_F, ins->theta[1] * C_RAD2DEG_F, ins->theta[2] * C_RAD2DEG_F ); } -static void handleGpsMessage(gps_nav_t* gps) +static void handleGpsMessage(gps_pos_t* pos) { - printf("GPS TimeOfWeek: %dms, LLA: %3.7f,%3.7f,%5.2f\r\n", gps->timeOfWeekMs, gps->lla[0], gps->lla[1], gps->lla[2]); + printf("GPS TimeOfWeek: %dms, LLA: %3.7f,%3.7f,%5.2f\r\n", pos->timeOfWeekMs, pos->lla[0], pos->lla[1], pos->lla[2]); } static void handleImuMessage(dual_imu_t* imu) @@ -73,7 +73,7 @@ int enable_message_broadcasting_RMC(serial_port_t *serialPort, is_comm_instance_ { // Enable broadcasts using RMC: DID_INS_1 @ 20Hz and DID_GPS_NAV @ 5Hz rmc_t rmc; - rmc.bits = RMC_BITS_INS1 | RMC_BITS_GPS_NAV; + rmc.bits = RMC_BITS_INS1 | RMC_BITS_GPS1_POS; rmc.insPeriodMs = 50; // INS @ 20Hz rmc.options = RMC_OPTIONS_SET_STARTUP_STREAM; // Current port. Preconfigure streaming (remember) for startup. @@ -204,7 +204,7 @@ int main(int argc, char* argv[]) break; case _DID_GPS_NAV: - handleGpsMessage((gps_nav_t*)buffer); + handleGpsMessage((gps_pos_t*)buffer); break; case _DID_IMU_DUAL: diff --git a/ExampleProjects/LogReader/CMakeLists.txt b/ExampleProjects/LogReader/CMakeLists.txt new file mode 100644 index 000000000..565ecdc2b --- /dev/null +++ b/ExampleProjects/LogReader/CMakeLists.txt @@ -0,0 +1,42 @@ +CMAKE_MINIMUM_REQUIRED(VERSION 2.8.9) + +project(ISLogReaderExample) + +set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) + +FIND_PACKAGE(Threads) + +add_definitions( + -O3 + -g + -pedantic +# -Wall # Enable all warnings + -Wextra + -fvisibility=hidden +# -DXPLM200 +# -DXPLM210 +# -DAPL=0 +# -DIBM=0 +# -DLIN=1 +# -fPIC +# -DNDEBUG +) + +if(APPLE) +SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=gnu11") +SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=gnu++11") +else() +SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=gnu11 -fms-extensions -Wl,--no-as-needed") +SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=gnu++11 -fms-extensions -Wl,--no-as-needed") +endif() + +SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin) + +add_executable(ISLogReaderExample + "ISLogReaderExample.cpp" +) + +add_subdirectory(../../ ${CMAKE_CURRENT_BINARY_DIR}/SDK) + +target_link_libraries(ISLogReaderExample ${CMAKE_THREAD_LIBS_INIT}) +target_link_libraries(ISLogReaderExample InertialSense) diff --git a/ExampleProjects/LogReader/ISLogReaderExample.cpp b/ExampleProjects/LogReader/ISLogReaderExample.cpp new file mode 100644 index 000000000..453cc0674 --- /dev/null +++ b/ExampleProjects/LogReader/ISLogReaderExample.cpp @@ -0,0 +1,61 @@ +/* +MIT LICENSE + +Copyright 2014 Inertial Sense, LLC - http://inertialsense.com + +Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions : + +The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +*/ + +#include + +// STEP 1: Add Includes +// Change these include paths to the correct paths for your project +#include "../../src/InertialSense.h" + +static void dataCallback(InertialSense* i, p_data_t* data, int pHandle) +{ + static uint64_t dataCount; + printf("Data count: %" PRIu64 " \r", ++dataCount); +} + +int main(int argc, char* argv[]) +{ + if (argc < 1) + { + printf("Please pass the data log directory path (i.e. \"C:\Users\[username]\Documents\Inertial Sense\Logs\20180716_172323)\"\r\n"); + // In Visual Studio IDE, this can be done through "Project Properties -> Debugging -> Command Arguments: COM3 kml" + return -1; + } + + + // STEP 2: Instantiate InertialSense class + // InertialSense class wraps communications and logging in a convenient, easy to use class + InertialSense inertialSense(dataCallback); + if (!inertialSense.Open(argv[1])) + { + std::cout << "Failed to open com port at " << argv[1] << std::endl; + } + + + // STEP 3: Enable data logger + // get log type from command line + cISLogger::eLogType logType = (argc < 3 ? cISLogger::eLogType::LOGTYPE_DAT : cISLogger::ParseLogType(argv[2])); + inertialSense.SetLoggerEnabled(true, "", logType); + + // utility class for display and ctrl-c handling + cInertialSenseDisplay display; + + std::cout << "Started logger..." << std::endl; + + while (!display.ControlCWasPressed()) + { + inertialSense.Update(); + } + + inertialSense.Close(); +} + diff --git a/ExampleProjects/LogReader/README.md b/ExampleProjects/LogReader/README.md new file mode 100644 index 000000000..694a02e9f --- /dev/null +++ b/ExampleProjects/LogReader/README.md @@ -0,0 +1,97 @@ +# SDK: Data Log Reader Example Project + +This [ISLogReaderExample](https://github.com/inertialsense/InertialSenseSDK/tree/master/ExampleProjects/LogReader) project demonstrates data logging with the InertialSense products (uINS, uAHRS, and uIMU) using the Inertial Sense SDK. + +## Files + +#### Project Files + +* [ISLogReaderExample.cpp](https://github.com/inertialsense/InertialSenseSDK/tree/master/ExampleProjects/LogReader/ISLogReaderExample.cpp) + +#### SDK Files + +* [SDK](https://github.com/inertialsense/InertialSenseSDK/tree/master/src) + + +## Implementation + +### Step 1: Add Includes + +```C++ +// Change these include paths to the correct paths for your project +#include "../../src/InertialSense.h" +``` + +### Step 2: Instantiate InertialSense class + +```C++ + // InertialSense class wraps communications and logging in a convenient, easy to use class + InertialSense inertialSense(dataCallback); + if (!inertialSense.Open(argv[1])) + { + std::cout << "Failed to open com port at " << argv[1] << std::endl; + } +``` + +### Step 3: Enable data logger + +```C++ + // get log type from command line + cISLogger::eLogType logType = (argc < 3 ? cISLogger::eLogType::LOGTYPE_DAT : cISLogger::ParseLogType(argv[2])); + inertialSense.SetLoggerEnabled(true, "", logType); +``` + +### Step 4: Enable data broadcasting + +```C++ + // broadcast the standard set of post processing messages (ins, imu, etc.) + inertialSense.BroadcastBinaryDataRmcPreset(); + + // instead of the rmc preset (real-time message controller) you can request individual messages... + // inertialSense.BroadcastBinaryData(DID_DUAL_IMU, 10); // imu every 10 milliseconds (100 hz) +``` + +By default, data logs will be stored in the "IS_logs" directory in the current directory. + +``` bash +build/IS_logs/LOG_SN30664_20180323_112822_0001.dat +``` + +## Compile & Run (Linux/Mac) + +1. Create build directory +``` bash +$ cd InertialSenseSDK/ExampleProjects/Logger +$ mkdir build +``` +2. Run cmake from within build directory +``` bash +$ cd build +$ cmake .. +``` +3. Compile using make + ``` bash + $ make + ``` +4. If necessary, add current user to the "dialout" group in order to read and write to the USB serial communication ports: +```bash +$ sudousermod -a -G dialout $USER +$ sudousermod -a -G plugdev $USER +(reboot computer) +``` +5. Run executable +``` bash +$ ./bin/ISLoggerExample /dev/ttyUSB0 +``` +## Compile & Run (Windows MS Visual Studio) + +1. Open Visual Studio solution file (InertialSenseSDK\ExampleProjects\Logger\VS_project\InertialSenseCLTool.sln) +2. Build (F7) +3. Run executable +``` bash +C:\InertialSenseSDK\ExampleProjects\Logger\VS_project\Release\ISLoggerExample.exe COM3 +``` + +## Summary + +That covers all the basic functionality you need to set up and talk to InertialSense products. If this doesn't cover everything you need, feel free to reach out to us on the InertialSenseSDK GitHub repository, and we will be happy to help. diff --git a/ExampleProjects/LogReader/VS_Project/ISLogReader.vcxproj.filters b/ExampleProjects/LogReader/VS_Project/ISLogReader.vcxproj.filters new file mode 100644 index 000000000..e5cb805a2 --- /dev/null +++ b/ExampleProjects/LogReader/VS_Project/ISLogReader.vcxproj.filters @@ -0,0 +1,205 @@ + + + + + {4FC737F1-C7A5-4376-A066-2A32D752A2FF} + cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx + + + {56768eea-52d0-41b1-adf8-fd88e4eba0be} + + + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + Source Files\SDK + + + diff --git a/ExampleProjects/LogReader/VS_Project/ISLogReaderExample.sln b/ExampleProjects/LogReader/VS_Project/ISLogReaderExample.sln new file mode 100644 index 000000000..7af950a5b --- /dev/null +++ b/ExampleProjects/LogReader/VS_Project/ISLogReaderExample.sln @@ -0,0 +1,31 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio 15 +VisualStudioVersion = 15.0.27130.2027 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ISLogReaderExample", "ISLogReaderExample.vcxproj", "{6BC5BD0B-15A1-46B6-B561-C37D8DB83403}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|x64 = Debug|x64 + Debug|x86 = Debug|x86 + Release|x64 = Release|x64 + Release|x86 = Release|x86 + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {6BC5BD0B-15A1-46B6-B561-C37D8DB83403}.Debug|x64.ActiveCfg = Debug|x64 + {6BC5BD0B-15A1-46B6-B561-C37D8DB83403}.Debug|x64.Build.0 = Debug|x64 + {6BC5BD0B-15A1-46B6-B561-C37D8DB83403}.Debug|x86.ActiveCfg = Debug|Win32 + {6BC5BD0B-15A1-46B6-B561-C37D8DB83403}.Debug|x86.Build.0 = Debug|Win32 + {6BC5BD0B-15A1-46B6-B561-C37D8DB83403}.Release|x64.ActiveCfg = Release|x64 + {6BC5BD0B-15A1-46B6-B561-C37D8DB83403}.Release|x64.Build.0 = Release|x64 + {6BC5BD0B-15A1-46B6-B561-C37D8DB83403}.Release|x86.ActiveCfg = Release|Win32 + {6BC5BD0B-15A1-46B6-B561-C37D8DB83403}.Release|x86.Build.0 = Release|Win32 + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection + GlobalSection(ExtensibilityGlobals) = postSolution + SolutionGuid = {3A8508DC-68CF-404C-88A3-D31CC99B1F76} + EndGlobalSection +EndGlobal diff --git a/ExampleProjects/LogReader/VS_Project/ISLogReaderExample.vcxproj b/ExampleProjects/LogReader/VS_Project/ISLogReaderExample.vcxproj new file mode 100644 index 000000000..4253aa263 --- /dev/null +++ b/ExampleProjects/LogReader/VS_Project/ISLogReaderExample.vcxproj @@ -0,0 +1,218 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + Debug + x64 + + + Release + x64 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 15.0 + {2F1DB5F4-5AF6-4536-AB32-A5441FECD677} + Win32Proj + ISSimpleExample + 10.0.16299.0 + ISLogReaderExample + + + + Application + true + v141 + Unicode + + + Application + false + v141 + true + Unicode + + + Application + true + v141 + Unicode + + + Application + false + v141 + true + Unicode + + + + + + + + + + + + + + + + + + + + + true + + + true + + + false + + + false + + + + NotUsing + Level3 + Disabled + true + WIN32;_DEBUG;_CONSOLE;_CRT_SECURE_NO_WARNINGS;%(PreprocessorDefinitions) + + + Console + true + %(AdditionalDependencies) + + + + + NotUsing + Level3 + Disabled + true + _DEBUG;_CONSOLE;_CRT_SECURE_NO_WARNINGS;%(PreprocessorDefinitions) + + + Console + true + + + + + NotUsing + Level3 + MaxSpeed + true + true + true + WIN32;NDEBUG;_CONSOLE;_CRT_SECURE_NO_WARNINGS;%(PreprocessorDefinitions) + + + Console + true + true + true + %(AdditionalDependencies) + + + + + NotUsing + Level3 + MaxSpeed + true + true + true + NDEBUG;_CONSOLE;_CRT_SECURE_NO_WARNINGS;%(PreprocessorDefinitions) + + + Console + true + true + true + + + + + + diff --git a/ExampleProjects/Logger/VS_Project/ISLoggerExample.vcxproj b/ExampleProjects/Logger/VS_Project/ISLoggerExample.vcxproj index 2ba82efc6..7ee1a11a4 100644 --- a/ExampleProjects/Logger/VS_Project/ISLoggerExample.vcxproj +++ b/ExampleProjects/Logger/VS_Project/ISLoggerExample.vcxproj @@ -23,10 +23,12 @@ + + @@ -58,10 +60,12 @@ + + diff --git a/ExampleProjects/Logger/VS_Project/ISLoggerExample.vcxproj.filters b/ExampleProjects/Logger/VS_Project/ISLoggerExample.vcxproj.filters index ce2fea912..abba2bf03 100644 --- a/ExampleProjects/Logger/VS_Project/ISLoggerExample.vcxproj.filters +++ b/ExampleProjects/Logger/VS_Project/ISLoggerExample.vcxproj.filters @@ -109,6 +109,12 @@ Source Files\SDK + + Source Files\SDK + + + Source Files\SDK + @@ -201,5 +207,11 @@ Source Files\SDK + + Source Files\SDK + + + Source Files\SDK + \ No newline at end of file diff --git a/README.md b/README.md index 1558416e5..b4c813b96 100644 --- a/README.md +++ b/README.md @@ -24,6 +24,5 @@ * Email - support@inertialsense.com - ************************************************ -(c) 2014-2018 Inertial Sense, LLC \ No newline at end of file +(c) 2014-2018 Inertial Sense, Inc. \ No newline at end of file diff --git a/VS_project/InertialSenseLib.vcxproj b/VS_project/InertialSenseLib.vcxproj index 356dd37e4..7693e15e6 100644 --- a/VS_project/InertialSenseLib.vcxproj +++ b/VS_project/InertialSenseLib.vcxproj @@ -19,6 +19,8 @@ + + @@ -58,6 +60,8 @@ + + diff --git a/VS_project/InertialSenseLib.vcxproj.filters b/VS_project/InertialSenseLib.vcxproj.filters index ca9a9929e..9eed27e9c 100644 --- a/VS_project/InertialSenseLib.vcxproj.filters +++ b/VS_project/InertialSenseLib.vcxproj.filters @@ -118,6 +118,12 @@ Source Files + + Source Files + + + Source Files + @@ -228,5 +234,11 @@ Source Files + + Source Files + + + Source Files + \ No newline at end of file diff --git a/docs/html/_data_c_s_v_8cpp.html b/docs/html/_data_c_s_v_8cpp.html index 4df7a97be..f5d42f476 100644 --- a/docs/html/_data_c_s_v_8cpp.html +++ b/docs/html/_data_c_s_v_8cpp.html @@ -23,7 +23,7 @@ Logo

SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_c_s_v_8cpp_source.html b/docs/html/_data_c_s_v_8cpp_source.html index 27e2a9137..0706f9744 100644 --- a/docs/html/_data_c_s_v_8cpp_source.html +++ b/docs/html/_data_c_s_v_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,7 +72,7 @@
DataCSV.cpp
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <ctime>
14 #include <time.h>
15 #include <string>
16 #include <sstream>
17 #include <sys/types.h>
18 #include <sys/stat.h>
19 #include <iomanip>
20 #include <iostream>
21 #include <fstream>
22 #include <stdio.h>
23 #include <stdlib.h>
24 #include <stddef.h>
25 #include <inttypes.h>
26 #include <math.h>
27 #include "DataCSV.h"
28 #include "ISLogger.h"
29 #include "data_sets.h"
30 #include "ISDataMappings.h"
31 #include "ISUtilities.h"
32 #include "ISConstants.h"
33 
34 #ifdef USE_IS_INTERNAL
35 # include "../../libs/IS_internal.h"
36 #endif
37 
38 int cDataCSV::WriteHeaderToFile(FILE* pFile, int id)
39 {
40  // Verify file pointer
41  if (pFile == NULL)
42  {
43  return 0;
44  }
45  map_lookup_name_t::const_iterator offsetMap = cISDataMappings::GetMap().find(id);
46  if (offsetMap == cISDataMappings::GetMap().end())
47  {
48  return 0;
49  }
50  string header("_ID_");
51  for (map_name_to_info_t::const_iterator offset = offsetMap->second.begin(); offset != offsetMap->second.end(); offset++)
52  {
53  header += ",";
54  header += offset->first;
55  }
56  header += "\n";
57  fputs(header.c_str(), pFile);
58  return (int)header.length();
59 }
60 
61 
62 int cDataCSV::ReadHeaderFromFile(FILE* pFile, int id, vector<string>& columnHeaders)
63 {
64  (void)id;
65 
66  char line[8192];
67  line[0] = '\0';
68  if (fgets(line, _ARRAY_BYTE_COUNT(line), pFile) == NULL || ferror(pFile) != 0)
69  {
70  return 0;
71  }
72  stringstream stream(line);
73  string columnHeader;
74  columnHeaders.clear();
75  while (stream.good())
76  {
77  getline(stream, columnHeader, ',');
78  while (columnHeader.length() > 0 && (columnHeader[columnHeader.size() - 1] == '\r' || columnHeader[columnHeader.size() - 1] == '\n'))
79  {
80  columnHeader.resize(columnHeader.size() - 1);
81  }
82  if (columnHeader.length() == 0)
83  {
84  columnHeader = "UNKNOWN";
85  }
86  columnHeaders.push_back(columnHeader);
87  }
88  return (int)strnlen(line, _ARRAY_BYTE_COUNT(line));
89 }
90 
91 int cDataCSV::WriteDataToFile(uint64_t orderId, FILE* pFile, const p_data_hdr_t& dataHdr, const uint8_t* dataBuf)
92 {
93  // Verify file pointer
94  if (pFile == NULL)
95  {
96  return 0;
97  }
98  map_lookup_name_t::const_iterator offsetMap = cISDataMappings::GetMap().find(dataHdr.id);
99  if (offsetMap == cISDataMappings::GetMap().end())
100  {
101  return 0;
102  }
103  string s;
104  if (!DataToStringCSV(dataHdr, dataBuf, s))
105  {
106  return 0;
107  }
108  char tmp[64];
109  SNPRINTF(tmp, 64, "%llu", (long long unsigned int)orderId);
110  fputs(tmp, pFile);
111  fputc(',', pFile);
112  fputs(s.c_str(), pFile);
113 
114  // return the data string length plus comma plus order id string
115  return (int)s.length() + 1 + (int)strnlen(tmp, sizeof(tmp));
116 }
117 
118 bool cDataCSV::StringCSVToData(string& s, p_data_hdr_t& hdr, uint8_t* buf, uint32_t bufSize, const vector<string>& columnHeaders)
119 {
120  map_lookup_name_t::const_iterator offsetMap = cISDataMappings::GetMap().find(hdr.id);
121  if (offsetMap == cISDataMappings::GetMap().end() || hdr.offset != 0 || hdr.size == 0 || bufSize < hdr.size)
122  {
123  return false;
124  }
125  while (s.length() > 0 && (s[s.size() - 1] == '\r' || s[s.size() - 1] == '\n'))
126  {
127  s.resize(s.size() - 1);
128  }
129  // for parsing logic, last comma will allow last field to parse properly
130  s += ",";
131  string columnData;
132  string::const_iterator start = s.begin();
133  uint32_t index = 0;
134  hdr.offset = 0;
135  hdr.size = cISDataMappings::GetSize(hdr.id);
136  map_name_to_info_t::const_iterator offset;
137  bool inQuotes = false;
138  uint32_t foundQuotes = 0;
139  memset(buf, 0, hdr.size);
140  for (string::const_iterator i = start; i < s.end() && index < columnHeaders.size(); i++)
141  {
142  if (*i == ',' && !inQuotes)
143  {
144  // end field
145  columnData = string(start + foundQuotes, i - foundQuotes);
146  start = i + 1;
147  offset = offsetMap->second.find(columnHeaders[index++]);
148  if (offset != offsetMap->second.end() && !cISDataMappings::StringToData(columnData.c_str(), (int)columnData.length(), &hdr, buf, offset->second))
149  {
150  return false;
151  }
152  foundQuotes = false;
153  }
154  else if (*i == '"')
155  {
156  inQuotes = !inQuotes;
157  foundQuotes |= (uint32_t)inQuotes;
158  }
159  }
160  return true;
161 }
162 
163 
164 bool cDataCSV::DataToStringCSV(const p_data_hdr_t& hdr, const uint8_t* buf, string& csv)
165 {
166  csv.clear();
167  string columnData;
168  map_lookup_name_t::const_iterator offsetMap = cISDataMappings::GetMap().find(hdr.id);
169  if (offsetMap == cISDataMappings::GetMap().end())
170  {
171  return false;
172  }
173  char tmp[IS_DATA_MAPPING_MAX_STRING_LENGTH];
174  const uint8_t* bufPtr = buf;
175  uint8_t tmpBuffer[MAX_DATASET_SIZE];
176  uint32_t size = cISDataMappings::GetSize(hdr.id);
177  if (size > hdr.size)
178  {
179  // copy into temp buffer, zeroing out bytes that are not part of this packet
180  memset(tmpBuffer, 0, hdr.offset);
181  memcpy(tmpBuffer + hdr.offset, buf, hdr.size);
182  uint32_t dataEnd = hdr.offset + hdr.size;
183  memset(tmpBuffer + dataEnd, 0, size - dataEnd);
184  bufPtr = tmpBuffer;
185  }
186 
187  // copy header as we are now storing an entire struct, even if we got a partial hdr and buf
188  p_data_hdr_t hdrCopy = hdr;
189  hdrCopy.offset = 0;
190  hdrCopy.size = size;
191 
192  for (map_name_to_info_t::const_iterator offset = offsetMap->second.begin(); offset != offsetMap->second.end(); offset++)
193  {
194  cISDataMappings::DataToString(offset->second, &hdrCopy, bufPtr, tmp);
195  if (csv.length() != 0)
196  {
197  csv += ",";
198  }
199  csv += tmp;
200  }
201  csv += "\n";
202  return true;
203 }
204 
cISDataMappings::GetSize
static uint32_t GetSize(uint32_t dataId)
Definition: ISDataMappings.cpp:1270
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <ctime>
14 #include <time.h>
15 #include <string>
16 #include <sstream>
17 #include <sys/types.h>
18 #include <sys/stat.h>
19 #include <iomanip>
20 #include <iostream>
21 #include <fstream>
22 #include <stdio.h>
23 #include <stdlib.h>
24 #include <stddef.h>
25 #include <inttypes.h>
26 #include <math.h>
27 #include "DataCSV.h"
28 #include "ISLogger.h"
29 #include "data_sets.h"
30 #include "ISDataMappings.h"
31 #include "ISUtilities.h"
32 #include "ISConstants.h"
33 
34 #ifdef USE_IS_INTERNAL
35 # include "../../libs/IS_internal.h"
36 #endif
37 
38 int cDataCSV::WriteHeaderToFile(FILE* pFile, int id)
39 {
40  // Verify file pointer
41  if (pFile == NULL)
42  {
43  return 0;
44  }
45  map_lookup_name_t::const_iterator offsetMap = cISDataMappings::GetMap().find(id);
46  if (offsetMap == cISDataMappings::GetMap().end())
47  {
48  return 0;
49  }
50  string header("_ID_");
51  for (map_name_to_info_t::const_iterator offset = offsetMap->second.begin(); offset != offsetMap->second.end(); offset++)
52  {
53  header += ",";
54  header += offset->first;
55  }
56  header += "\n";
57  fputs(header.c_str(), pFile);
58  return (int)header.length();
59 }
60 
61 
62 int cDataCSV::ReadHeaderFromFile(FILE* pFile, int id, vector<string>& columnHeaders)
63 {
64  (void)id;
65 
66  char line[8192];
67  line[0] = '\0';
68  if (fgets(line, _ARRAY_BYTE_COUNT(line), pFile) == NULL || ferror(pFile) != 0)
69  {
70  return 0;
71  }
72  stringstream stream(line);
73  string columnHeader;
74  columnHeaders.clear();
75  while (stream.good())
76  {
77  getline(stream, columnHeader, ',');
78  while (columnHeader.length() > 0 && (columnHeader[columnHeader.size() - 1] == '\r' || columnHeader[columnHeader.size() - 1] == '\n'))
79  {
80  columnHeader.resize(columnHeader.size() - 1);
81  }
82  if (columnHeader.length() == 0)
83  {
84  columnHeader = "UNKNOWN";
85  }
86  columnHeaders.push_back(columnHeader);
87  }
88  return (int)strnlen(line, _ARRAY_BYTE_COUNT(line));
89 }
90 
91 int cDataCSV::WriteDataToFile(uint64_t orderId, FILE* pFile, const p_data_hdr_t& dataHdr, const uint8_t* dataBuf)
92 {
93  // Verify file pointer
94  if (pFile == NULL)
95  {
96  return 0;
97  }
98  map_lookup_name_t::const_iterator offsetMap = cISDataMappings::GetMap().find(dataHdr.id);
99  if (offsetMap == cISDataMappings::GetMap().end())
100  {
101  return 0;
102  }
103  string s;
104  if (!DataToStringCSV(dataHdr, dataBuf, s))
105  {
106  return 0;
107  }
108  char tmp[64];
109  SNPRINTF(tmp, 64, "%llu", (long long unsigned int)orderId);
110  fputs(tmp, pFile);
111  fputc(',', pFile);
112  fputs(s.c_str(), pFile);
113 
114  // return the data string length plus comma plus order id string
115  return (int)s.length() + 1 + (int)strnlen(tmp, sizeof(tmp));
116 }
117 
118 bool cDataCSV::StringCSVToData(string& s, p_data_hdr_t& hdr, uint8_t* buf, uint32_t bufSize, const vector<string>& columnHeaders)
119 {
120  map_lookup_name_t::const_iterator offsetMap = cISDataMappings::GetMap().find(hdr.id);
121  if (offsetMap == cISDataMappings::GetMap().end() || hdr.offset != 0 || hdr.size == 0 || bufSize < hdr.size)
122  {
123  return false;
124  }
125  while (s.length() > 0 && (s[s.size() - 1] == '\r' || s[s.size() - 1] == '\n'))
126  {
127  s.resize(s.size() - 1);
128  }
129  // for parsing logic, last comma will allow last field to parse properly
130  s += ",";
131  string columnData;
132  string::const_iterator start = s.begin();
133  uint32_t index = 0;
134  hdr.offset = 0;
135  hdr.size = cISDataMappings::GetSize(hdr.id);
136  map_name_to_info_t::const_iterator offset;
137  bool inQuotes = false;
138  uint32_t foundQuotes = 0;
139  memset(buf, 0, hdr.size);
140  for (string::const_iterator i = start; i < s.end() && index < columnHeaders.size(); i++)
141  {
142  if (*i == ',' && !inQuotes)
143  {
144  // end field
145  columnData = string(start + foundQuotes, i - foundQuotes);
146  start = i + 1;
147  offset = offsetMap->second.find(columnHeaders[index++]);
148  if (offset != offsetMap->second.end() && !cISDataMappings::StringToData(columnData.c_str(), (int)columnData.length(), &hdr, buf, offset->second))
149  {
150  return false;
151  }
152  foundQuotes = false;
153  }
154  else if (*i == '"')
155  {
156  inQuotes = !inQuotes;
157  foundQuotes |= (uint32_t)inQuotes;
158  }
159  }
160  return true;
161 }
162 
163 
164 bool cDataCSV::DataToStringCSV(const p_data_hdr_t& hdr, const uint8_t* buf, string& csv)
165 {
166  csv.clear();
167  string columnData;
168  map_lookup_name_t::const_iterator offsetMap = cISDataMappings::GetMap().find(hdr.id);
169  if (offsetMap == cISDataMappings::GetMap().end())
170  {
171  return false;
172  }
173  char tmp[IS_DATA_MAPPING_MAX_STRING_LENGTH];
174  const uint8_t* bufPtr = buf;
175  uint8_t tmpBuffer[MAX_DATASET_SIZE];
176  uint32_t size = cISDataMappings::GetSize(hdr.id);
177  if (size > hdr.size)
178  {
179  // copy into temp buffer, zeroing out bytes that are not part of this packet
180  memset(tmpBuffer, 0, hdr.offset);
181  memcpy(tmpBuffer + hdr.offset, buf, hdr.size);
182  uint32_t dataEnd = hdr.offset + hdr.size;
183  memset(tmpBuffer + dataEnd, 0, size - dataEnd);
184  bufPtr = tmpBuffer;
185  }
186 
187  // copy header as we are now storing an entire struct, even if we got a partial hdr and buf
188  p_data_hdr_t hdrCopy = hdr;
189  hdrCopy.offset = 0;
190  hdrCopy.size = size;
191 
192  for (map_name_to_info_t::const_iterator offset = offsetMap->second.begin(); offset != offsetMap->second.end(); offset++)
193  {
194  cISDataMappings::DataToString(offset->second, &hdrCopy, bufPtr, tmp);
195  if (csv.length() != 0)
196  {
197  csv += ",";
198  }
199  csv += tmp;
200  }
201  csv += "\n";
202  return true;
203 }
204 
cISDataMappings::GetSize
static uint32_t GetSize(uint32_t dataId)
Definition: ISDataMappings.cpp:1291
IS_DATA_MAPPING_MAX_STRING_LENGTH
#define IS_DATA_MAPPING_MAX_STRING_LENGTH
Definition: ISDataMappings.h:23
cDataCSV::WriteHeaderToFile
int WriteHeaderToFile(FILE *pFile, int id)
Definition: DataCSV.cpp:38
ISDataMappings.h
@@ -82,17 +82,17 @@
ISLogger.h
cDataCSV::DataToStringCSV
bool DataToStringCSV(const p_data_hdr_t &hdr, const uint8_t *buf, string &csv)
Definition: DataCSV.cpp:164
ISUtilities.h
-
_ARRAY_BYTE_COUNT
#define _ARRAY_BYTE_COUNT(a)
Definition: ISConstants.h:293
+
_ARRAY_BYTE_COUNT
#define _ARRAY_BYTE_COUNT(a)
Definition: ISConstants.h:290
cDataCSV::ReadHeaderFromFile
int ReadHeaderFromFile(FILE *pFile, int id, vector< string > &columnHeaders)
Definition: DataCSV.cpp:62
cDataCSV::WriteDataToFile
int WriteDataToFile(uint64_t orderId, FILE *pFile, const p_data_hdr_t &dataHdr, const uint8_t *dataBuf)
Definition: DataCSV.cpp:91
data_sets.h
+
cISDataMappings::StringToData
static bool StringToData(const char *stringBuffer, int stringLength, const p_data_hdr_t *hdr, uint8_t *dataBuffer, const data_info_t &info, int radix=10, bool json=false)
Definition: ISDataMappings.cpp:1297
MAX_DATASET_SIZE
#define MAX_DATASET_SIZE
Definition: ISComm.h:180
p_data_hdr_t
Definition: ISComm.h:478
+
cISDataMappings::DataToString
static bool DataToString(const data_info_t &info, const p_data_hdr_t *hdr, const uint8_t *dataBuffer, data_mapping_string_t stringBuffer, bool json=false)
Definition: ISDataMappings.cpp:1400
cDataCSV::StringCSVToData
bool StringCSVToData(string &s, p_data_hdr_t &hdr, uint8_t *buf, uint32_t bufSize, const vector< string > &columnHeaders)
Definition: DataCSV.cpp:118
-
SNPRINTF
#define SNPRINTF
Definition: ISConstants.h:171
-
cISDataMappings::DataToString
static bool DataToString(const data_info_t &info, const p_data_hdr_t *hdr, const uint8_t *dataBuffer, data_mapping_string_t stringBuffer)
Definition: ISDataMappings.cpp:1356
-
cISDataMappings::StringToData
static bool StringToData(const char *stringBuffer, int stringLength, const p_data_hdr_t *hdr, uint8_t *dataBuffer, const data_info_t &info, int radix=10)
Definition: ISDataMappings.cpp:1276
-
cISDataMappings::GetMap
static const map_lookup_name_t & GetMap()
Definition: ISDataMappings.cpp:1264
+
SNPRINTF
#define SNPRINTF
Definition: ISConstants.h:142
+
cISDataMappings::GetMap
static const map_lookup_name_t & GetMap()
Definition: ISDataMappings.cpp:1285
p_data_hdr_t::offset
uint32_t offset
Definition: ISComm.h:487
ISConstants.h
diff --git a/docs/html/_data_c_s_v_8h.html b/docs/html/_data_c_s_v_8h.html index d23119244..189ca80f2 100644 --- a/docs/html/_data_c_s_v_8h.html +++ b/docs/html/_data_c_s_v_8h.html @@ -23,7 +23,7 @@ Logo
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@@ -76,13 +76,13 @@
sChunkHeader::dataSize
uint32_t dataSize
Chunk data length in bytes.
Definition: DataChunk.h:42
sChunkHeader::marker
uint32_t marker
Chunk marker (0xFC05EA32)
Definition: DataChunk.h:37
-
POP_PACK
#define POP_PACK
Definition: ISConstants.h:224
+
POP_PACK
#define POP_PACK
Definition: ISConstants.h:221
DID_COUNT
#define DID_COUNT
Definition: data_sets.h:117
logStats
void logStats(const char *format,...)
Chunk Header.
Definition: DataChunk.cpp:260
sChunkHeader::classification
uint16_t classification
Chunk classification.
Definition: DataChunk.h:39
cDataChunk::GetByteCountAvailableToRead
uint32_t GetByteCountAvailableToRead()
Definition: DataChunk.h:79
-
PUSH_PACK_1
#define PUSH_PACK_1
Definition: ISConstants.h:221
+
PUSH_PACK_1
#define PUSH_PACK_1
Definition: ISConstants.h:218
sChunkHeader::reserved
uint32_t reserved
Unused.
Definition: DataChunk.h:47
sChunkHeader::devSerialNum
uint32_t devSerialNum
Device serial number.
Definition: DataChunk.h:45
diff --git a/docs/html/_data_chunk_sorted_8cpp.html b/docs/html/_data_chunk_sorted_8cpp.html index 3bd2fe113..d6aa31e99 100644 --- a/docs/html/_data_chunk_sorted_8cpp.html +++ b/docs/html/_data_chunk_sorted_8cpp.html @@ -23,7 +23,7 @@ Logo
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@@ -75,13 +75,13 @@ Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef DATA_CHUNK_SORTED_H
14 #define DATA_CHUNK_SORTED_H
15 
16 #include <stdint.h>
17 #include <vector>
18 
19 #include "com_manager.h"
20 #include "DataChunk.h"
21 
22 #define LOG_DEBUG_WRITE 0
23 #define LOG_DEBUG_READ 0
24 
25 PUSH_PACK_1
26 
28 typedef struct
29 {
31  uint32_t dataSerNum;
32 
34  uint8_t buf[MAX_P_DATA_BODY_SIZE];
35 } p_cnk_data_t;
36 
37 // sub-header for sorted data chunks
38 typedef struct
39 {
40  p_data_hdr_t dHdr;
41 
42  // Number of sorted data elements
43  uint32_t dCount;
44 } sChunkSubHeader;
45 
46 POP_PACK
47 
48 class cSortedDataChunk : public cDataChunk
49 {
50 public:
51  cSortedDataChunk(uint32_t maxSize = MAX_CHUNK_SIZE, const char* name = "EMPT");
52  void Clear() OVERRIDE;
53 
54  int32_t WriteAdditionalChunkHeader(FILE* pFile) OVERRIDE;
55  int32_t ReadAdditionalChunkHeader(FILE* pFile) OVERRIDE;
56  int32_t GetHeaderSize() OVERRIDE;
57 
58  sChunkSubHeader m_subHdr;
59 };
60 
61 
62 #endif // DATA_CHUNK_SORTED_H
p_cnk_data_t
Definition: DataChunkSorted.h:28
cSortedDataChunk::GetHeaderSize
int32_t GetHeaderSize() OVERRIDE
Definition: DataChunkSorted.cpp:46
cSortedDataChunk::ReadAdditionalChunkHeader
int32_t ReadAdditionalChunkHeader(FILE *pFile) OVERRIDE
Definition: DataChunkSorted.cpp:39
-
POP_PACK
#define POP_PACK
Definition: ISConstants.h:224
+
POP_PACK
#define POP_PACK
Definition: ISConstants.h:221
-
PUSH_PACK_1
#define PUSH_PACK_1
Definition: ISConstants.h:221
+
PUSH_PACK_1
#define PUSH_PACK_1
Definition: ISConstants.h:218
sChunkSubHeader::dHdr
p_data_hdr_t dHdr
Definition: DataChunkSorted.h:40
-
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:377
+
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:374
cSortedDataChunk::m_subHdr
sChunkSubHeader m_subHdr
Definition: DataChunkSorted.h:58
p_data_hdr_t
Definition: ISComm.h:478
cSortedDataChunk::cSortedDataChunk
cSortedDataChunk(uint32_t maxSize=MAX_CHUNK_SIZE, const char *name="EMPT")
Definition: DataChunkSorted.cpp:18
diff --git a/docs/html/_data_j_s_o_n_8cpp.html b/docs/html/_data_j_s_o_n_8cpp.html new file mode 100644 index 000000000..1cb40852b --- /dev/null +++ b/docs/html/_data_j_s_o_n_8cpp.html @@ -0,0 +1,105 @@ + + + + + + + +SDK: src/DataJSON.cpp File Reference + + + + + + + + + +
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+
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+
DataJSON.cpp File Reference
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+
#include <ctime>
+#include <time.h>
+#include <string>
+#include <sstream>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <iomanip>
+#include <iostream>
+#include <fstream>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stddef.h>
+#include <inttypes.h>
+#include <math.h>
+#include "DataJSON.h"
+#include "ISLogger.h"
+#include "data_sets.h"
+#include "ISDataMappings.h"
+#include "ISUtilities.h"
+#include "ISConstants.h"
+
+

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1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <ctime>
14 #include <time.h>
15 #include <string>
16 #include <sstream>
17 #include <sys/types.h>
18 #include <sys/stat.h>
19 #include <iomanip>
20 #include <iostream>
21 #include <fstream>
22 #include <stdio.h>
23 #include <stdlib.h>
24 #include <stddef.h>
25 #include <inttypes.h>
26 #include <math.h>
27 #include "DataJSON.h"
28 #include "ISLogger.h"
29 #include "data_sets.h"
30 #include "ISDataMappings.h"
31 #include "ISUtilities.h"
32 #include "ISConstants.h"
33 
34 #ifdef USE_IS_INTERNAL
35 # include "../../libs/IS_internal.h"
36 #endif
37 
38 int cDataJSON::WriteDataToFile(FILE* pFile, const p_data_hdr_t& dataHdr, const uint8_t* dataBuf, const char* prefix)
39 {
40  // Verify file pointer
41  if (pFile == NULL)
42  {
43  return 0;
44  }
45  map_lookup_name_t::const_iterator offsetMap = cISDataMappings::GetMap().find(dataHdr.id);
46  if (offsetMap == cISDataMappings::GetMap().end())
47  {
48  return 0;
49  }
50  string s;
51 
52  if (!DataToStringJSON(dataHdr, dataBuf, s))
53  {
54  return 0;
55  }
56  if (prefix != NULLPTR)
57  {
58  fputs(prefix, pFile);
59  }
60  fputs(s.c_str(), pFile);
61  return (int)s.length();
62 }
63 
64 bool cDataJSON::StringJSONToData(string& s, p_data_hdr_t& hdr, uint8_t* buf, uint32_t bufSize)
65 {
66  (void)s;
67  (void)buf;
68  (void)bufSize;
69 
70  size_t pos = s.find("\"id\":");
71  if (pos == string::npos)
72  {
73  return false;
74  }
75  uint32_t id = strtoul(s.c_str() + pos + 5, NULLPTR, 10);
76  hdr.id = id;
77  map_lookup_name_t::const_iterator offsetMap = cISDataMappings::GetMap().find(hdr.id);
78  if (offsetMap == cISDataMappings::GetMap().end())
79  {
80  return false;
81  }
82  hdr.size = cISDataMappings::GetSize(hdr.id);
83  char c;
84  char pc = 0;
85  map_name_to_info_t::const_iterator offset;
86  string fieldName;
87  size_t fieldStart = 0;
88  bool inName = true;
89  bool inQuote = false;
90  for (size_t i = 0; i < s.size(); i++)
91  {
92  c = s[i];
93  if (c == '"' && pc != '\\')
94  {
95  if (inQuote = !inQuote)
96  {
97  fieldStart = i + 1;
98  pc = c;
99  continue;
100  }
101  }
102 
103  if (inName)
104  {
105  if (c == ':')
106  {
107  fieldStart = i + 1;
108  inName = inQuote = false;
109  pc = c;
110  continue;
111  }
112  else if (inQuote)
113  {
114  fieldName.append(1, c);
115  }
116  }
117  else if ((c == '}' || c == '"' || (!inQuote && c == ',')) && pc != '\\')
118  {
119  if (fieldStart != 0)
120  {
121  offset = offsetMap->second.find(fieldName);
122  string json = s.substr(fieldStart, i - fieldStart);
123  if (offset != offsetMap->second.end() && !cISDataMappings::StringToData(json.c_str(), (int)json.size(), &hdr, buf, offset->second, 10, true))
124  {
125  return false;
126  }
127  }
128  fieldName.clear();
129  fieldStart = 0;
130  inName = true;
131  }
132  pc = c;
133  }
134 
135  return true;
136 }
137 
138 
139 bool cDataJSON::DataToStringJSON(const p_data_hdr_t& hdr, const uint8_t* buf, string& json)
140 {
141  json.clear();
142  map_lookup_name_t::const_iterator offsetMap = cISDataMappings::GetMap().find(hdr.id);
143  if (offsetMap == cISDataMappings::GetMap().end())
144  {
145  return false;
146  }
147  char tmp[IS_DATA_MAPPING_MAX_STRING_LENGTH];
148  const uint8_t* bufPtr = buf;
149  uint8_t tmpBuffer[MAX_DATASET_SIZE];
150  uint32_t size = cISDataMappings::GetSize(hdr.id);
151  if (size > hdr.size)
152  {
153  // copy into temp buffer, zeroing out bytes that are not part of this packet
154  memset(tmpBuffer, 0, hdr.offset);
155  memcpy(tmpBuffer + hdr.offset, buf, hdr.size);
156  uint32_t dataEnd = hdr.offset + hdr.size;
157  memset(tmpBuffer + dataEnd, 0, size - dataEnd);
158  bufPtr = tmpBuffer;
159  }
160 
161  // copy header as we are now storing an entire struct, even if we got a partial hdr and buf
162  p_data_hdr_t hdrCopy = hdr;
163  hdrCopy.offset = 0;
164  hdrCopy.size = size;
165 
166  SNPRINTF(tmp, sizeof(tmp), "{\"id\":%d", (int)hdr.id);
167  json.append(tmp);
168  for (map_name_to_info_t::const_iterator offset = offsetMap->second.begin(); offset != offsetMap->second.end(); offset++)
169  {
170  cISDataMappings::DataToString(offset->second, &hdrCopy, bufPtr, tmp, true);
171  json.append(1, ',');
172  json.append(1, '"');
173  json.append(offset->second.name);
174  json.append(1, '"');
175  json.append(1, ':');
176  json.append(tmp);
177  }
178  json.append(1, '}');
179  return true;
180 }
cISDataMappings::GetSize
static uint32_t GetSize(uint32_t dataId)
Definition: ISDataMappings.cpp:1291
+
cDataJSON::StringJSONToData
bool StringJSONToData(string &s, p_data_hdr_t &hdr, uint8_t *buf, uint32_t bufSize)
Definition: DataJSON.cpp:64
+
IS_DATA_MAPPING_MAX_STRING_LENGTH
#define IS_DATA_MAPPING_MAX_STRING_LENGTH
Definition: ISDataMappings.h:23
+
ISDataMappings.h
+
p_data_hdr_t::id
uint32_t id
Definition: ISComm.h:481
+
p_data_hdr_t::size
uint32_t size
Definition: ISComm.h:484
+
cDataJSON::DataToStringJSON
bool DataToStringJSON(const p_data_hdr_t &hdr, const uint8_t *buf, string &json)
Definition: DataJSON.cpp:139
+
NULLPTR
#define NULLPTR
Definition: ISConstants.h:377
+
ISLogger.h
+
ISUtilities.h
+
DataJSON.h
+
data_sets.h
+
cISDataMappings::StringToData
static bool StringToData(const char *stringBuffer, int stringLength, const p_data_hdr_t *hdr, uint8_t *dataBuffer, const data_info_t &info, int radix=10, bool json=false)
Definition: ISDataMappings.cpp:1297
+
MAX_DATASET_SIZE
#define MAX_DATASET_SIZE
Definition: ISComm.h:180
+
cDataJSON::WriteDataToFile
int WriteDataToFile(FILE *pFile, const p_data_hdr_t &dataHdr, const uint8_t *dataBuf, const char *prefix)
Definition: DataJSON.cpp:38
+
p_data_hdr_t
Definition: ISComm.h:478
+
cISDataMappings::DataToString
static bool DataToString(const data_info_t &info, const p_data_hdr_t *hdr, const uint8_t *dataBuffer, data_mapping_string_t stringBuffer, bool json=false)
Definition: ISDataMappings.cpp:1400
+
SNPRINTF
#define SNPRINTF
Definition: ISConstants.h:142
+
cISDataMappings::GetMap
static const map_lookup_name_t & GetMap()
Definition: ISDataMappings.cpp:1285
+
p_data_hdr_t::offset
uint32_t offset
Definition: ISComm.h:487
+
ISConstants.h
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+#include <map>
+#include <regex>
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class  cDataJSON
 
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1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef DATA_JSON_H
14 #define DATA_JSON_H
15 
16 #include <string>
17 #include <map>
18 #include <regex>
19 
20 #include "com_manager.h"
21 
22 using namespace std;
23 
24 static inline bool IS_JSON_ESCAPE_CHAR(char c)
25 {
26  switch (c)
27  {
28  case '"':
29  case '\\':
30  case '/':
31  case '\b':
32  case '\f':
33  case '\n':
34  case '\r':
35  case '\t':
36  return true;
37  }
38  return false;
39 }
40 
41 class cDataJSON
42 {
43 public:
44  /*
45  * Write data to json file
46  * pFile the file to write to
47  * dataHdr data header
48  * dataBuf data buffer
49  * prefix prefix if data is written
50  */
51  int WriteDataToFile(FILE* pFile, const p_data_hdr_t& dataHdr, const uint8_t* dataBuf, const char* prefix);
52 
61  bool StringJSONToData(string& s, p_data_hdr_t& hdr, uint8_t* buf, uint32_t bufSize);
62 
69  bool DataToStringJSON(const p_data_hdr_t& hdr, const uint8_t* buf, string& json);
70 };
71 
72 #endif // DATA_JSON_H
+ +
p_data_hdr_t
Definition: ISComm.h:478
+
com_manager.h
+
+ +
+Generated by   +doxygen + 1.8.14 +
+ + diff --git a/docs/html/_data_k_m_l_8cpp.html b/docs/html/_data_k_m_l_8cpp.html index 75c04ef01..a3186a8fb 100644 --- a/docs/html/_data_k_m_l_8cpp.html +++ b/docs/html/_data_k_m_l_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_k_m_l_8cpp_source.html b/docs/html/_data_k_m_l_8cpp_source.html index 867e913e5..d0244e8de 100644 --- a/docs/html/_data_k_m_l_8cpp_source.html +++ b/docs/html/_data_k_m_l_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,44 +72,43 @@
DataKML.cpp
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <ctime>
14 #include <time.h>
15 #include <string>
16 #include <sstream>
17 #include <sys/types.h>
18 #include <sys/stat.h>
19 #include <iomanip>
20 #include <iostream>
21 #include <fstream>
22 #include <stdio.h>
23 #include <stdlib.h>
24 #include <stddef.h>
25 
26 #include "tinyxml.h"
27 #include "DataKML.h"
28 #include "ISLogger.h"
29 #include "ISPose.h"
30 #include "data_sets.h"
31 #include "ISUtilities.h"
32 #include "ISConstants.h"
33 
34 #ifdef USE_IS_INTERNAL
35 # include "../../libs/IS_internal.h"
36 #endif
37 
38 
39 cDataKML::cDataKML()
40 {
41 // def[0].init( "devInfo", "Device information" );
42 // def[5].init( "ins2", "Inertial navigation data with quaternion attitude" );
43 }
44 
45 string cDataKML::GetDatasetName(int kid)
46 {
47  switch (kid)
48  {
49  default: return "";
50  case KID_INS: return "ins";
51  case KID_REF: return "ref";
52  case KID_GPS: return "gps";
53  case KID_GPS1: return "gps1";
54  case KID_GPS2: return "gps2";
55  case KID_RTK: return "rtk";
56  }
57 }
58 
59 
60 #include <inttypes.h>
61 #include <math.h>
62 #include <stdio.h>
63 #include <time.h>
64 
65 int cDataKML::WriteDataToFile(vector<sKmlLogData>& list, const p_data_hdr_t* dataHdr, const uint8_t* dataBuf)
66 {
67  uDatasets& d = (uDatasets&)(*dataBuf);
68  Euler theta;
69  sKmlLogData data;
70 
71 #ifdef USE_IS_INTERNAL
72 // uInternalDatasets &i = (uInternalDatasets&)(*dataBuf);
73 #endif
74 
75  // Write date to file
76  switch (dataHdr->id)
77  {
78  default: // Unidentified dataset
79  return 0;
80 
81  case DID_INS_1:
82  data = sKmlLogData(d.ins1.timeOfWeek, d.ins1.lla, d.ins1.theta);
83  break;
84  case DID_INS_2:
85  quat2euler(d.ins2.qn2b, theta);
86  data = sKmlLogData(d.ins2.timeOfWeek, d.ins2.lla, theta);
87  break;
88  case DID_INS_3:
89  quat2euler(d.ins3.qn2b, theta);
90  data = sKmlLogData(d.ins3.timeOfWeek, d.ins3.lla, theta);
91  break;
92  case DID_GPS_NAV:
93  case DID_GPS1_NAV:
94  case DID_GPS2_NAV:
95  data = sKmlLogData(d.gpsNav.timeOfWeekMs, d.gpsNav.lla);
96  break;
97  case DID_GPS_RTK_NAV:
98  data = sKmlLogData(d.gpsRtkNav.timeOfWeekMs, d.gpsRtkNav.lla);
99  break;
100  }
101 
102  list.push_back(data);
103 
104  return 0;
105 }
106 
107 
-
Euler
Vector3 Euler
Definition: ISConstants.h:733
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <ctime>
14 #include <time.h>
15 #include <string>
16 #include <sstream>
17 #include <sys/types.h>
18 #include <sys/stat.h>
19 #include <iomanip>
20 #include <iostream>
21 #include <fstream>
22 #include <stdio.h>
23 #include <stdlib.h>
24 #include <stddef.h>
25 
26 #include "tinyxml.h"
27 #include "DataKML.h"
28 #include "ISLogger.h"
29 #include "ISPose.h"
30 #include "data_sets.h"
31 #include "ISUtilities.h"
32 #include "ISConstants.h"
33 
34 #ifdef USE_IS_INTERNAL
35 # include "../../libs/IS_internal.h"
36 #endif
37 
38 
39 cDataKML::cDataKML()
40 {
41 // def[0].init( "devInfo", "Device information" );
42 // def[5].init( "ins2", "Inertial navigation data with quaternion attitude" );
43 }
44 
45 string cDataKML::GetDatasetName(int kid)
46 {
47  switch (kid)
48  {
49  default: return "";
50  case KID_INS: return "ins";
51  case KID_REF: return "ref";
52  case KID_GPS: return "gps";
53  case KID_GPS1: return "gps1";
54  case KID_GPS2: return "gps2";
55  case KID_RTK: return "rtk";
56  }
57 }
58 
59 
60 #include <inttypes.h>
61 #include <math.h>
62 #include <stdio.h>
63 #include <time.h>
64 
65 int cDataKML::WriteDataToFile(vector<sKmlLogData>& list, const p_data_hdr_t* dataHdr, const uint8_t* dataBuf)
66 {
67  uDatasets& d = (uDatasets&)(*dataBuf);
68  Euler theta;
69  sKmlLogData data;
70 
71 #ifdef USE_IS_INTERNAL
72 // uInternalDatasets &i = (uInternalDatasets&)(*dataBuf);
73 #endif
74 
75  // Write date to file
76  switch (dataHdr->id)
77  {
78  default: // Unidentified dataset
79  return 0;
80 
81  case DID_INS_1:
82  data = sKmlLogData(d.ins1.timeOfWeek, d.ins1.lla, d.ins1.theta);
83  break;
84  case DID_INS_2:
85  quat2euler(d.ins2.qn2b, theta);
86  data = sKmlLogData(d.ins2.timeOfWeek, d.ins2.lla, theta);
87  break;
88  case DID_INS_3:
89  quat2euler(d.ins3.qn2b, theta);
90  data = sKmlLogData(d.ins3.timeOfWeek, d.ins3.lla, theta);
91  break;
92  case DID_GPS1_POS:
93  case DID_GPS1_UBX_POS:
94  case DID_GPS2_POS:
95  data = sKmlLogData(d.gpsPos.timeOfWeekMs, d.gpsPos.lla);
96  break;
97  case DID_GPS1_RTK_POS:
98  data = sKmlLogData(d.gpsPos.timeOfWeekMs, d.gpsPos.lla);
99  break;
100  }
101 
102  list.push_back(data);
103 
104  return 0;
105 }
106 
107 
+
Euler
Vector3 Euler
Definition: ISConstants.h:730
cDataKML::cDataKML
cDataKML()
Definition: DataKML.cpp:39
cDataKML::GetDatasetName
string GetDatasetName(int kid)
Definition: DataKML.cpp:45
cDataKML::WriteDataToFile
int WriteDataToFile(vector< sKmlLogData > &list, const p_data_hdr_t *dataHdr, const uint8_t *dataBuf)
Definition: DataKML.cpp:65
-
DID_GPS_RTK_NAV
#define DID_GPS_RTK_NAV
Definition: data_sets.h:55
-
PACKED::ins3
ins_3_t ins3
Definition: data_sets.h:2401
-
PACKED::timeOfWeek
double timeOfWeek
Definition: data_sets.h:415
+
PACKED::ins3
ins_3_t ins3
Definition: data_sets.h:2431
+
PACKED::timeOfWeek
double timeOfWeek
Definition: data_sets.h:439
p_data_hdr_t::id
uint32_t id
Definition: ISComm.h:481
-
PACKED::ins2
ins_2_t ins2
Definition: data_sets.h:2400
+
PACKED::ins2
ins_2_t ins2
Definition: data_sets.h:2430
DID_INS_1
#define DID_INS_1
Definition: data_sets.h:38
-
PACKED::lla
double lla[3]
Definition: data_sets.h:430
+
PACKED::lla
double lla[3]
Definition: data_sets.h:454
+
DID_GPS1_UBX_POS
#define DID_GPS1_UBX_POS
Definition: data_sets.h:40
ISLogger.h
-
DID_GPS2_NAV
#define DID_GPS2_NAV
Definition: data_sets.h:48
DID_INS_2
#define DID_INS_2
Definition: data_sets.h:39
-
PACKED::theta
float theta[3]
Definition: data_sets.h:424
+
PACKED::theta
float theta[3]
Definition: data_sets.h:448
ISUtilities.h
DataKML.h
-
PACKED::qn2b
float qn2b[4]
Definition: data_sets.h:453
-
PACKED::gpsRtkNav
gps_nav_t gpsRtkNav
Definition: data_sets.h:2417
+
PACKED::qn2b
float qn2b[4]
Definition: data_sets.h:477
quat2euler
void quat2euler(const Quat_t q, Euler_t theta)
Definition: ISPose.c:185
-
DID_GPS_NAV
#define DID_GPS_NAV
Definition: data_sets.h:40
+
DID_GPS2_POS
#define DID_GPS2_POS
Definition: data_sets.h:48
data_sets.h
-
PACKED::ins1
ins_1_t ins1
Definition: data_sets.h:2399
-
PACKED::timeOfWeekMs
uint32_t timeOfWeekMs
Definition: data_sets.h:611
-
DID_GPS1_NAV
#define DID_GPS1_NAV
Definition: data_sets.h:47
-
PACKED::gpsNav
gps_nav_t gpsNav
Definition: data_sets.h:2409
+
PACKED::ins1
ins_1_t ins1
Definition: data_sets.h:2429
+
PACKED::timeOfWeekMs
uint32_t timeOfWeekMs
Definition: data_sets.h:635
+
DID_GPS1_POS
#define DID_GPS1_POS
Definition: data_sets.h:47
p_data_hdr_t
Definition: ISComm.h:478
DID_INS_3
#define DID_INS_3
Definition: data_sets.h:99
ISPose.h
+
DID_GPS1_RTK_POS
#define DID_GPS1_RTK_POS
Definition: data_sets.h:88
- +
PACKED::gpsPos
gps_pos_t gpsPos
Definition: data_sets.h:2439
+
ISConstants.h
diff --git a/docs/html/_data_k_m_l_8h.html b/docs/html/_data_k_m_l_8h.html index 10099b1f3..ec58a0ee9 100644 --- a/docs/html/_data_k_m_l_8h.html +++ b/docs/html/_data_k_m_l_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_k_m_l_8h_source.html b/docs/html/_data_k_m_l_8h_source.html index d1b3f0a12..bcafd3d49 100644 --- a/docs/html/_data_k_m_l_8h_source.html +++ b/docs/html/_data_k_m_l_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,15 +72,14 @@
DataKML.h
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef DATA_KML_H
14 #define DATA_KML_H
15 
16 // #include <stdio.h>
17 #include <string>
18 #include <vector>
19 
20 #include "tinyxml.h"
21 #include "com_manager.h"
22 
23 #ifdef USE_IS_INTERNAL
24 # include "../../libs/IS_internal.h"
25 #endif
26 
27 using namespace std;
28 
29 struct sKmlLogData
30 {
31  double time;
32  double lla[3];
33  float theta[3];
34  sKmlLogData() {}
35  sKmlLogData(double _time, double _lla[3], float _theta[3])
36  {
37  time = _time;
38  lla[0] = _lla[0];
39  lla[1] = _lla[1];
40  lla[2] = _lla[2];
41  theta[0] = _theta[0];
42  theta[1] = _theta[1];
43  theta[2] = _theta[2];
44  }
45 
46  sKmlLogData(unsigned int _timeMs, double _lla[3])
47  {
48  time = _timeMs*0.001;
49  lla[0] = _lla[0];
50  lla[1] = _lla[1];
51  lla[2] = _lla[2];
52  theta[0] = theta[1] = theta[2] = 0;
53  }
54 };
55 
56 
57 class cDataKML
58 {
59 public:
60  enum MyEnum
61  {
62  KID_INS = 0,
63  KID_REF,
64  KID_GPS,
65  KID_GPS1,
66  KID_GPS2,
67  KID_RTK,
68  MAX_NUM_KID,
69  };
70 
71  static inline int DID_TO_KID(int did)
72  {
73  switch (did)
74  {
75  default: return -1; // Unused
76  case DID_INS_1: return KID_INS;
77  case DID_GPS_NAV: return KID_GPS;
78  case DID_GPS1_NAV: return KID_GPS1;
79  case DID_GPS2_NAV: return KID_GPS2;
80  case DID_GPS_RTK_NAV: return KID_RTK;
81  }
82  }
83 
84  static inline int BYTES_PER_KID(int kid)
85  {
86  switch (kid)
87  {
88  default:
89  return -1; // Unused
90  case KID_INS:
91  return 130;
92  case KID_GPS:
93  case KID_GPS1:
94  case KID_GPS2:
95  case KID_RTK:
96  return 65;
97  }
98  }
99 
100  cDataKML();
101  string GetDatasetName(int kid);
102  int WriteDataToFile(vector<sKmlLogData>& list, const p_data_hdr_t* dataHdr, const uint8_t* dataBuf);
103 };
104 
105 #endif // DATA_KML_H
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef DATA_KML_H
14 #define DATA_KML_H
15 
16 // #include <stdio.h>
17 #include <string>
18 #include <vector>
19 
20 #include "tinyxml.h"
21 #include "com_manager.h"
22 
23 #ifdef USE_IS_INTERNAL
24 # include "../../libs/IS_internal.h"
25 #endif
26 
27 using namespace std;
28 
29 struct sKmlLogData
30 {
31  double time;
32  double lla[3];
33  float theta[3];
34  sKmlLogData() {}
35  sKmlLogData(double _time, double _lla[3], float _theta[3])
36  {
37  time = _time;
38  lla[0] = _lla[0];
39  lla[1] = _lla[1];
40  lla[2] = _lla[2];
41  theta[0] = _theta[0];
42  theta[1] = _theta[1];
43  theta[2] = _theta[2];
44  }
45 
46  sKmlLogData(unsigned int _timeMs, double _lla[3])
47  {
48  time = _timeMs*0.001;
49  lla[0] = _lla[0];
50  lla[1] = _lla[1];
51  lla[2] = _lla[2];
52  theta[0] = theta[1] = theta[2] = 0;
53  }
54 };
55 
56 
57 class cDataKML
58 {
59 public:
60  enum MyEnum
61  {
62  KID_INS = 0,
63  KID_REF,
64  KID_GPS,
65  KID_GPS1,
66  KID_GPS2,
67  KID_RTK,
68  MAX_NUM_KID,
69  };
70 
71  static inline int DID_TO_KID(int did)
72  {
73  switch (did)
74  {
75  default: return -1; // Unused
76  case DID_INS_1: return KID_INS;
77  case DID_GPS1_POS: return KID_GPS;
78  case DID_GPS1_UBX_POS: return KID_GPS1;
79  case DID_GPS2_POS: return KID_GPS2;
80  case DID_GPS1_RTK_POS: return KID_RTK;
81  }
82  }
83 
84  static inline int BYTES_PER_KID(int kid)
85  {
86  switch (kid)
87  {
88  default:
89  return -1; // Unused
90  case KID_INS:
91  return 130;
92  case KID_GPS:
93  case KID_GPS1:
94  case KID_GPS2:
95  case KID_RTK:
96  return 65;
97  }
98  }
99 
100  cDataKML();
101  string GetDatasetName(int kid);
102  int WriteDataToFile(vector<sKmlLogData>& list, const p_data_hdr_t* dataHdr, const uint8_t* dataBuf);
103 };
104 
105 #endif // DATA_KML_H
-
DID_GPS_RTK_NAV
#define DID_GPS_RTK_NAV
Definition: data_sets.h:55
DID_INS_1
#define DID_INS_1
Definition: data_sets.h:38
sKmlLogData::sKmlLogData
sKmlLogData(unsigned int _timeMs, double _lla[3])
Definition: DataKML.h:46
+
DID_GPS1_UBX_POS
#define DID_GPS1_UBX_POS
Definition: data_sets.h:40
-
DID_GPS2_NAV
#define DID_GPS2_NAV
Definition: data_sets.h:48
sKmlLogData::time
double time
Definition: DataKML.h:31
@@ -89,10 +88,11 @@
sKmlLogData::sKmlLogData
sKmlLogData()
Definition: DataKML.h:34
cDataKML::DID_TO_KID
static int DID_TO_KID(int did)
Definition: DataKML.h:71
-
DID_GPS_NAV
#define DID_GPS_NAV
Definition: data_sets.h:40
+
DID_GPS2_POS
#define DID_GPS2_POS
Definition: data_sets.h:48
cDataKML::BYTES_PER_KID
static int BYTES_PER_KID(int kid)
Definition: DataKML.h:84
-
DID_GPS1_NAV
#define DID_GPS1_NAV
Definition: data_sets.h:47
+
DID_GPS1_POS
#define DID_GPS1_POS
Definition: data_sets.h:47
p_data_hdr_t
Definition: ISComm.h:478
+
DID_GPS1_RTK_POS
#define DID_GPS1_RTK_POS
Definition: data_sets.h:88
com_manager.h
diff --git a/docs/html/_device_log_8cpp.html b/docs/html/_device_log_8cpp.html index 33ff40c38..79567debd 100644 --- a/docs/html/_device_log_8cpp.html +++ b/docs/html/_device_log_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_8cpp_source.html b/docs/html/_device_log_8cpp_source.html index 9f6d34cce..0b72360a6 100644 --- a/docs/html/_device_log_8cpp_source.html +++ b/docs/html/_device_log_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -77,7 +77,7 @@
ISDataMappings.h
cDeviceLog::SetupReadInfo
bool SetupReadInfo(const string &directory, const string &deviceName, const string &timeStamp)
Definition: DeviceLog.cpp:114
p_data_hdr_t::id
uint32_t id
Definition: ISComm.h:481
-
cISDataMappings::GetTimestamp
static double GetTimestamp(const p_data_hdr_t *hdr, const uint8_t *buf)
Definition: ISDataMappings.cpp:1457
+
cISDataMappings::GetTimestamp
static double GetTimestamp(const p_data_hdr_t *hdr, const uint8_t *buf)
Definition: ISDataMappings.cpp:1532
cDeviceLog::OpenNextReadFile
bool OpenNextReadFile()
Definition: DeviceLog.cpp:195
ISLogger.h
@@ -95,9 +95,9 @@
DeviceLog.h
p_data_t::buf
uint8_t buf[MAX_DATASET_SIZE]
Definition: ISComm.h:497
- -
cISLogger::GetDirectorySpaceUsed
static uint64_t GetDirectorySpaceUsed(const string &directory, bool recursive=true)
Definition: ISLogger.cpp:410
-
_MKDIR
#define _MKDIR(dir)
Definition: ISConstants.h:203
+ +
cISLogger::GetDirectorySpaceUsed
static uint64_t GetDirectorySpaceUsed(const string &directory, bool recursive=true)
Definition: ISLogger.cpp:411
+
_MKDIR
#define _MKDIR(dir)
Definition: ISConstants.h:200
cDeviceLog::InitDeviceForReading
virtual void InitDeviceForReading()
Definition: DeviceLog.cpp:72
cDeviceLog::OpenWithSystemApp
virtual bool OpenWithSystemApp()
Definition: DeviceLog.cpp:89
ISConstants.h
diff --git a/docs/html/_device_log_8h.html b/docs/html/_device_log_8h.html index fdd5281f8..126294583 100644 --- a/docs/html/_device_log_8h.html +++ b/docs/html/_device_log_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_8h_source.html b/docs/html/_device_log_8h_source.html index fa633e5f4..bad9a2fb7 100644 --- a/docs/html/_device_log_8h_source.html +++ b/docs/html/_device_log_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -97,7 +97,7 @@
cDeviceLog::m_logSize
uint64_t m_logSize
Definition: DeviceLog.h:77
cDeviceLog::Flush
virtual void Flush()
Definition: DeviceLog.h:47
cDeviceLog::m_directory
string m_directory
Definition: DeviceLog.h:71
- +
com_manager.h
cDeviceLog::m_fileName
string m_fileName
Definition: DeviceLog.h:73
cDeviceLog::m_fileCount
uint32_t m_fileCount
Definition: DeviceLog.h:78
diff --git a/docs/html/_device_log_c_s_v_8cpp.html b/docs/html/_device_log_c_s_v_8cpp.html index 53660c9ea..e4504d33b 100644 --- a/docs/html/_device_log_c_s_v_8cpp.html +++ b/docs/html/_device_log_c_s_v_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_c_s_v_8cpp_source.html b/docs/html/_device_log_c_s_v_8cpp_source.html index 63e6ccf08..df90324ed 100644 --- a/docs/html/_device_log_c_s_v_8cpp_source.html +++ b/docs/html/_device_log_c_s_v_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,13 +72,13 @@
DeviceLogCSV.cpp
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <ctime>
14 #include <string>
15 #include <sstream>
16 #include <sys/types.h>
17 #include <sys/stat.h>
18 #include <iomanip>
19 #include <iostream>
20 #include <fstream>
21 #include <stdio.h>
22 #include <stdlib.h>
23 #include <stddef.h>
24 #include <limits.h>
25 
26 #include "ISPose.h"
27 #include "DeviceLogCSV.h"
28 #include "ISLogger.h"
29 #include "ISDataMappings.h"
30 
31 using namespace std;
32 
33 
34 void cDeviceLogCSV::InitDeviceForWriting(int pHandle, std::string timestamp, std::string directory, uint64_t maxDiskSpace, uint32_t maxFileSize, uint32_t chunkSize)
35 {
36  m_logs.clear();
37  m_nextId = 0;
38  cDeviceLog::InitDeviceForWriting(pHandle, timestamp, directory, maxDiskSpace, maxFileSize, chunkSize);
39 }
40 
41 
42 void cDeviceLogCSV::InitDeviceForReading()
43 {
44  cDeviceLog::InitDeviceForReading();
45 
46  // open the first file for each possible data set
47  m_logs.clear();
48  for (uint32_t id = DID_NULL + 1; id < DID_COUNT; id++)
49  {
50  const char* dataSet = cISDataMappings::GetDataSetName(id);
51  if (dataSet != NULL)
52  {
53  string dataSetRegex = string(dataSet) + "\\.csv$";
54  vector<file_info_t> infos;
55  vector<string> files;
56  cISLogger::GetDirectorySpaceUsed(m_directory, dataSetRegex, infos, false, false);
57  if (infos.size() != 0)
58  {
59  cCsvLog log;
60  log.dataId = id;
61  log.dataSize = cISDataMappings::GetSize(log.dataId);
62  for (size_t i = 0; i < infos.size(); i++)
63  {
64  files.push_back(infos[i].name);
65  }
66  m_currentFiles[id] = files;
67  m_currentFileIndex[id] = 0;
68  while (OpenNewFile(log, true) && !GetNextLineForFile(log)) {}
69  if (log.nextLine.length() != 0)
70  {
71  m_logs[id] = log;
72  }
73  }
74  }
75  }
76 }
77 
78 
79 bool cDeviceLogCSV::CloseAllFiles()
80 {
81  cDeviceLog::CloseAllFiles();
82 
83  for (map<uint32_t, cCsvLog>::iterator i = m_logs.begin(); i != m_logs.end(); i++)
84  {
85  cCsvLog& log = i->second;
86  if (log.pFile)
87  {
88  fclose(log.pFile);
89  log.pFile = NULL;
90  }
91  }
92  m_logs.clear();
93  return true;
94 }
95 
96 
97 bool cDeviceLogCSV::OpenNewFile(cCsvLog& log, bool readonly)
98 {
99  const char* dataSetName = cISDataMappings::GetDataSetName(log.dataId);
100  if (dataSetName == NULL)
101  {
102  return false;
103  }
104 
105  // Close existing file
106  if (log.pFile)
107  {
108  fclose(log.pFile);
109  log.pFile = NULL;
110  }
111 
112  // Ensure directory exists
113  if (m_directory.empty())
114  {
115  return false;
116  }
117 
118  _MKDIR(m_directory.c_str());
119 
120  // Open new file
121  uint32_t serNum = m_devInfo.serialNumber;
122  if (!serNum)
123  {
124  serNum = m_pHandle;
125  }
126 
127  if (readonly)
128  {
129 tryNextFile:
130  {
131  uint32_t index = m_currentFileIndex[log.dataId];
132  vector<string>& files = m_currentFiles[log.dataId];
133  if (index >= files.size())
134  {
135  m_logs.erase(log.dataId);
136  return false;
137  }
138  string currentFile = files[index++];
139  m_currentFileIndex[log.dataId] = index;
140  log.pFile = fopen(currentFile.c_str(), "r");
141  log.fileCount++;
142  struct stat st;
143  stat(currentFile.c_str(), &st);
144  log.fileSize = st.st_size;
145  m_logSize += log.fileSize;
146  if (m_csv.ReadHeaderFromFile(log.pFile, log.dataId, log.columnHeaders) == 0)
147  {
148  goto tryNextFile;
149  }
150  }
151  }
152  else
153  {
154  log.fileCount++;
155  string fileName = GetNewFileName(serNum, log.fileCount, dataSetName);
156  log.pFile = fopen(fileName.c_str(), "w");
157 
158  // Write Header
159  int fileBytes = m_csv.WriteHeaderToFile(log.pFile, log.dataId);
160 
161  // File byte size
162  log.fileSize = fileBytes;
163  m_logSize += fileBytes;
164  }
165 
166  if (log.pFile)
167  {
168 #if LOG_DEBUG_WRITE
169  printf("Opened save file: %s\n", filename.str().c_str());
170 #endif
171  return true;
172  }
173  else
174  {
175 #if LOG_DEBUG_WRITE
176  printf("FAILED to open save file: %s\n", filename.str().c_str());
177 #endif
178  m_logs.erase(log.dataId);
179  return false;
180  }
181 }
182 
183 
184 bool cDeviceLogCSV::GetNextLineForFile(cCsvLog& log)
185 {
186  if (log.pFile == NULL)
187  {
188  return false;
189  }
190  char lineBuffer[8192];
191  if (fgets(lineBuffer, _ARRAY_BYTE_COUNT(lineBuffer), log.pFile) == NULL)
192  {
193  return false;
194  }
195  log.nextLine = lineBuffer;
196  size_t index = log.nextLine.find(',', 0);
197  if (index < log.nextLine.size())
198  {
199  log.orderId = strtoull(log.nextLine.c_str(), NULL, 10);
200  }
201  else
202  {
203  return false;
204  }
205  return true;
206 }
207 
208 
209 bool cDeviceLogCSV::SaveData(p_data_hdr_t* dataHdr, const uint8_t* dataBuf)
210 {
211  cDeviceLog::SaveData(dataHdr, dataBuf);
212 
213  // Reference current log
214  cCsvLog& log = m_logs[dataHdr->id];
215  log.dataId = dataHdr->id;
216 
217  // Create first file it it doesn't exist, return out if failure
218  if (log.pFile == NULL && (!OpenNewFile(log, false) || log.pFile == NULL))
219  {
220  return false;
221  }
222  else if (dataHdr->id == DID_DEV_INFO)
223  {
224  memcpy(&m_devInfo, dataBuf, sizeof(dev_info_t));
225  }
226 
227  // Write date to file
228  int nBytes = m_csv.WriteDataToFile(++m_nextId, log.pFile, *dataHdr, dataBuf);
229  if (ferror(log.pFile) != 0)
230  {
231  return false;
232  }
233 
234  // File byte size
235  log.fileSize += nBytes;
236  m_logSize += nBytes;
237 
238  if (log.fileSize >= m_maxFileSize)
239  {
240  // Close existing file
241  fclose(log.pFile);
242  log.pFile = NULL;
243  log.fileSize = 0;
244  }
245 
246  return true;
247 }
248 
249 
250 p_data_t* cDeviceLogCSV::ReadData()
251 {
252 
253 tryAgain:
254  if (m_logs.size() == 0)
255  {
256  return NULL;
257  }
258 
259  p_data_t* data = NULL;
260  cCsvLog* nextLog = NULL;
261  uint64_t nextId = ULLONG_MAX;
262  for (map<uint32_t, cCsvLog>::iterator i = m_logs.begin(); i != m_logs.end(); )
263  {
264  if (i->second.orderId < nextId)
265  {
266  nextLog = &i->second;
267  nextId = i->second.orderId;
268  }
269  i++;
270  }
271  if (nextLog == NULL)
272  {
273  assert(false);
274  return NULL;
275  }
276  if ((data = ReadDataFromFile(*nextLog)) == NULL)
277  {
278  goto tryAgain;
279  }
280 
281  cDeviceLog::OnReadData(data);
282  return data;
283 }
284 
285 
286 p_data_t* cDeviceLogCSV::ReadDataFromFile(cCsvLog& log)
287 {
288  if (log.pFile == NULL)
289  {
290  assert(false);
291  return NULL;
292  }
293  m_dataBuffer.hdr.id = log.dataId;
294  m_dataBuffer.hdr.size = log.dataSize;
295  if (m_csv.StringCSVToData(log.nextLine, m_dataBuffer.hdr, m_dataBuffer.buf, _ARRAY_BYTE_COUNT(m_dataBuffer.buf), log.columnHeaders))
296  {
297  if (m_dataBuffer.hdr.id == DID_DEV_INFO)
298  {
299  memcpy(&m_devInfo, m_dataBuffer.buf, sizeof(dev_info_t));
300  }
301  log.nextLine.clear();
302  while (!GetNextLineForFile(log) && OpenNewFile(log, true)) {}
303  return &m_dataBuffer;
304  }
305  log.nextLine.clear();
306  while (!GetNextLineForFile(log) && OpenNewFile(log, true)) {}
307  return NULL;
308 }
309 
310 
311 void cDeviceLogCSV::SetSerialNumber(uint32_t serialNumber)
312 {
313  m_devInfo.serialNumber = serialNumber;
314 }
315 
316 
317 
cISDataMappings::GetSize
static uint32_t GetSize(uint32_t dataId)
Definition: ISDataMappings.cpp:1270
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <ctime>
14 #include <string>
15 #include <sstream>
16 #include <sys/types.h>
17 #include <sys/stat.h>
18 #include <iomanip>
19 #include <iostream>
20 #include <fstream>
21 #include <stdio.h>
22 #include <stdlib.h>
23 #include <stddef.h>
24 #include <limits.h>
25 
26 #include "ISPose.h"
27 #include "DeviceLogCSV.h"
28 #include "ISLogger.h"
29 #include "ISDataMappings.h"
30 
31 using namespace std;
32 
33 
34 void cDeviceLogCSV::InitDeviceForWriting(int pHandle, std::string timestamp, std::string directory, uint64_t maxDiskSpace, uint32_t maxFileSize, uint32_t chunkSize)
35 {
36  m_logs.clear();
37  m_nextId = 0;
38  cDeviceLog::InitDeviceForWriting(pHandle, timestamp, directory, maxDiskSpace, maxFileSize, chunkSize);
39 }
40 
41 
42 void cDeviceLogCSV::InitDeviceForReading()
43 {
44  cDeviceLog::InitDeviceForReading();
45 
46  // open the first file for each possible data set
47  m_logs.clear();
48  for (uint32_t id = DID_NULL + 1; id < DID_COUNT; id++)
49  {
50  const char* dataSet = cISDataMappings::GetDataSetName(id);
51  if (dataSet != NULL)
52  {
53  string dataSetRegex = string(dataSet) + "\\.csv$";
54  vector<file_info_t> infos;
55  vector<string> files;
56  cISLogger::GetDirectorySpaceUsed(m_directory, dataSetRegex, infos, false, false);
57  if (infos.size() != 0)
58  {
59  cCsvLog log;
60  log.dataId = id;
61  log.dataSize = cISDataMappings::GetSize(log.dataId);
62  for (size_t i = 0; i < infos.size(); i++)
63  {
64  files.push_back(infos[i].name);
65  }
66  m_currentFiles[id] = files;
67  m_currentFileIndex[id] = 0;
68  while (OpenNewFile(log, true) && !GetNextLineForFile(log)) {}
69  if (log.nextLine.length() != 0)
70  {
71  m_logs[id] = log;
72  }
73  }
74  }
75  }
76 }
77 
78 
79 bool cDeviceLogCSV::CloseAllFiles()
80 {
81  cDeviceLog::CloseAllFiles();
82 
83  for (map<uint32_t, cCsvLog>::iterator i = m_logs.begin(); i != m_logs.end(); i++)
84  {
85  cCsvLog& log = i->second;
86  if (log.pFile)
87  {
88  fclose(log.pFile);
89  log.pFile = NULL;
90  }
91  }
92  m_logs.clear();
93  return true;
94 }
95 
96 
97 bool cDeviceLogCSV::OpenNewFile(cCsvLog& log, bool readonly)
98 {
99  const char* dataSetName = cISDataMappings::GetDataSetName(log.dataId);
100  if (dataSetName == NULL)
101  {
102  return false;
103  }
104 
105  // Close existing file
106  if (log.pFile)
107  {
108  fclose(log.pFile);
109  log.pFile = NULL;
110  }
111 
112  // Ensure directory exists
113  if (m_directory.empty())
114  {
115  return false;
116  }
117 
118  _MKDIR(m_directory.c_str());
119 
120  // Open new file
121  uint32_t serNum = m_devInfo.serialNumber;
122  if (!serNum)
123  {
124  serNum = m_pHandle;
125  }
126 
127  if (readonly)
128  {
129 tryNextFile:
130  {
131  uint32_t index = m_currentFileIndex[log.dataId];
132  vector<string>& files = m_currentFiles[log.dataId];
133  if (index >= files.size())
134  {
135  m_logs.erase(log.dataId);
136  return false;
137  }
138  string currentFile = files[index++];
139  m_currentFileIndex[log.dataId] = index;
140  log.pFile = fopen(currentFile.c_str(), "r");
141  log.fileCount++;
142  struct stat st;
143  stat(currentFile.c_str(), &st);
144  log.fileSize = st.st_size;
145  m_logSize += log.fileSize;
146  if (m_csv.ReadHeaderFromFile(log.pFile, log.dataId, log.columnHeaders) == 0)
147  {
148  goto tryNextFile;
149  }
150  }
151  }
152  else
153  {
154  log.fileCount++;
155  string fileName = GetNewFileName(serNum, log.fileCount, dataSetName);
156  log.pFile = fopen(fileName.c_str(), "w");
157 
158  // Write Header
159  int fileBytes = m_csv.WriteHeaderToFile(log.pFile, log.dataId);
160 
161  // File byte size
162  log.fileSize = fileBytes;
163  m_logSize += fileBytes;
164  }
165 
166  if (log.pFile)
167  {
168 #if LOG_DEBUG_WRITE
169  printf("Opened save file: %s\n", filename.str().c_str());
170 #endif
171  return true;
172  }
173  else
174  {
175 #if LOG_DEBUG_WRITE
176  printf("FAILED to open save file: %s\n", filename.str().c_str());
177 #endif
178  m_logs.erase(log.dataId);
179  return false;
180  }
181 }
182 
183 
184 bool cDeviceLogCSV::GetNextLineForFile(cCsvLog& log)
185 {
186  if (log.pFile == NULL)
187  {
188  return false;
189  }
190  char lineBuffer[8192];
191  if (fgets(lineBuffer, _ARRAY_BYTE_COUNT(lineBuffer), log.pFile) == NULL)
192  {
193  return false;
194  }
195  log.nextLine = lineBuffer;
196  size_t index = log.nextLine.find(',', 0);
197  if (index < log.nextLine.size())
198  {
199  log.orderId = strtoull(log.nextLine.c_str(), NULL, 10);
200  }
201  else
202  {
203  return false;
204  }
205  return true;
206 }
207 
208 
209 bool cDeviceLogCSV::SaveData(p_data_hdr_t* dataHdr, const uint8_t* dataBuf)
210 {
211  cDeviceLog::SaveData(dataHdr, dataBuf);
212 
213  // Reference current log
214  cCsvLog& log = m_logs[dataHdr->id];
215  log.dataId = dataHdr->id;
216 
217  // Create first file it it doesn't exist, return out if failure
218  if (log.pFile == NULL && (!OpenNewFile(log, false) || log.pFile == NULL))
219  {
220  return false;
221  }
222  else if (dataHdr->id == DID_DEV_INFO)
223  {
224  memcpy(&m_devInfo, dataBuf, sizeof(dev_info_t));
225  }
226 
227  // Write date to file
228  int nBytes = m_csv.WriteDataToFile(++m_nextId, log.pFile, *dataHdr, dataBuf);
229  if (ferror(log.pFile) != 0)
230  {
231  return false;
232  }
233 
234  // File byte size
235  log.fileSize += nBytes;
236  m_logSize += nBytes;
237 
238  if (log.fileSize >= m_maxFileSize)
239  {
240  // Close existing file
241  fclose(log.pFile);
242  log.pFile = NULL;
243  log.fileSize = 0;
244  }
245 
246  return true;
247 }
248 
249 
250 p_data_t* cDeviceLogCSV::ReadData()
251 {
252 
253 tryAgain:
254  if (m_logs.size() == 0)
255  {
256  return NULL;
257  }
258 
259  p_data_t* data = NULL;
260  cCsvLog* nextLog = NULL;
261  uint64_t nextId = ULLONG_MAX;
262  for (map<uint32_t, cCsvLog>::iterator i = m_logs.begin(); i != m_logs.end(); )
263  {
264  if (i->second.orderId < nextId)
265  {
266  nextLog = &i->second;
267  nextId = i->second.orderId;
268  }
269  i++;
270  }
271  if (nextLog == NULL)
272  {
273  assert(false);
274  return NULL;
275  }
276  if ((data = ReadDataFromFile(*nextLog)) == NULL)
277  {
278  goto tryAgain;
279  }
280 
281  cDeviceLog::OnReadData(data);
282  return data;
283 }
284 
285 
286 p_data_t* cDeviceLogCSV::ReadDataFromFile(cCsvLog& log)
287 {
288  if (log.pFile == NULL)
289  {
290  assert(false);
291  return NULL;
292  }
293  m_dataBuffer.hdr.id = log.dataId;
294  m_dataBuffer.hdr.size = log.dataSize;
295  if (m_csv.StringCSVToData(log.nextLine, m_dataBuffer.hdr, m_dataBuffer.buf, _ARRAY_BYTE_COUNT(m_dataBuffer.buf), log.columnHeaders))
296  {
297  if (m_dataBuffer.hdr.id == DID_DEV_INFO)
298  {
299  memcpy(&m_devInfo, m_dataBuffer.buf, sizeof(dev_info_t));
300  }
301  log.nextLine.clear();
302  while (!GetNextLineForFile(log) && OpenNewFile(log, true)) {}
303  return &m_dataBuffer;
304  }
305  log.nextLine.clear();
306  while (!GetNextLineForFile(log) && OpenNewFile(log, true)) {}
307  return NULL;
308 }
309 
310 
311 void cDeviceLogCSV::SetSerialNumber(uint32_t serialNumber)
312 {
313  m_devInfo.serialNumber = serialNumber;
314 }
315 
316 
317 
cISDataMappings::GetSize
static uint32_t GetSize(uint32_t dataId)
Definition: ISDataMappings.cpp:1291
cDeviceLog::OnReadData
void OnReadData(p_data_t *data)
Definition: DeviceLog.cpp:254
cCsvLog::dataId
uint32_t dataId
Definition: DeviceLogCSV.h:33
dev_info_t
PUSH_PACK_1 struct PACKED dev_info_t
ISDataMappings.h
p_data_hdr_t::id
uint32_t id
Definition: ISComm.h:481
-
cISDataMappings::GetDataSetName
static const char * GetDataSetName(uint32_t dataId)
Definition: ISDataMappings.cpp:1174
+
cISDataMappings::GetDataSetName
static const char * GetDataSetName(uint32_t dataId)
Definition: ISDataMappings.cpp:1195
cDeviceLogCSV::CloseAllFiles
bool CloseAllFiles() OVERRIDE
Definition: DeviceLogCSV.cpp:79
ISLogger.h
@@ -86,7 +86,7 @@
DID_DEV_INFO
#define DID_DEV_INFO
Definition: data_sets.h:35
cDeviceLog::CloseAllFiles
virtual bool CloseAllFiles()
Definition: DeviceLog.cpp:80
cDeviceLog::InitDeviceForWriting
virtual void InitDeviceForWriting(int pHandle, string timestamp, string directory, uint64_t maxDiskSpace, uint32_t maxFileSize, uint32_t chunkSize)
Definition: DeviceLog.cpp:59
-
_ARRAY_BYTE_COUNT
#define _ARRAY_BYTE_COUNT(a)
Definition: ISConstants.h:293
+
_ARRAY_BYTE_COUNT
#define _ARRAY_BYTE_COUNT(a)
Definition: ISConstants.h:290
cDeviceLog::SaveData
virtual bool SaveData(p_data_hdr_t *dataHdr, const uint8_t *dataBuf)
Definition: DeviceLog.cpp:104
cDeviceLogCSV::SaveData
bool SaveData(p_data_hdr_t *dataHdr, const uint8_t *dataBuf) OVERRIDE
Definition: DeviceLogCSV.cpp:209
cDeviceLogCSV::SetSerialNumber
void SetSerialNumber(uint32_t serialNumber) OVERRIDE
Definition: DeviceLogCSV.cpp:311
@@ -105,8 +105,8 @@
cCsvLog::fileCount
uint32_t fileCount
Definition: DeviceLogCSV.h:31
cCsvLog::columnHeaders
vector< string > columnHeaders
Definition: DeviceLogCSV.h:37
-
cISLogger::GetDirectorySpaceUsed
static uint64_t GetDirectorySpaceUsed(const string &directory, bool recursive=true)
Definition: ISLogger.cpp:410
-
_MKDIR
#define _MKDIR(dir)
Definition: ISConstants.h:203
+
cISLogger::GetDirectorySpaceUsed
static uint64_t GetDirectorySpaceUsed(const string &directory, bool recursive=true)
Definition: ISLogger.cpp:411
+
_MKDIR
#define _MKDIR(dir)
Definition: ISConstants.h:200
cDeviceLog::InitDeviceForReading
virtual void InitDeviceForReading()
Definition: DeviceLog.cpp:72
cCsvLog::nextLine
string nextLine
Definition: DeviceLogCSV.h:36
diff --git a/docs/html/_device_log_c_s_v_8h.html b/docs/html/_device_log_c_s_v_8h.html index 1d51b53ee..da590b426 100644 --- a/docs/html/_device_log_c_s_v_8h.html +++ b/docs/html/_device_log_c_s_v_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_c_s_v_8h_source.html b/docs/html/_device_log_c_s_v_8h_source.html index 8a1e541cb..b65029566 100644 --- a/docs/html/_device_log_c_s_v_8h_source.html +++ b/docs/html/_device_log_c_s_v_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -76,7 +76,7 @@
cCsvLog::dataId
uint32_t dataId
Definition: DeviceLogCSV.h:33
DataCSV.h
cDeviceLogCSV::CloseAllFiles
bool CloseAllFiles() OVERRIDE
Definition: DeviceLogCSV.cpp:79
-
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:377
+
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:374
cDeviceLogCSV::LogFileExtention
std::string LogFileExtention() OVERRIDE
Definition: DeviceLogCSV.h:50
cDeviceLogCSV::SaveData
bool SaveData(p_data_hdr_t *dataHdr, const uint8_t *dataBuf) OVERRIDE
Definition: DeviceLogCSV.cpp:209
cDeviceLogCSV::SetSerialNumber
void SetSerialNumber(uint32_t serialNumber) OVERRIDE
Definition: DeviceLogCSV.cpp:311
diff --git a/docs/html/_device_log_j_s_o_n_8cpp.html b/docs/html/_device_log_j_s_o_n_8cpp.html new file mode 100644 index 000000000..2f3bdb846 --- /dev/null +++ b/docs/html/_device_log_j_s_o_n_8cpp.html @@ -0,0 +1,101 @@ + + + + + + + +SDK: src/DeviceLogJSON.cpp File Reference + + + + + + + + + +
+
+ + + + + + + +
+
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+
Communications, logger, and bootloader libraries.
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
DeviceLogJSON.cpp File Reference
+
+
+
#include <ctime>
+#include <string>
+#include <sstream>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <iomanip>
+#include <iostream>
+#include <fstream>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stddef.h>
+#include <limits.h>
+#include "ISPose.h"
+#include "DeviceLogJSON.h"
+#include "ISLogger.h"
+#include "ISDataMappings.h"
+
+

Go to the source code of this file.

+
+ +
+Generated by   +doxygen + 1.8.14 +
+ + diff --git a/docs/html/_device_log_j_s_o_n_8cpp_source.html b/docs/html/_device_log_j_s_o_n_8cpp_source.html new file mode 100644 index 000000000..a6eca7a0c --- /dev/null +++ b/docs/html/_device_log_j_s_o_n_8cpp_source.html @@ -0,0 +1,102 @@ + + + + + + + +SDK: src/DeviceLogJSON.cpp Source File + + + + + + + + + +
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+
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+
DeviceLogJSON.cpp
+
+
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <ctime>
14 #include <string>
15 #include <sstream>
16 #include <sys/types.h>
17 #include <sys/stat.h>
18 #include <iomanip>
19 #include <iostream>
20 #include <fstream>
21 #include <stdio.h>
22 #include <stdlib.h>
23 #include <stddef.h>
24 #include <limits.h>
25 
26 #include "ISPose.h"
27 #include "DeviceLogJSON.h"
28 #include "ISLogger.h"
29 #include "ISDataMappings.h"
30 
31 using namespace std;
32 
33 bool cDeviceLogJSON::CloseAllFiles()
34 {
35  cDeviceLog::CloseAllFiles();
36  if (m_pFile != NULLPTR)
37  {
38  fputc(']', m_pFile);
39  fclose(m_pFile);
40  m_pFile = NULLPTR;
41  }
42  return true;
43 }
44 
45 bool cDeviceLogJSON::GetNextItemForFile()
46 {
47  m_jsonString.clear();
48  if (m_pFile == NULLPTR)
49  {
50  return false;
51  }
52  int stack = 0;
53  int c;
54  int pc = 0;
55  while ((c = fgetc(m_pFile)) >= 0)
56  {
57  if (c == '{' && pc != '\\')
58  {
59  stack++;
60  }
61  else if (c == '}' && pc != '\\')
62  {
63  stack--;
64  if (stack == 0)
65  {
66  m_jsonString.append(1, c);
67  break;
68  }
69  }
70 
71  if (stack != 0)
72  {
73  m_jsonString.append(1, c);
74  }
75 
76  pc = c;
77  }
78  return (m_jsonString.size() != 0);
79 }
80 
81 
82 bool cDeviceLogJSON::SaveData(p_data_hdr_t* dataHdr, const uint8_t* dataBuf)
83 {
84  cDeviceLog::SaveData(dataHdr, dataBuf);
85 
86  bool needsComma = true;
87 
88  // Create first file it it doesn't exist, return out if failure
89  if (m_pFile == NULLPTR)
90  {
91  needsComma = false;
92  if (!OpenNewSaveFile())
93  {
94  return false;
95  }
96  fputc('[', m_pFile);
97  }
98  else if (dataHdr->id == DID_DEV_INFO)
99  {
100  memcpy(&m_devInfo, dataBuf, sizeof(dev_info_t));
101  }
102 
103  // Write date to file
104  int nBytes = m_json.WriteDataToFile(m_pFile, *dataHdr, dataBuf, (needsComma ? ",\n" : NULLPTR));
105  if (ferror(m_pFile) != 0)
106  {
107  return false;
108  }
109 
110  // File byte size
111  m_logSize += nBytes;
112 
113  if (m_logSize >= m_maxFileSize)
114  {
115  // Close existing file
116  fputc(']', m_pFile);
117  fclose(m_pFile);
118  m_pFile = NULL;
119  m_logSize = 0;
120  }
121 
122  return true;
123 }
124 
125 
126 p_data_t* cDeviceLogJSON::ReadData()
127 {
128  if (m_pFile == NULLPTR)
129  {
130  if (!OpenNextReadFile())
131  {
132  return NULLPTR;
133  }
134  }
135  p_data_t* data = ReadDataFromFile();
136  cDeviceLog::OnReadData(data);
137  return data;
138 }
139 
140 
141 p_data_t* cDeviceLogJSON::ReadDataFromFile()
142 {
143  if (m_pFile == NULLPTR)
144  {
145  assert(false);
146  return NULL;
147  }
148  while (!GetNextItemForFile() && OpenNextReadFile()) {}
149  if (m_json.StringJSONToData(m_jsonString, m_dataBuffer.hdr, m_dataBuffer.buf, _ARRAY_BYTE_COUNT(m_dataBuffer.buf)))
150  {
151  if (m_dataBuffer.hdr.id == DID_DEV_INFO)
152  {
153  memcpy(&m_devInfo, m_dataBuffer.buf, sizeof(dev_info_t));
154  }
155  return &m_dataBuffer;
156  }
157  return NULLPTR;
158 }
159 
160 
161 void cDeviceLogJSON::SetSerialNumber(uint32_t serialNumber)
162 {
163  m_devInfo.serialNumber = serialNumber;
164 }
165 
166 
167 
cDeviceLog::OnReadData
void OnReadData(p_data_t *data)
Definition: DeviceLog.cpp:254
+
cDeviceLogJSON::ReadData
p_data_t * ReadData() OVERRIDE
Definition: DeviceLogJSON.cpp:126
+
dev_info_t
PUSH_PACK_1 struct PACKED dev_info_t
+
ISDataMappings.h
+
p_data_hdr_t::id
uint32_t id
Definition: ISComm.h:481
+
cDeviceLogJSON::SetSerialNumber
void SetSerialNumber(uint32_t serialNumber) OVERRIDE
Definition: DeviceLogJSON.cpp:161
+
NULLPTR
#define NULLPTR
Definition: ISConstants.h:377
+
ISLogger.h
+ +
DID_DEV_INFO
#define DID_DEV_INFO
Definition: data_sets.h:35
+
cDeviceLog::CloseAllFiles
virtual bool CloseAllFiles()
Definition: DeviceLog.cpp:80
+
_ARRAY_BYTE_COUNT
#define _ARRAY_BYTE_COUNT(a)
Definition: ISConstants.h:290
+
cDeviceLog::SaveData
virtual bool SaveData(p_data_hdr_t *dataHdr, const uint8_t *dataBuf)
Definition: DeviceLog.cpp:104
+
cDeviceLogJSON::SaveData
bool SaveData(p_data_hdr_t *dataHdr, const uint8_t *dataBuf) OVERRIDE
Definition: DeviceLogJSON.cpp:82
+
cDeviceLogJSON::CloseAllFiles
bool CloseAllFiles() OVERRIDE
Definition: DeviceLogJSON.cpp:33
+
DeviceLogJSON.h
+
p_data_hdr_t
Definition: ISComm.h:478
+
p_data_t
Definition: ISComm.h:491
+
ISPose.h
+
+ +
+Generated by   +doxygen + 1.8.14 +
+ + diff --git a/docs/html/_device_log_j_s_o_n_8h.html b/docs/html/_device_log_j_s_o_n_8h.html new file mode 100644 index 000000000..ab715a2fa --- /dev/null +++ b/docs/html/_device_log_j_s_o_n_8h.html @@ -0,0 +1,100 @@ + + + + + + + +SDK: src/DeviceLogJSON.h File Reference + + + + + + + + + +
+
+ + + + + + + +
+
SDK +  Release 1.6.4 +
+
Communications, logger, and bootloader libraries.
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+Classes
+
+
DeviceLogJSON.h File Reference
+
+
+
#include <stdio.h>
+#include <string>
+#include <vector>
+#include <map>
+#include "DataJSON.h"
+#include "DeviceLog.h"
+#include "com_manager.h"
+
+

Go to the source code of this file.

+ + + + +

+Classes

class  cDeviceLogJSON
 
+
+ +
+Generated by   +doxygen + 1.8.14 +
+ + diff --git a/docs/html/_device_log_j_s_o_n_8h_source.html b/docs/html/_device_log_j_s_o_n_8h_source.html new file mode 100644 index 000000000..8603082fc --- /dev/null +++ b/docs/html/_device_log_j_s_o_n_8h_source.html @@ -0,0 +1,97 @@ + + + + + + + +SDK: src/DeviceLogJSON.h Source File + + + + + + + + + +
+
+ + + + + + + +
+
SDK +  Release 1.6.4 +
+
Communications, logger, and bootloader libraries.
+
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+ +
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DeviceLogJSON.h
+
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1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef DEVICE_LOG_JSON_H
14 #define DEVICE_LOG_JSON_H
15 
16 #include <stdio.h>
17 #include <string>
18 #include <vector>
19 #include <map>
20 
21 #include "DataJSON.h"
22 #include "DeviceLog.h"
23 #include "com_manager.h"
24 
25 class cDeviceLogJSON : public cDeviceLog
26 {
27 public:
28  bool CloseAllFiles() OVERRIDE;
29  bool SaveData(p_data_hdr_t* dataHdr, const uint8_t* dataBuf) OVERRIDE;
30  p_data_t* ReadData() OVERRIDE;
31  void SetSerialNumber(uint32_t serialNumber) OVERRIDE;
32  std::string LogFileExtention() OVERRIDE { return std::string(".json"); }
33 
34 private:
35  bool GetNextItemForFile();
36 
37  p_data_t* ReadDataFromFile();
38  string m_jsonString;
39  cDataJSON m_json;
40  p_data_t m_dataBuffer;
41 };
42 
43 #endif // DEVICE_LOG_CSV_H
cDeviceLogJSON::LogFileExtention
std::string LogFileExtention() OVERRIDE
Definition: DeviceLogJSON.h:32
+
cDeviceLogJSON::ReadData
p_data_t * ReadData() OVERRIDE
Definition: DeviceLogJSON.cpp:126
+
cDeviceLogJSON::SetSerialNumber
void SetSerialNumber(uint32_t serialNumber) OVERRIDE
Definition: DeviceLogJSON.cpp:161
+ +
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:374
+ +
DataJSON.h
+
cDeviceLogJSON::SaveData
bool SaveData(p_data_hdr_t *dataHdr, const uint8_t *dataBuf) OVERRIDE
Definition: DeviceLogJSON.cpp:82
+
cDeviceLogJSON::CloseAllFiles
bool CloseAllFiles() OVERRIDE
Definition: DeviceLogJSON.cpp:33
+
p_data_hdr_t
Definition: ISComm.h:478
+ +
p_data_t
Definition: ISComm.h:491
+
DeviceLog.h
+
com_manager.h
+
+ +
+Generated by   +doxygen + 1.8.14 +
+ + diff --git a/docs/html/_device_log_k_m_l_8cpp.html b/docs/html/_device_log_k_m_l_8cpp.html index d508f5643..ef37dbda2 100644 --- a/docs/html/_device_log_k_m_l_8cpp.html +++ b/docs/html/_device_log_k_m_l_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_k_m_l_8cpp_source.html b/docs/html/_device_log_k_m_l_8cpp_source.html index 284148a5c..d045464c7 100644 --- a/docs/html/_device_log_k_m_l_8cpp_source.html +++ b/docs/html/_device_log_k_m_l_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,7 +72,7 @@
DeviceLogKML.cpp
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <ctime>
14 #include <string>
15 #include <sstream>
16 #include <sys/types.h>
17 #include <sys/stat.h>
18 #include <iomanip>
19 #include <iostream>
20 #include <fstream>
21 #include <stdio.h>
22 #include <stdlib.h>
23 #include <stddef.h>
24 #include "ISPose.h"
25 #include "DeviceLogKML.h"
26 #include "ISLogger.h"
27 #include "ISConstants.h"
28 
29 using namespace std;
30 
31 void cDeviceLogKML::InitDeviceForWriting(int pHandle, std::string timestamp, std::string directory, uint64_t maxDiskSpace, uint32_t maxFileSize, uint32_t chunkSize)
32 {
33  memset(&m_Log, 0, sizeof(m_Log));
34 
35  cDeviceLog::InitDeviceForWriting(pHandle, timestamp, directory, maxDiskSpace, maxFileSize, chunkSize);
36 }
37 
38 
39 bool cDeviceLogKML::CloseAllFiles()
40 {
41  cDeviceLog::CloseAllFiles();
42 
43  for (int kid = 0; kid < cDataKML::MAX_NUM_KID; kid++)
44  {
45  // Close file
46  CloseWriteFile(kid, m_Log[kid]);
47  }
48 
49  return true;
50 }
51 
52 
53 bool cDeviceLogKML::CloseWriteFile(int kid, sKmlLog &log)
54 {
55  // Ensure we have data
56  int64_t dataSize = (int64_t)log.data.size();
57  if (dataSize <= 0)
58  {
59  return false;
60  }
61 
62  // Ensure directory exists
63  if (m_directory.empty())
64  {
65  return false;
66  }
67 
68  _MKDIR(m_directory.c_str());
69 
70  // Create filename
71  log.fileCount++;
72  int serNum = m_devInfo.serialNumber;
73  if (!serNum)
74  {
75  serNum = m_pHandle;
76  }
77 
78  log.fileName = GetNewFileName(serNum, log.fileCount, m_kml.GetDatasetName(kid).c_str());
79 
80 #define BUF_SIZE 100
81  char buf[BUF_SIZE];
82  int styleCnt = 1;
83  string altitudeMode;
84  string iconScale = "0.5";
85  string labelScale = "0.5";
86  string iconUrl;
87 
88  if (m_showPointTimestamps)
89  labelScale = "0.5";
90  else
91  labelScale = "0.01";
92 
93  // Altitude mode
94  if(m_altClampToGround)
95  altitudeMode = "clampToGround";
96  else
97  altitudeMode = "absolute";
98 
99  // Style
100  string styleStr, colorStr;
101 
102  iconUrl = "http://maps.google.com/mapfiles/kml/shapes/shaded_dot.png";
103  // iconUrl = "http://earth.google.com/images/kml-icons/track-directional/track-none.png";
104 
105  // colors are ABGR
106  switch (kid)
107  {
108  case cDataKML::KID_INS:
109  iconUrl = "http://earth.google.com/images/kml-icons/track-directional/track-0.png";
110  colorStr = "ff00ffff"; // yellow
111  break;
112  case cDataKML::KID_GPS:
113  colorStr = "ff0000ff"; // red
114  break;
115  case cDataKML::KID_GPS1:
116  colorStr = "ffff0000"; // blue
117  break;
118  case cDataKML::KID_RTK:
119  colorStr = "ffffff00"; // cyan
120  break;
121  case cDataKML::KID_REF:
122  iconUrl = "http://earth.google.com/images/kml-icons/track-directional/track-0.png";
123  colorStr = "ffff00ff"; // magenta
124  break;
125  }
126 
127  // Add XML version info and document
128  TiXmlElement
129  *Style, *LineStyle, *IconStyle, *LabelStyle,
130  *Placemark, *Point, *LineString,
131  *heading,
132  *elem, *href;
133 
134  TiXmlDocument tDoc;
135 
136  TiXmlDeclaration* decl = new TiXmlDeclaration("1.0", "UTF-8", "");
137  tDoc.LinkEndChild(decl);
138 
139  TiXmlElement* kml = new TiXmlElement("kml");
140  tDoc.LinkEndChild(kml);
141 
142  TiXmlElement* Document = new TiXmlElement("Document");
143  kml->LinkEndChild(Document);
144  kml->SetAttribute("xmlns", "http://www.opengis.net/kml/2.2");
145  kml->SetAttribute("xmlns:gx", "http://www.google.com/kml/ext/2.2");
146 
147  // Show sample (dot)
148  if (m_showPoints)
149  {
150  // Style
151  styleStr = string("stylesel_");
152 
153  Style = new TiXmlElement("Style");
154  Style->SetAttribute("id", styleStr);
155  Document->LinkEndChild(Style);
156 
157  // Icon style
158  IconStyle = new TiXmlElement("IconStyle");
159  Style->LinkEndChild(IconStyle);
160 
161  elem = new TiXmlElement("color");
162  elem->LinkEndChild(new TiXmlText(colorStr));
163  IconStyle->LinkEndChild(elem);
164 
165  elem = new TiXmlElement("colorMode");
166  elem->LinkEndChild(new TiXmlText("normal"));
167  IconStyle->LinkEndChild(elem);
168 
169  elem = new TiXmlElement("scale");
170  elem->LinkEndChild(new TiXmlText(iconScale));
171  IconStyle->LinkEndChild(elem);
172 
173  heading = new TiXmlElement("heading");
174  heading->LinkEndChild(new TiXmlText("0"));
175  IconStyle->LinkEndChild(heading);
176 
177  href = new TiXmlElement("href");
178  href->LinkEndChild(new TiXmlText(iconUrl));
179  elem = new TiXmlElement("Icon");
180  elem->LinkEndChild(href);
181  IconStyle->LinkEndChild(elem);
182 
183  // Label style
184  LabelStyle = new TiXmlElement("LabelStyle");
185  Style->LinkEndChild(LabelStyle);
186 
187  elem = new TiXmlElement("colorMode");
188  elem->LinkEndChild(new TiXmlText("normal"));
189  LabelStyle->LinkEndChild(elem);
190 
191  elem = new TiXmlElement("scale");
192  elem->LinkEndChild(new TiXmlText(labelScale));
193  LabelStyle->LinkEndChild(elem);
194 
195 
196  double nextTime = log.data[0].time;
197  for (size_t i = 0; i < log.data.size(); i++)
198  {
199  sKmlLogData& item = (log.data[i]);
200 
201  // Log only every iconUpdatePeriodSec
202  if (item.time < nextTime)
203  {
204  continue;
205  }
206  nextTime = item.time - fmod(item.time, m_pointUpdatePeriodSec) + m_pointUpdatePeriodSec;
207 
208  // Placemark
209  Placemark = new TiXmlElement("Placemark");
210  Document->LinkEndChild(Placemark);
211 
212  // Name
213  elem = new TiXmlElement("name");
214  ostringstream timeStream;
215  switch (kid)
216  {
217  case cDataKML::KID_GPS:
218  case cDataKML::KID_GPS1:
219  case cDataKML::KID_GPS2:
220  case cDataKML::KID_RTK:
221  timeStream << fixed << setprecision(1) << item.time;
222  break;
223  default:
224  timeStream << fixed << setprecision(3) << item.time;
225  break;
226  }
227  elem->LinkEndChild(new TiXmlText(timeStream.str()));
228  Placemark->LinkEndChild(elem);
229 
230  // styleUrl
231  elem = new TiXmlElement("styleUrl");
232  if (item.theta[2] != 0.0f)
233  { // Style - to indicate heading
234  string styleCntStr = styleStr + to_string(styleCnt++);
235  TiXmlNode *StyleNode = Style->Clone();
236  StyleNode->ToElement()->SetAttribute("id", styleCntStr);
237  StyleNode->FirstChildElement("IconStyle")->FirstChildElement("heading")->FirstChild()->ToText()->SetValue(to_string(item.theta[2] * C_RAD2DEG_F));
238  Document->LinkEndChild(StyleNode);
239 
240  elem->LinkEndChild(new TiXmlText("#" + styleCntStr));
241  }
242  else
243  {
244  elem->LinkEndChild(new TiXmlText("#" + styleStr));
245  }
246  Placemark->LinkEndChild(elem);
247 
248  Point = new TiXmlElement("Point");
249  Placemark->LinkEndChild(Point);
250 
251  elem = new TiXmlElement("coordinates");
252 #if 1
253  double lat = _CLAMP(item.lla[0] * DEG2RADMULT, -C_PIDIV2, C_PIDIV2) * RAD2DEGMULT;
254  double lon = _CLAMP(item.lla[1] * DEG2RADMULT, -C_PI, C_PI) * RAD2DEGMULT;
255  double alt = _CLAMP(item.lla[2], -1000, 100000);
256  snprintf(buf, BUF_SIZE, "%.8lf,%.8lf,%.3lf", lon, lat, alt);
257  elem->LinkEndChild(new TiXmlText(buf));
258 #else
259  ostringstream coordinateStream; // Not getting digits of precision
260  coordinateStream
261  << fixed
262  << setprecision(8)
263  << item->lla[1] << "," // Lat
264  << item->lla[0] << "," // Lon
265  << setprecision(3)
266  << item->lla[2] << " "; // Alt
267  elem->LinkEndChild(new TiXmlText(coordinateStream.str()));
268 #endif
269  Point->LinkEndChild(elem);
270 
271  elem = new TiXmlElement("altitudeMode");
272  elem->LinkEndChild(new TiXmlText(altitudeMode));
273  Point->LinkEndChild(elem);
274  }
275  }// if (m_showSample)
276 
277 
278  // Show path (track)
279  if (m_showTracks)
280  {
281  // Track style
282  styleStr = string("stylesel_") + to_string(styleCnt++);
283 
284  Style = new TiXmlElement("Style");
285  Style->SetAttribute("id", styleStr);
286  Document->LinkEndChild(Style);
287 
288  LineStyle = new TiXmlElement("LineStyle");
289  Style->LinkEndChild(LineStyle);
290 
291  elem = new TiXmlElement("color");
292  elem->LinkEndChild(new TiXmlText(colorStr));
293  LineStyle->LinkEndChild(elem);
294 
295  elem = new TiXmlElement("colorMode");
296  elem->LinkEndChild(new TiXmlText("normal"));
297  LineStyle->LinkEndChild(elem);
298 
299  elem = new TiXmlElement("width");
300  elem->LinkEndChild(new TiXmlText("2"));
301  LineStyle->LinkEndChild(elem);
302 
303  // Track
304  Placemark = new TiXmlElement("Placemark");
305  Document->LinkEndChild(Placemark);
306 
307  elem = new TiXmlElement("name");
308  elem->LinkEndChild(new TiXmlText("Tracks"));
309  Placemark->LinkEndChild(elem);
310 
311  elem = new TiXmlElement("description");
312  elem->LinkEndChild(new TiXmlText("SN tracks"));
313  Placemark->LinkEndChild(elem);
314 
315  elem = new TiXmlElement("styleUrl");
316  elem->LinkEndChild(new TiXmlText("#" + styleStr));
317  Placemark->LinkEndChild(elem);
318 
319  LineString = new TiXmlElement("LineString");
320  Placemark->LinkEndChild(LineString);
321 
322  ostringstream coordinateStream;
323  int j = 0;
324  for (size_t i = 0; i < log.data.size(); i++)
325  {
326  sKmlLogData& item = (log.data[i]);
327  double lat = _CLAMP(item.lla[0] * DEG2RADMULT, -C_PIDIV2, C_PIDIV2) * RAD2DEGMULT;
328  double lon = _CLAMP(item.lla[1] * DEG2RADMULT, -C_PI, C_PI) * RAD2DEGMULT;
329  double alt = _CLAMP(item.lla[2], -1000, 100000);
330 
331  if (i >= log.data.size()-2)
332  {
333  j++;
334  }
335 
336  snprintf(buf, BUF_SIZE, "%.8lf,%.8lf,%.3lf ", lon, lat, alt);
337  if (strcmp("-111.65863637,40.05570543,1418.282 ", buf) == 0)
338  {
339  j++;
340  }
341 // qDebug() << string(buf);
342 // std::cout << "Value of str is : ";
343  coordinateStream << string(buf);
344  }
345 
346  elem = new TiXmlElement("coordinates");
347  elem->LinkEndChild(new TiXmlText(coordinateStream.str()));
348  LineString->LinkEndChild(elem);
349 
350  elem = new TiXmlElement("extrude");
351  elem->LinkEndChild(new TiXmlText("1"));
352  LineString->LinkEndChild(elem);
353 
354  elem = new TiXmlElement("altitudeMode");
355  elem->LinkEndChild(new TiXmlText(altitudeMode));
356  LineString->LinkEndChild(elem);
357  }
358 
359  // Write XML to file
360  if (!tDoc.SaveFile(log.fileName.c_str()))
361  {
362  return false;
363  }
364 
365  // Remove data
366  log.data.clear();
367 
368  return true;
369 }
370 
371 
372 bool cDeviceLogKML::OpenWithSystemApp(void)
373 {
374 
375 #if PLATFORM_IS_WINDOWS
376 
377  for (int kid = 0; kid < cDataKML::MAX_NUM_KID; kid++)
378  {
379  sKmlLog &log = m_Log[kid];
380 
381  if (log.fileName.empty())
382  {
383  continue;
384  }
385 
386  std::wstring stemp = std::wstring(log.fileName.begin(), log.fileName.end());
387  LPCWSTR filename = stemp.c_str();
388  ShellExecuteW(0, 0, filename, 0, 0, SW_SHOW);
389  }
390 
391 #endif
392 
393  return true;
394 }
395 
396 
397 bool cDeviceLogKML::SaveData(p_data_hdr_t *dataHdr, const uint8_t *dataBuf)
398 {
399  cDeviceLog::SaveData(dataHdr, dataBuf);
400 
401  // Save data to file
402  if (!WriteDateToFile(dataHdr, dataBuf))
403  {
404  return false;
405  }
406 
407  // Convert formats
408  uDatasets& d = (uDatasets&)(*dataBuf);
409  switch (dataHdr->id)
410  {
411  case DID_INS_2:
412  ins_1_t ins1;
413  ins1.week = d.ins2.week;
414  ins1.timeOfWeek = d.ins2.timeOfWeek;
415  ins1.hdwStatus = d.ins2.hdwStatus;
416  ins1.insStatus = d.ins2.insStatus;
417  quat2euler(d.ins2.qn2b, ins1.theta);
418  memcpy(ins1.uvw, d.ins2.uvw, 12);
419  memcpy(ins1.lla, d.ins2.lla, 24);
420  p_data_hdr_t dHdr = { DID_INS_1 , sizeof(ins_1_t), 0 };
421  // Save data to file
422  WriteDateToFile(&dHdr, (uint8_t*)&ins1);
423  break;
424  }
425 
426  return true;
427 }
428 
429 
430 bool cDeviceLogKML::WriteDateToFile(const p_data_hdr_t *dataHdr, const uint8_t* dataBuf)
431 {
432  int kid = cDataKML::DID_TO_KID(dataHdr->id);
433 
434  // Only use selected data
435  if (kid < 0)
436  {
437  return true;
438  }
439 
440  // Reference current log
441  sKmlLog &log = m_Log[kid];
442 
443  // Write date to file
444  m_kml.WriteDataToFile(log.data, dataHdr, dataBuf);
445 
446  // File byte size
447  int nBytes = (int)(log.data.size() * cDataKML::BYTES_PER_KID(kid));
448  log.fileSize = nBytes;
449  m_fileSize = _MAX(m_fileSize, log.fileSize);
450  m_logSize = nBytes;
451 
452  if (log.fileSize >= m_maxFileSize)
453  {
454  // Close existing file
455  CloseWriteFile(kid, log);
456  }
457 
458  return true;
459 }
460 
461 
462 p_data_t* cDeviceLogKML::ReadData()
463 {
464  p_data_t* data = NULL;
465 
466  // Read data from chunk
467  while (!(data = ReadDataFromChunk()))
468  {
469  // Read next chunk from file
470  if (!ReadChunkFromFile())
471  {
472  return NULL;
473  }
474  }
475 
476  // Read is good
477  cDeviceLog::OnReadData(data);
478  return data;
479 }
480 
481 
482 p_data_t* cDeviceLogKML::ReadDataFromChunk()
483 {
484  return NULL;
485 }
486 
487 
488 bool cDeviceLogKML::ReadChunkFromFile()
489 {
490  return true;
491 }
492 
493 
494 void cDeviceLogKML::SetSerialNumber(uint32_t serialNumber)
495 {
496  m_devInfo.serialNumber = serialNumber;
497 }
498 
499 
500 
PACKED::week
uint32_t week
Definition: data_sets.h:412
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <ctime>
14 #include <string>
15 #include <sstream>
16 #include <sys/types.h>
17 #include <sys/stat.h>
18 #include <iomanip>
19 #include <iostream>
20 #include <fstream>
21 #include <stdio.h>
22 #include <stdlib.h>
23 #include <stddef.h>
24 #include "ISPose.h"
25 #include "DeviceLogKML.h"
26 #include "ISLogger.h"
27 #include "ISConstants.h"
28 
29 using namespace std;
30 
31 void cDeviceLogKML::InitDeviceForWriting(int pHandle, std::string timestamp, std::string directory, uint64_t maxDiskSpace, uint32_t maxFileSize, uint32_t chunkSize)
32 {
33  memset(&m_Log, 0, sizeof(m_Log));
34 
35  cDeviceLog::InitDeviceForWriting(pHandle, timestamp, directory, maxDiskSpace, maxFileSize, chunkSize);
36 }
37 
38 
39 bool cDeviceLogKML::CloseAllFiles()
40 {
41  cDeviceLog::CloseAllFiles();
42 
43  for (int kid = 0; kid < cDataKML::MAX_NUM_KID; kid++)
44  {
45  // Close file
46  CloseWriteFile(kid, m_Log[kid]);
47  }
48 
49  return true;
50 }
51 
52 
53 bool cDeviceLogKML::CloseWriteFile(int kid, sKmlLog &log)
54 {
55  // Ensure we have data
56  int64_t dataSize = (int64_t)log.data.size();
57  if (dataSize <= 0)
58  {
59  return false;
60  }
61 
62  // Ensure directory exists
63  if (m_directory.empty())
64  {
65  return false;
66  }
67 
68  _MKDIR(m_directory.c_str());
69 
70  // Create filename
71  log.fileCount++;
72  int serNum = m_devInfo.serialNumber;
73  if (!serNum)
74  {
75  serNum = m_pHandle;
76  }
77 
78  log.fileName = GetNewFileName(serNum, log.fileCount, m_kml.GetDatasetName(kid).c_str());
79 
80 #define BUF_SIZE 100
81  char buf[BUF_SIZE];
82  int styleCnt = 1;
83  string altitudeMode;
84  string iconScale = "0.5";
85  string labelScale = "0.5";
86  string iconUrl;
87 
88  if (m_showPointTimestamps)
89  labelScale = "0.5";
90  else
91  labelScale = "0.01";
92 
93  // Altitude mode
94  if(m_altClampToGround)
95  altitudeMode = "clampToGround";
96  else
97  altitudeMode = "absolute";
98 
99  // Style
100  string styleStr, colorStr;
101 
102  iconUrl = "http://maps.google.com/mapfiles/kml/shapes/shaded_dot.png";
103  // iconUrl = "http://earth.google.com/images/kml-icons/track-directional/track-none.png";
104 
105  // colors are ABGR
106  switch (kid)
107  {
108  case cDataKML::KID_INS:
109  iconUrl = "http://earth.google.com/images/kml-icons/track-directional/track-0.png";
110  colorStr = "ff00ffff"; // yellow
111  break;
112  case cDataKML::KID_GPS:
113  colorStr = "ff0000ff"; // red
114  break;
115  case cDataKML::KID_GPS1:
116  colorStr = "ffff0000"; // blue
117  break;
118  case cDataKML::KID_RTK:
119  colorStr = "ffffff00"; // cyan
120  break;
121  case cDataKML::KID_REF:
122  iconUrl = "http://earth.google.com/images/kml-icons/track-directional/track-0.png";
123  colorStr = "ffff00ff"; // magenta
124  break;
125  }
126 
127  // Add XML version info and document
128  TiXmlElement
129  *Style, *LineStyle, *IconStyle, *LabelStyle,
130  *Placemark, *Point, *LineString,
131  *heading,
132  *elem, *href;
133 
134  TiXmlDocument tDoc;
135 
136  TiXmlDeclaration* decl = new TiXmlDeclaration("1.0", "UTF-8", "");
137  tDoc.LinkEndChild(decl);
138 
139  TiXmlElement* kml = new TiXmlElement("kml");
140  tDoc.LinkEndChild(kml);
141 
142  TiXmlElement* Document = new TiXmlElement("Document");
143  kml->LinkEndChild(Document);
144  kml->SetAttribute("xmlns", "http://www.opengis.net/kml/2.2");
145  kml->SetAttribute("xmlns:gx", "http://www.google.com/kml/ext/2.2");
146 
147  // Show sample (dot)
148  if (m_showPoints)
149  {
150  // Style
151  styleStr = string("stylesel_");
152 
153  Style = new TiXmlElement("Style");
154  Style->SetAttribute("id", styleStr);
155  Document->LinkEndChild(Style);
156 
157  // Icon style
158  IconStyle = new TiXmlElement("IconStyle");
159  Style->LinkEndChild(IconStyle);
160 
161  elem = new TiXmlElement("color");
162  elem->LinkEndChild(new TiXmlText(colorStr));
163  IconStyle->LinkEndChild(elem);
164 
165  elem = new TiXmlElement("colorMode");
166  elem->LinkEndChild(new TiXmlText("normal"));
167  IconStyle->LinkEndChild(elem);
168 
169  elem = new TiXmlElement("scale");
170  elem->LinkEndChild(new TiXmlText(iconScale));
171  IconStyle->LinkEndChild(elem);
172 
173  heading = new TiXmlElement("heading");
174  heading->LinkEndChild(new TiXmlText("0"));
175  IconStyle->LinkEndChild(heading);
176 
177  href = new TiXmlElement("href");
178  href->LinkEndChild(new TiXmlText(iconUrl));
179  elem = new TiXmlElement("Icon");
180  elem->LinkEndChild(href);
181  IconStyle->LinkEndChild(elem);
182 
183  // Label style
184  LabelStyle = new TiXmlElement("LabelStyle");
185  Style->LinkEndChild(LabelStyle);
186 
187  elem = new TiXmlElement("colorMode");
188  elem->LinkEndChild(new TiXmlText("normal"));
189  LabelStyle->LinkEndChild(elem);
190 
191  elem = new TiXmlElement("scale");
192  elem->LinkEndChild(new TiXmlText(labelScale));
193  LabelStyle->LinkEndChild(elem);
194 
195 
196  double nextTime = log.data[0].time;
197  for (size_t i = 0; i < log.data.size(); i++)
198  {
199  sKmlLogData& item = (log.data[i]);
200 
201  // Log only every iconUpdatePeriodSec
202  if (item.time < nextTime)
203  {
204  continue;
205  }
206  nextTime = item.time - fmod(item.time, m_pointUpdatePeriodSec) + m_pointUpdatePeriodSec;
207 
208  // Placemark
209  Placemark = new TiXmlElement("Placemark");
210  Document->LinkEndChild(Placemark);
211 
212  // Name
213  elem = new TiXmlElement("name");
214  ostringstream timeStream;
215  switch (kid)
216  {
217  case cDataKML::KID_GPS:
218  case cDataKML::KID_GPS1:
219  case cDataKML::KID_GPS2:
220  case cDataKML::KID_RTK:
221  timeStream << fixed << setprecision(1) << item.time;
222  break;
223  default:
224  timeStream << fixed << setprecision(3) << item.time;
225  break;
226  }
227  elem->LinkEndChild(new TiXmlText(timeStream.str()));
228  Placemark->LinkEndChild(elem);
229 
230  // styleUrl
231  elem = new TiXmlElement("styleUrl");
232  if (item.theta[2] != 0.0f)
233  { // Style - to indicate heading
234  string styleCntStr = styleStr + to_string(styleCnt++);
235  TiXmlNode *StyleNode = Style->Clone();
236  StyleNode->ToElement()->SetAttribute("id", styleCntStr);
237  StyleNode->FirstChildElement("IconStyle")->FirstChildElement("heading")->FirstChild()->ToText()->SetValue(to_string(item.theta[2] * C_RAD2DEG_F));
238  Document->LinkEndChild(StyleNode);
239 
240  elem->LinkEndChild(new TiXmlText("#" + styleCntStr));
241  }
242  else
243  {
244  elem->LinkEndChild(new TiXmlText("#" + styleStr));
245  }
246  Placemark->LinkEndChild(elem);
247 
248  Point = new TiXmlElement("Point");
249  Placemark->LinkEndChild(Point);
250 
251  elem = new TiXmlElement("coordinates");
252 #if 1
253  double lat = _CLAMP(item.lla[0] * DEG2RADMULT, -C_PIDIV2, C_PIDIV2) * RAD2DEGMULT;
254  double lon = _CLAMP(item.lla[1] * DEG2RADMULT, -C_PI, C_PI) * RAD2DEGMULT;
255  double alt = _CLAMP(item.lla[2], -1000, 100000);
256  snprintf(buf, BUF_SIZE, "%.8lf,%.8lf,%.3lf", lon, lat, alt);
257  elem->LinkEndChild(new TiXmlText(buf));
258 #else
259  ostringstream coordinateStream; // Not getting digits of precision
260  coordinateStream
261  << fixed
262  << setprecision(8)
263  << item->lla[1] << "," // Lat
264  << item->lla[0] << "," // Lon
265  << setprecision(3)
266  << item->lla[2] << " "; // Alt
267  elem->LinkEndChild(new TiXmlText(coordinateStream.str()));
268 #endif
269  Point->LinkEndChild(elem);
270 
271  elem = new TiXmlElement("altitudeMode");
272  elem->LinkEndChild(new TiXmlText(altitudeMode));
273  Point->LinkEndChild(elem);
274  }
275  }// if (m_showSample)
276 
277 
278  // Show path (track)
279  if (m_showTracks)
280  {
281  // Track style
282  styleStr = string("stylesel_") + to_string(styleCnt++);
283 
284  Style = new TiXmlElement("Style");
285  Style->SetAttribute("id", styleStr);
286  Document->LinkEndChild(Style);
287 
288  LineStyle = new TiXmlElement("LineStyle");
289  Style->LinkEndChild(LineStyle);
290 
291  elem = new TiXmlElement("color");
292  elem->LinkEndChild(new TiXmlText(colorStr));
293  LineStyle->LinkEndChild(elem);
294 
295  elem = new TiXmlElement("colorMode");
296  elem->LinkEndChild(new TiXmlText("normal"));
297  LineStyle->LinkEndChild(elem);
298 
299  elem = new TiXmlElement("width");
300  elem->LinkEndChild(new TiXmlText("2"));
301  LineStyle->LinkEndChild(elem);
302 
303  // Track
304  Placemark = new TiXmlElement("Placemark");
305  Document->LinkEndChild(Placemark);
306 
307  elem = new TiXmlElement("name");
308  elem->LinkEndChild(new TiXmlText("Tracks"));
309  Placemark->LinkEndChild(elem);
310 
311  elem = new TiXmlElement("description");
312  elem->LinkEndChild(new TiXmlText("SN tracks"));
313  Placemark->LinkEndChild(elem);
314 
315  elem = new TiXmlElement("styleUrl");
316  elem->LinkEndChild(new TiXmlText("#" + styleStr));
317  Placemark->LinkEndChild(elem);
318 
319  LineString = new TiXmlElement("LineString");
320  Placemark->LinkEndChild(LineString);
321 
322  ostringstream coordinateStream;
323  int j = 0;
324  for (size_t i = 0; i < log.data.size(); i++)
325  {
326  sKmlLogData& item = (log.data[i]);
327  double lat = _CLAMP(item.lla[0] * DEG2RADMULT, -C_PIDIV2, C_PIDIV2) * RAD2DEGMULT;
328  double lon = _CLAMP(item.lla[1] * DEG2RADMULT, -C_PI, C_PI) * RAD2DEGMULT;
329  double alt = _CLAMP(item.lla[2], -1000, 100000);
330 
331  if (i >= log.data.size()-2)
332  {
333  j++;
334  }
335 
336  snprintf(buf, BUF_SIZE, "%.8lf,%.8lf,%.3lf ", lon, lat, alt);
337  if (strcmp("-111.65863637,40.05570543,1418.282 ", buf) == 0)
338  {
339  j++;
340  }
341 // qDebug() << string(buf);
342 // std::cout << "Value of str is : ";
343  coordinateStream << string(buf);
344  }
345 
346  elem = new TiXmlElement("coordinates");
347  elem->LinkEndChild(new TiXmlText(coordinateStream.str()));
348  LineString->LinkEndChild(elem);
349 
350  elem = new TiXmlElement("extrude");
351  elem->LinkEndChild(new TiXmlText("1"));
352  LineString->LinkEndChild(elem);
353 
354  elem = new TiXmlElement("altitudeMode");
355  elem->LinkEndChild(new TiXmlText(altitudeMode));
356  LineString->LinkEndChild(elem);
357  }
358 
359  // Write XML to file
360  if (!tDoc.SaveFile(log.fileName.c_str()))
361  {
362  return false;
363  }
364 
365  // Remove data
366  log.data.clear();
367 
368  return true;
369 }
370 
371 
372 bool cDeviceLogKML::OpenWithSystemApp(void)
373 {
374 
375 #if PLATFORM_IS_WINDOWS
376 
377  for (int kid = 0; kid < cDataKML::MAX_NUM_KID; kid++)
378  {
379  sKmlLog &log = m_Log[kid];
380 
381  if (log.fileName.empty())
382  {
383  continue;
384  }
385 
386  std::wstring stemp = std::wstring(log.fileName.begin(), log.fileName.end());
387  LPCWSTR filename = stemp.c_str();
388  ShellExecuteW(0, 0, filename, 0, 0, SW_SHOW);
389  }
390 
391 #endif
392 
393  return true;
394 }
395 
396 
397 bool cDeviceLogKML::SaveData(p_data_hdr_t *dataHdr, const uint8_t *dataBuf)
398 {
399  cDeviceLog::SaveData(dataHdr, dataBuf);
400 
401  // Save data to file
402  if (!WriteDateToFile(dataHdr, dataBuf))
403  {
404  return false;
405  }
406 
407  // Convert formats
408  uDatasets& d = (uDatasets&)(*dataBuf);
409  switch (dataHdr->id)
410  {
411  case DID_INS_2:
412  ins_1_t ins1;
413  ins1.week = d.ins2.week;
414  ins1.timeOfWeek = d.ins2.timeOfWeek;
415  ins1.hdwStatus = d.ins2.hdwStatus;
416  ins1.insStatus = d.ins2.insStatus;
417  quat2euler(d.ins2.qn2b, ins1.theta);
418  memcpy(ins1.uvw, d.ins2.uvw, 12);
419  memcpy(ins1.lla, d.ins2.lla, 24);
420  p_data_hdr_t dHdr = { DID_INS_1 , sizeof(ins_1_t), 0 };
421  // Save data to file
422  WriteDateToFile(&dHdr, (uint8_t*)&ins1);
423  break;
424  }
425 
426  return true;
427 }
428 
429 
430 bool cDeviceLogKML::WriteDateToFile(const p_data_hdr_t *dataHdr, const uint8_t* dataBuf)
431 {
432  int kid = cDataKML::DID_TO_KID(dataHdr->id);
433 
434  // Only use selected data
435  if (kid < 0)
436  {
437  return true;
438  }
439 
440  // Reference current log
441  sKmlLog &log = m_Log[kid];
442 
443  // Write date to file
444  m_kml.WriteDataToFile(log.data, dataHdr, dataBuf);
445 
446  // File byte size
447  int nBytes = (int)(log.data.size() * cDataKML::BYTES_PER_KID(kid));
448  log.fileSize = nBytes;
449  m_fileSize = _MAX(m_fileSize, log.fileSize);
450  m_logSize = nBytes;
451 
452  if (log.fileSize >= m_maxFileSize)
453  {
454  // Close existing file
455  CloseWriteFile(kid, log);
456  }
457 
458  return true;
459 }
460 
461 
462 p_data_t* cDeviceLogKML::ReadData()
463 {
464  p_data_t* data = NULL;
465 
466  // Read data from chunk
467  while (!(data = ReadDataFromChunk()))
468  {
469  // Read next chunk from file
470  if (!ReadChunkFromFile())
471  {
472  return NULL;
473  }
474  }
475 
476  // Read is good
477  cDeviceLog::OnReadData(data);
478  return data;
479 }
480 
481 
482 p_data_t* cDeviceLogKML::ReadDataFromChunk()
483 {
484  return NULL;
485 }
486 
487 
488 bool cDeviceLogKML::ReadChunkFromFile()
489 {
490  return true;
491 }
492 
493 
494 void cDeviceLogKML::SetSerialNumber(uint32_t serialNumber)
495 {
496  m_devInfo.serialNumber = serialNumber;
497 }
498 
499 
500 
PACKED::week
uint32_t week
Definition: data_sets.h:436
sKmlLog::fileCount
uint32_t fileCount
Definition: DeviceLogKML.h:30
@@ -81,15 +81,15 @@
cDeviceLogKML::OpenWithSystemApp
bool OpenWithSystemApp(void) OVERRIDE
Definition: DeviceLogKML.cpp:372
TiXmlNode::LinkEndChild
TiXmlNode * LinkEndChild(TiXmlNode *addThis)
Definition: tinyxml.cpp:186
-
_CLAMP
#define _CLAMP(v, minV, maxV)
Definition: ISConstants.h:273
+
_CLAMP
#define _CLAMP(v, minV, maxV)
Definition: ISConstants.h:270
cDeviceLogKML::SaveData
bool SaveData(p_data_hdr_t *dataHdr, const uint8_t *dataBuf) OVERRIDE
Definition: DeviceLogKML.cpp:397
-
PACKED::timeOfWeek
double timeOfWeek
Definition: data_sets.h:415
+
PACKED::timeOfWeek
double timeOfWeek
Definition: data_sets.h:439
p_data_hdr_t::id
uint32_t id
Definition: ISComm.h:481
-
PACKED::ins2
ins_2_t ins2
Definition: data_sets.h:2400
+
PACKED::ins2
ins_2_t ins2
Definition: data_sets.h:2430
DID_INS_1
#define DID_INS_1
Definition: data_sets.h:38
-
C_PIDIV2
#define C_PIDIV2
Definition: ISConstants.h:485
-
PACKED::lla
double lla[3]
Definition: data_sets.h:430
+
C_PIDIV2
#define C_PIDIV2
Definition: ISConstants.h:482
+
PACKED::lla
double lla[3]
Definition: data_sets.h:454
TiXmlDocument::SaveFile
bool SaveFile() const
Save a file using the current document value. Returns true if successful.
Definition: tinyxml.cpp:960
ISLogger.h
@@ -97,7 +97,7 @@
cDeviceLogKML::CloseWriteFile
bool CloseWriteFile(int kid, sKmlLog &log)
Definition: DeviceLogKML.cpp:53
DID_INS_2
#define DID_INS_2
Definition: data_sets.h:39
sKmlLog::fileName
std::string fileName
Definition: DeviceLogKML.h:29
-
PACKED::theta
float theta[3]
Definition: data_sets.h:424
+
PACKED::theta
float theta[3]
Definition: data_sets.h:448
sKmlLogData::time
double time
Definition: DataKML.h:31
cDeviceLog::CloseAllFiles
virtual bool CloseAllFiles()
Definition: DeviceLog.cpp:80
@@ -110,20 +110,20 @@
TiXmlNode::ToText
virtual const TiXmlText * ToText() const
Cast to a more defined type. Will return null if not of the requested type.
Definition: tinyxml.h:707
sKmlLog::data
std::vector< sKmlLogData > data
Definition: DeviceLogKML.h:27
TiXmlNode::FirstChild
const TiXmlNode * FirstChild() const
The first child of this node. Will be null if there are no children.
Definition: tinyxml.h:528
-
C_PI
#define C_PI
Definition: ISConstants.h:486
+
C_PI
#define C_PI
Definition: ISConstants.h:483
TiXmlNode::ToElement
virtual const TiXmlElement * ToElement() const
Cast to a more defined type. Will return null if not of the requested type.
Definition: tinyxml.h:704
cDeviceLog::SaveData
virtual bool SaveData(p_data_hdr_t *dataHdr, const uint8_t *dataBuf)
Definition: DeviceLog.cpp:104
cDeviceLogKML::InitDeviceForWriting
void InitDeviceForWriting(int pHandle, std::string timestamp, std::string directory, uint64_t maxDiskSpace, uint32_t maxFileSize, uint32_t chunkSize) OVERRIDE
Definition: DeviceLogKML.cpp:31
-
PACKED::qn2b
float qn2b[4]
Definition: data_sets.h:453
+
PACKED::qn2b
float qn2b[4]
Definition: data_sets.h:477
cDataKML::DID_TO_KID
static int DID_TO_KID(int did)
Definition: DataKML.h:71
-
PACKED::uvw
float uvw[3]
Definition: data_sets.h:427
+
PACKED::uvw
float uvw[3]
Definition: data_sets.h:451
quat2euler
void quat2euler(const Quat_t q, Euler_t theta)
Definition: ISPose.c:185
-
PACKED::insStatus
uint32_t insStatus
Definition: data_sets.h:418
+
PACKED::insStatus
uint32_t insStatus
Definition: data_sets.h:442
-
PACKED::hdwStatus
uint32_t hdwStatus
Definition: data_sets.h:421
+
PACKED::hdwStatus
uint32_t hdwStatus
Definition: data_sets.h:445
TiXmlNode::FirstChildElement
const TiXmlElement * FirstChildElement() const
Convenience function to get through elements.
Definition: tinyxml.cpp:452
-
RAD2DEGMULT
#define RAD2DEGMULT
Definition: ISConstants.h:326
+
RAD2DEGMULT
#define RAD2DEGMULT
Definition: ISConstants.h:323
cDataKML::BYTES_PER_KID
static int BYTES_PER_KID(int kid)
Definition: DataKML.h:84
DeviceLogKML.h
TiXmlElement::SetAttribute
void SetAttribute(const char *name, const char *_value)
Definition: tinyxml.cpp:780
@@ -136,15 +136,15 @@
cDeviceLogKML::ReadData
p_data_t * ReadData() OVERRIDE
Definition: DeviceLogKML.cpp:462
-
C_RAD2DEG_F
#define C_RAD2DEG_F
Definition: ISConstants.h:503
+
C_RAD2DEG_F
#define C_RAD2DEG_F
Definition: ISConstants.h:500
cDeviceLogKML::SetSerialNumber
void SetSerialNumber(uint32_t serialNumber) OVERRIDE
Definition: DeviceLogKML.cpp:494
cDeviceLogKML::CloseAllFiles
bool CloseAllFiles() OVERRIDE
Definition: DeviceLogKML.cpp:39
-
_MKDIR
#define _MKDIR(dir)
Definition: ISConstants.h:203
+
_MKDIR
#define _MKDIR(dir)
Definition: ISConstants.h:200
sKmlLogData::lla
double lla[3]
Definition: DataKML.h:32
-
DEG2RADMULT
#define DEG2RADMULT
Definition: ISConstants.h:323
- -
_MAX
#define _MAX(a, b)
Definition: ISConstants.h:265
+
DEG2RADMULT
#define DEG2RADMULT
Definition: ISConstants.h:320
+ +
_MAX
#define _MAX(a, b)
Definition: ISConstants.h:262
ISConstants.h
diff --git a/docs/html/_device_log_k_m_l_8h.html b/docs/html/_device_log_k_m_l_8h.html index 6f10568ed..2971e6f89 100644 --- a/docs/html/_device_log_k_m_l_8h.html +++ b/docs/html/_device_log_k_m_l_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_k_m_l_8h_source.html b/docs/html/_device_log_k_m_l_8h_source.html index 192d00deb..6d1f5ea21 100644 --- a/docs/html/_device_log_k_m_l_8h_source.html +++ b/docs/html/_device_log_k_m_l_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -83,7 +83,7 @@
sKmlLog::fileSize
uint32_t fileSize
Definition: DeviceLogKML.h:32
DataKML.h
sKmlLog::data
std::vector< sKmlLogData > data
Definition: DeviceLogKML.h:27
-
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:377
+
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:374
cDeviceLogKML::InitDeviceForWriting
void InitDeviceForWriting(int pHandle, std::string timestamp, std::string directory, uint64_t maxDiskSpace, uint32_t maxFileSize, uint32_t chunkSize) OVERRIDE
Definition: DeviceLogKML.cpp:31
cDeviceLog::OpenNewSaveFile
bool OpenNewSaveFile()
Definition: DeviceLog.cpp:135
diff --git a/docs/html/_device_log_serial_8cpp.html b/docs/html/_device_log_serial_8cpp.html index 03e4c7edc..cb6f7b3b5 100644 --- a/docs/html/_device_log_serial_8cpp.html +++ b/docs/html/_device_log_serial_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_serial_8cpp_source.html b/docs/html/_device_log_serial_8cpp_source.html index d1bc2d963..903e7373a 100644 --- a/docs/html/_device_log_serial_8cpp_source.html +++ b/docs/html/_device_log_serial_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_serial_8h.html b/docs/html/_device_log_serial_8h.html index 132eb5c68..49975d8a1 100644 --- a/docs/html/_device_log_serial_8h.html +++ b/docs/html/_device_log_serial_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_serial_8h_source.html b/docs/html/_device_log_serial_8h_source.html index 30e97dcce..051c3cfbd 100644 --- a/docs/html/_device_log_serial_8h_source.html +++ b/docs/html/_device_log_serial_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -81,7 +81,7 @@
cDataChunk::Clear
virtual void Clear()
Definition: DataChunk.cpp:98
cDeviceLogSerial::CloseAllFiles
bool CloseAllFiles() OVERRIDE
Definition: DeviceLogSerial.cpp:39
-
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:377
+
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:374
cDeviceLogSerial::ReadData
p_data_t * ReadData() OVERRIDE
Definition: DeviceLogSerial.cpp:135
cDeviceLogSerial::SetSerialNumber
void SetSerialNumber(uint32_t serialNumber) OVERRIDE
Definition: DeviceLogSerial.cpp:191
diff --git a/docs/html/_device_log_sorted_8cpp.html b/docs/html/_device_log_sorted_8cpp.html index f9609cd93..b46450c27 100644 --- a/docs/html/_device_log_sorted_8cpp.html +++ b/docs/html/_device_log_sorted_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_sorted_8cpp_source.html b/docs/html/_device_log_sorted_8cpp_source.html index a05766a1a..fe692e945 100644 --- a/docs/html/_device_log_sorted_8cpp_source.html +++ b/docs/html/_device_log_sorted_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -75,7 +75,7 @@ Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <ctime>
14 #include <string>
15 #include <sstream>
16 #include <sys/types.h>
17 #include <sys/stat.h>
18 #include <iomanip>
19 #include <iostream>
20 #include <fstream>
21 #include <stdio.h>
22 #include <stdlib.h>
23 #include <stddef.h>
24 #include <limits.h>
25 
26 #include "DeviceLogSorted.h"
27 #include "ISLogger.h"
28 
29 
30 void cDeviceLogSorted::InitDeviceForWriting(int pHandle, std::string timestamp, std::string directory, uint64_t maxDiskSpace, uint32_t maxFileSize, uint32_t chunkSize)
31 {
32  m_chunks.resize(0);
33  m_dataSerNum = 0;
34  m_lastSerNum = 0xFFFFFFFF;
35  cDeviceLog::InitDeviceForWriting(pHandle, timestamp, directory, maxDiskSpace, maxFileSize, chunkSize);
36 }
37 
38 
39 void cDeviceLogSorted::InitDeviceForReading()
40 {
41  m_chunks.resize(0);
42  m_dataSerNum = 0;
43  m_lastSerNum = 0xFFFFFFFF;
44  cDeviceLog::InitDeviceForReading();
45 }
46 
47 
48 bool cDeviceLogSorted::CloseAllFiles()
49 {
50  cDeviceLog::CloseAllFiles();
51 
52  // Write to file and clear any non-empty chunks to file
53  for (uint32_t id = 0; id < m_chunks.size(); id++)
54  {
55  list<cSortedDataChunk>& chunkList = m_chunks[id];
56  if (chunkList.size() != 0)
57  {
58  cSortedDataChunk& chunk = chunkList.front();
59 
60  if (chunk.GetDataSize() != 0)
61  {
62  // Create new file if needed
63  if (m_pFile == NULL && !OpenNewSaveFile())
64  {
65  return false;
66  }
67 
68  // Write to file and clear chunk
69  if (chunk.WriteToFile(m_pFile, 1) <= 0)
70  {
71  return false;
72  }
73  }
74  }
75  }
76 
77  // Close existing file
78  if (m_pFile)
79  {
80  fclose(m_pFile);
81  m_pFile = NULL;
82  }
83 
84  return true;
85 }
86 
87 
88 bool cDeviceLogSorted::SaveData(p_data_hdr_t* dataHdr, const uint8_t* dataBuf)
89 {
90  cDeviceLog::SaveData(dataHdr, dataBuf);
91 
92  uint32_t id = dataHdr->id;
93 
94  if (id >= DID_MAX_COUNT)
95  {
96  return false;
97  }
98  else if (id >= m_chunks.size())
99  {
100  m_chunks.resize(id + 1);
101  }
102 
103  cSortedDataChunk* currentChunk;
104  list<cSortedDataChunk>& chunkList = m_chunks[id];
105 
106  // First time saving to this chunk
107  if (chunkList.size() == 0)
108  {
109  cSortedDataChunk newChunk = { 0 };
110  chunkList.push_back(newChunk);
111  currentChunk = &chunkList.front();
112  currentChunk->m_subHdr.dHdr = *dataHdr;
113  currentChunk->m_hdr.pHandle = m_pHandle;
114  currentChunk->m_hdr.devSerialNum = m_devInfo.serialNumber;
115  }
116  else
117  {
118  currentChunk = &chunkList.front();
119  }
120 
121  // Add serial number if available
122  if (id == DID_DEV_INFO)
123  {
124  if (!copyDataPToStructP2(&m_devInfo, dataHdr, dataBuf, sizeof(dev_info_t)))
125  {
126  int start = dataHdr->offset;
127  int end = dataHdr->offset + dataHdr->size;
128  int snOffset = offsetof(dev_info_t, serialNumber);
129 
130  // Did we get the serial number portion of devInfo?
131  if (start <= snOffset && (int)(snOffset + sizeof(uint32_t)) <= end)
132  {
133  currentChunk->m_hdr.devSerialNum = m_devInfo.serialNumber;
134  }
135  }
136  }
137 
138  // depending on devices and sources, some logs may have different size for the same id
139  // if the size changes, flush the chunk and start a new one with the new size
140  uint32_t dataBytes;
141  if (currentChunk->m_subHdr.dHdr.size != dataHdr->size || currentChunk->m_subHdr.dHdr.offset != dataHdr->offset)
142  {
143  // force a flush of the chunk and start a new chunk with the new size
144  dataBytes = UINT_MAX;
145  }
146  else
147  {
148  dataBytes = sizeof(int32_t) + dataHdr->size;
149  }
150  if (dataBytes > currentChunk->GetByteCountAvailableToWrite())
151  {
152  // Create new file if needed
153  if (m_pFile == NULL && !OpenNewSaveFile())
154  {
155  return false;
156  }
157 
158  // Byte size
159  int nBytes = currentChunk->GetDataSize();
160 
161  if (nBytes != 0)
162  {
163  // Write to file and clear chunk
164  if ((nBytes = currentChunk->WriteToFile(m_pFile, 1)) <= 0)
165  {
166  return false;
167  }
168  }
169 
170  m_fileSize += nBytes;
171  m_logSize += nBytes;
172 
173  // File is large enough to be closed
174  if (m_fileSize >= m_maxFileSize)
175  {
176  // Write and clear remaining chunks to file and close file
177  if (!CloseAllFiles())
178  {
179  return false;
180  }
181  }
182  }
183 
184  // reset data header if it changed
185  if (dataBytes == UINT_MAX)
186  {
187  currentChunk->m_subHdr.dHdr = *dataHdr;
188  }
189 
190  // Add data header and data buffer to chunk
191  if (!currentChunk->PushBack((unsigned char*)&(m_dataSerNum), sizeof(int32_t), (unsigned char*)dataBuf, dataHdr->size))
192  {
193  return false;
194  }
195  currentChunk->m_subHdr.dCount++;
196  m_dataSerNum++;
197 
198  return true;
199 }
200 
201 
202 // Re-serialize data to original order
203 // Consider using a queue where data from chunks are added on one end and the serial order # is checked on the other end.
204 // This function needs to scan across all chunk queues and find the next lowest data to pop off.
205 
206 // Read serialized data
207 p_data_t* cDeviceLogSorted::ReadData()
208 {
209  p_data_t* data;
210 
211  while (1)
212  {
213  data = SerializeDataFromChunks();
214 
215  if (data)
216  {
217  // Found data
218  cDeviceLog::OnReadData(data);
219  return data;
220  }
221 
222  // No more data
223  m_chunks.clear();
224  while (!ReadAllChunksFromFile())
225  {
226  if (!OpenNextReadFile())
227  {
228  // No more files or data
229  return NULL;
230  }
231  }
232  }
233 }
234 
235 
236 p_data_t* cDeviceLogSorted::SerializeDataFromChunks()
237 {
238 
239 tryAgain:
240 
241  uint32_t foundId = UINT_MAX;
242  uint32_t minSerialNum = UINT_MAX;
243 
244  // while there is data in any chunk, find the chunk with the next id
245  for (uint32_t id = 0; id < m_chunks.size(); id++)
246  {
247 tryChunkListAgain:
248  list<cSortedDataChunk>& chunksForId = m_chunks[id];
249  if (chunksForId.size() == 0)
250  {
251  continue;
252  }
253  cSortedDataChunk& chunk = chunksForId.front();
254  if (chunk.GetByteCountAvailableToRead() == 0)
255  {
256  chunksForId.pop_front();
257  goto tryChunkListAgain;
258  }
259  p_cnk_data_t* cnkData = (p_cnk_data_t*)chunk.GetDataPtr();
260  if (cnkData->dataSerNum < minSerialNum)
261  {
262  foundId = id;
263  minSerialNum = cnkData->dataSerNum;
264  }
265  }
266 
267  if (foundId == UINT_MAX)
268  {
269  return NULL;
270  }
271 
272  cSortedDataChunk& chunk = m_chunks[foundId].front();
273  p_cnk_data_t* cnkData = (p_cnk_data_t*)chunk.GetDataPtr();
274 
275 #if 0 // Error check for gap data serial number. Verify we didn't drop any data.
276 
277  if (m_lastSerNum == UINT_MAX)
278  {
279  m_lastSerNum = m_dataSerNum;
280  }
281  if (m_dataSerNum - m_lastSerNum > 1)
282  {
283  cout << endl << "Gap in data: " << foundId << "\t" << m_dataSerNum;
284  }
285  m_lastSerNum = m_dataSerNum;
286 
287 #endif
288 
289  // Increment data serial number to one larger than current
290  m_dataSerNum = cnkData->dataSerNum + 1;
291 
292  // Data fits in temp buf
293  if (chunk.m_subHdr.dHdr.size <= MAX_DATASET_SIZE)
294  {
295  // Copy data header
296  m_data.hdr = chunk.m_subHdr.dHdr;
297 
298  // Copy data buffer
299  memcpy(m_data.buf, cnkData->buf, m_data.hdr.size);
300 
301  int pSize = chunk.m_subHdr.dHdr.size + sizeof(uint32_t);
302  chunk.PopFront(pSize);
303  return &m_data;
304  }
305  else
306  {
307  perror("Data is larger than max data set size");
308  }
309 
310  goto tryAgain;
311 }
312 
313 
314 bool cDeviceLogSorted::ReadAllChunksFromFile()
315 {
316  unsigned int id;
317 
318  // Reset data serial number and file data size
319  m_fileSize = 0;
320 
321  // Read chunk and append it to existing chunks of same type
322  while (ReadChunkFromFile())
323  {
324  id = m_currentReadChunk.m_subHdr.dHdr.id;
325 
326  // Expand chunk vector if necessary
327  if (id >= m_chunks.size())
328  {
329  m_chunks.resize(id + 1);
330  }
331 
332  list<cSortedDataChunk>& chunkList = m_chunks[id];
333  cSortedDataChunk* currentChunk;
334 
335  if (chunkList.size() == 0)
336  {
337  // Empty source chunk, copy Header
338  cSortedDataChunk chunk = { 0 };
339  chunk.m_subHdr = m_currentReadChunk.m_subHdr;
340 
341  // Find lowest serial number
342  p_cnk_data_t* cdat = (p_cnk_data_t*)m_currentReadChunk.GetDataPtr();
343  m_dataSerNum = _MIN(m_dataSerNum, cdat->dataSerNum);
344 
345  chunkList.push_back(chunk);
346  currentChunk = &chunkList.front();
347  }
348  else
349  {
350  currentChunk = &chunkList.back();
351  if (currentChunk->m_subHdr.dHdr.size != m_currentReadChunk.m_subHdr.dHdr.size ||
352  currentChunk->m_subHdr.dHdr.offset != m_currentReadChunk.m_subHdr.dHdr.offset)
353  {
354  // chunk data size or offset change, append a new chunk
355  cSortedDataChunk chunk = { 0 };
356  chunk.m_subHdr = m_currentReadChunk.m_subHdr;
357  chunkList.push_back(chunk);
358  currentChunk = &chunkList.back();
359  }
360  }
361 
362  // add data count
363  currentChunk->m_subHdr.dCount += m_currentReadChunk.m_subHdr.dCount;
364 
365  // Make sure chunk max size is large enough
366  currentChunk->SetMaxSize(currentChunk->GetMaxSize() + m_currentReadChunk.GetDataSize());
367 
368  // Append data
369  currentChunk->PushBack(m_currentReadChunk.GetDataPtr(), m_currentReadChunk.GetDataSize());
370  }
371 
372  return m_fileSize != 0;
373 }
374 
375 
376 bool cDeviceLogSorted::ReadChunkFromFile()
377 {
378  if (m_pFile == NULL)
379  {
380  return false;
381  }
382 
383  // Read chunk from file
384  int nBytes = m_currentReadChunk.ReadFromFile(m_pFile);
385 
386  // Validate chunk: non-zero size and is sorted type
387  int hdrSize = sizeof(p_data_hdr_t);
388  if (nBytes < hdrSize || m_currentReadChunk.m_hdr.grpNum != 1)
389  {
390  return false;
391  }
392 
393  // Update stats
394  m_fileSize += nBytes;
395  m_logSize += nBytes;
396 
397  return true;
398 }
399 
400 
401 void cDeviceLogSorted::SetSerialNumber(uint32_t serialNumber)
402 {
403  m_devInfo.serialNumber = serialNumber;
404  if (DID_DEV_INFO > m_chunks.size())
405  {
406  m_chunks.resize(DID_DEV_INFO + 1);
407  }
408  list<cSortedDataChunk>& chunkList = m_chunks[DID_DEV_INFO];
409  for (list<cSortedDataChunk>::iterator i = chunkList.begin(); i != chunkList.end(); i++)
410  {
411  i->m_hdr.devSerialNum = serialNumber;
412  }
413 }
414 
415 
416 
417 
418 
419 
420 
cDataChunk::GetDataSize
uint32_t GetDataSize()
Definition: DataChunk.h:81
cDeviceLog::OnReadData
void OnReadData(p_data_t *data)
Definition: DeviceLog.cpp:254
p_cnk_data_t
Definition: DataChunkSorted.h:28
-
_MIN
#define _MIN(a, b)
Definition: ISConstants.h:269
+
_MIN
#define _MIN(a, b)
Definition: ISConstants.h:266
cDataChunk::ReadFromFile
int32_t ReadFromFile(FILE *pFile)
Definition: DataChunk.cpp:153
dev_info_t
PUSH_PACK_1 struct PACKED dev_info_t
diff --git a/docs/html/_device_log_sorted_8h.html b/docs/html/_device_log_sorted_8h.html index 1e22f84e3..5d8f13e04 100644 --- a/docs/html/_device_log_sorted_8h.html +++ b/docs/html/_device_log_sorted_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_sorted_8h_source.html b/docs/html/_device_log_sorted_8h_source.html index 20ef36a8f..be0bfa55e 100644 --- a/docs/html/_device_log_sorted_8h_source.html +++ b/docs/html/_device_log_sorted_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -77,7 +77,7 @@
cDeviceLogSorted::m_chunks
vector< list< cSortedDataChunk > > m_chunks
Definition: DeviceLogSorted.h:43
-
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:377
+
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:374
cDeviceLogSorted::m_currentReadChunk
cSortedDataChunk m_currentReadChunk
Definition: DeviceLogSorted.h:42
p_data_hdr_t
Definition: ISComm.h:478
diff --git a/docs/html/_gps_parser_8cpp.html b/docs/html/_gps_parser_8cpp.html index 8c565f4d5..6fd823580 100644 --- a/docs/html/_gps_parser_8cpp.html +++ b/docs/html/_gps_parser_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_gps_parser_8cpp_source.html b/docs/html/_gps_parser_8cpp_source.html index 7cb95d252..14069fc49 100644 --- a/docs/html/_gps_parser_8cpp_source.html +++ b/docs/html/_gps_parser_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -80,7 +80,7 @@
UBLOX_PREAMBLE2
#define UBLOX_PREAMBLE2
Definition: GpsParser.cpp:22
iGpsParserDelegate::OnError
virtual void OnError(const cGpsParser *parser, uint32_t id, uint32_t errorCode)
Definition: GpsParser.h:149
PSC_START_BYTE
Definition: ISComm.h:384
-
NULLPTR
#define NULLPTR
Definition: ISConstants.h:380
+
NULLPTR
#define NULLPTR
Definition: ISConstants.h:377
iGpsParserDelegate::OnIonosphereModelUtcAlmanacReceived
virtual void OnIonosphereModelUtcAlmanacReceived(const cGpsParser *parser, ion_model_utc_alm_t *ionUtcAlm)
Definition: GpsParser.h:137
cRtcmParser::DECLARE_RTCM_DESTRUCTOR
DECLARE_RTCM_DESTRUCTOR(cRtcmParser)
cInertialSenseParser::cInertialSenseParser
cInertialSenseParser(iGpsParserDelegate *delegate)
Definition: GpsParser.cpp:62
@@ -92,22 +92,22 @@
iGpsParserDelegate::OnSbsReceived
virtual void OnSbsReceived(const cGpsParser *parser, const sbsmsg_t *sbs)
Definition: GpsParser.h:115
cInertialSenseParser::WriteByte
void WriteByte(uint8_t b) OVERRIDE
Definition: GpsParser.cpp:67
getBitsAsUInt32
unsigned int getBitsAsUInt32(const unsigned char *buffer, unsigned int pos, unsigned int len)
Definition: ISComm.c:80
-
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:377
+
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:374
-
gtime_t
Definition: data_sets.h:1453
+
gtime_t
Definition: data_sets.h:1470
cRtcmParser::WriteByte
void WriteByte(uint8_t b) OVERRIDE
Definition: GpsParser.cpp:122
cGpsParser::cGpsParser
cGpsParser(iGpsParserDelegate *delegate)
Definition: GpsParser.cpp:496
iGpsParserDelegate::OnGpsEphemerisReceived
virtual void OnGpsEphemerisReceived(const cGpsParser *parser, const eph_t *eph, int prn)
Definition: GpsParser.h:90
-
BE_SWAP16
#define BE_SWAP16(_i)
Definition: data_sets.h:2520
+
BE_SWAP16
#define BE_SWAP16(_i)
Definition: data_sets.h:2553
calculate24BitCRCQ
unsigned int calculate24BitCRCQ(unsigned char *buffer, unsigned int len)
Definition: ISComm.c:27
GpsParserTypeRtcm3
Definition: GpsParser.h:49
UBLOX_CHECKSUM_SIZE
#define UBLOX_CHECKSUM_SIZE
Definition: GpsParser.cpp:24
iGpsParserDelegate::OnStationReceived
virtual void OnStationReceived(const cGpsParser *parser, sta_t *sta)
Definition: GpsParser.h:126
-
gtime_t::time
int64_t time
Definition: data_sets.h:1456
+
gtime_t::time
int64_t time
Definition: data_sets.h:1473
GpsParser.h
-
PACKED::data
uGpsRawData data
Definition: data_sets.h:2126
+
PACKED::data
uGpsRawData data
Definition: data_sets.h:2156
iGpsParserDelegate::OnObservationReceived
virtual void OnObservationReceived(const cGpsParser *parser, const obs_t *obs)
Definition: GpsParser.h:78
UBLOX_PREAMBLE1
#define UBLOX_PREAMBLE1
Definition: GpsParser.cpp:21
ALLOCATE_M_RTCM
#define ALLOCATE_M_RTCM
Definition: GpsParser.cpp:47
@@ -118,15 +118,15 @@
cGpsParser::GetDelegate
iGpsParserDelegate * GetDelegate()
Definition: GpsParser.h:193
cGpsParser::GetReceiverIndex
int32_t GetReceiverIndex() const
Definition: GpsParser.h:205
eGpsParserType
eGpsParserType
Definition: GpsParser.h:34
-
PACKED::obs
obsd_t obs[MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE]
Definition: data_sets.h:2089
+
PACKED::obs
obsd_t obs[MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE]
Definition: data_sets.h:2119
INIT_M_RTCM
#define INIT_M_RTCM
Definition: GpsParser.cpp:46
com_manager.h
-
_ARRAY_ELEMENT_COUNT
#define _ARRAY_ELEMENT_COUNT(a)
Definition: ISConstants.h:297
+
_ARRAY_ELEMENT_COUNT
#define _ARRAY_ELEMENT_COUNT(a)
Definition: ISConstants.h:294
GpsParserTypeUblox
Definition: GpsParser.h:44
cUbloxParser::cUbloxParser
cUbloxParser(iGpsParserDelegate *delegate)
Definition: GpsParser.cpp:295
- +
INIT_M_RAW
#define INIT_M_RAW(fmt)
Definition: GpsParser.cpp:48
ALLOCATE_M_RAW
#define ALLOCATE_M_RAW
Definition: GpsParser.cpp:49
diff --git a/docs/html/_gps_parser_8h.html b/docs/html/_gps_parser_8h.html index 516616857..1ffc6ad4a 100644 --- a/docs/html/_gps_parser_8h.html +++ b/docs/html/_gps_parser_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_gps_parser_8h_source.html b/docs/html/_gps_parser_8h_source.html index baa59e953..745047b8f 100644 --- a/docs/html/_gps_parser_8h_source.html +++ b/docs/html/_gps_parser_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -76,15 +76,15 @@
iGpsParserDelegate::OnError
virtual void OnError(const cGpsParser *parser, uint32_t id, uint32_t errorCode)
Definition: GpsParser.h:149
iGpsParserDelegate::OnIonosphereModelUtcAlmanacReceived
virtual void OnIonosphereModelUtcAlmanacReceived(const cGpsParser *parser, ion_model_utc_alm_t *ionUtcAlm)
Definition: GpsParser.h:137
cGpsParser::SetReceiverIndex
void SetReceiverIndex(int32_t index)
Definition: GpsParser.h:199
-
geph_t
Definition: data_sets.h:1771
-
eph_t
Definition: data_sets.h:1657
+
geph_t
Definition: data_sets.h:1788
+
eph_t
Definition: data_sets.h:1674
GpsParserTypeInertialSense
Definition: GpsParser.h:39
cGpsParser::CreateParser
static cGpsParser * CreateParser(eGpsParserType type, iGpsParserDelegate *delegate)
Definition: GpsParser.cpp:470
iGpsParserDelegate::OnGlonassEphemerisReceived
virtual void OnGlonassEphemerisReceived(const cGpsParser *parser, const geph_t *geph, int prn)
Definition: GpsParser.h:103
g_gps_latest_time
gtime_t g_gps_latest_time
iGpsParserDelegate::OnSbsReceived
virtual void OnSbsReceived(const cGpsParser *parser, const sbsmsg_t *sbs)
Definition: GpsParser.h:115
cGpsParser::ParseMessage
virtual void ParseMessage(const uint8_t *data, int dataLength)
Definition: GpsParser.h:212
-
gtime_t
Definition: data_sets.h:1453
+
gtime_t
Definition: data_sets.h:1470
cGpsParser::Write
void Write(const uint8_t *data, int dataLength)
Definition: GpsParser.h:175
cGpsParser::cGpsParser
cGpsParser(iGpsParserDelegate *delegate)
Definition: GpsParser.cpp:496
iGpsParserDelegate::OnGpsEphemerisReceived
virtual void OnGpsEphemerisReceived(const cGpsParser *parser, const eph_t *eph, int prn)
Definition: GpsParser.h:90
@@ -92,17 +92,17 @@
iGpsParserDelegate::OnStationReceived
virtual void OnStationReceived(const cGpsParser *parser, sta_t *sta)
Definition: GpsParser.h:126
data_sets.h
-
sta_t
Definition: data_sets.h:1836
+
sta_t
Definition: data_sets.h:1853
iGpsParserDelegate::OnObservationReceived
virtual void OnObservationReceived(const cGpsParser *parser, const obs_t *obs)
Definition: GpsParser.h:78
cGpsParser::WriteByte
virtual void WriteByte(uint8_t b)=0
cGpsParser::GetDelegate
iGpsParserDelegate * GetDelegate()
Definition: GpsParser.h:193
cGpsParser::GetReceiverIndex
int32_t GetReceiverIndex() const
Definition: GpsParser.h:205
eGpsParserType
eGpsParserType
Definition: GpsParser.h:34
-
ion_model_utc_alm_t
Definition: data_sets.h:1904
+
ion_model_utc_alm_t
Definition: data_sets.h:1921
GpsParserTypeUblox
Definition: GpsParser.h:44
cGpsParser::~cGpsParser
virtual ~cGpsParser()
Definition: GpsParser.h:168
-
obs_t
Definition: data_sets.h:1644
-
sbsmsg_t
Definition: data_sets.h:1817
+
obs_t
Definition: data_sets.h:1661
+
sbsmsg_t
Definition: data_sets.h:1834
diff --git a/docs/html/_i_s_comm_8c.html b/docs/html/_i_s_comm_8c.html index 1c7c593a4..d22965c86 100644 --- a/docs/html/_i_s_comm_8c.html +++ b/docs/html/_i_s_comm_8c.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_comm_8c_source.html b/docs/html/_i_s_comm_8c_source.html index 2fb22a167..f8315f4ff 100644 --- a/docs/html/_i_s_comm_8c_source.html +++ b/docs/html/_i_s_comm_8c_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -112,7 +112,7 @@
is_comm_instance_t::counter
uint32_t counter
Definition: ISComm.h:92
flipEndianess32
void flipEndianess32(uint8_t *data, int dataLength)
Definition: data_sets.c:75
getBitsAsUInt32
unsigned int getBitsAsUInt32(const unsigned char *buffer, unsigned int pos, unsigned int len)
Definition: ISComm.c:80
-
SWAP32
#define SWAP32(v)
Definition: ISConstants.h:257
+
SWAP32
#define SWAP32(v)
Definition: ISConstants.h:254
is_comm_parse
uint32_t is_comm_parse(is_comm_instance_t *instance, uint8_t byte)
Definition: ISComm.c:415
DID_GPS1_VERSION
#define DID_GPS1_VERSION
Definition: data_sets.h:51
packet_hdr_t
Definition: ISComm.h:422
@@ -121,9 +121,9 @@
PSC_ASCII_END_BYTE
Definition: ISComm.h:381
is_comm_stop_broadcasts
int is_comm_stop_broadcasts(is_comm_instance_t *instance)
Definition: ISComm.c:508
packet_ftr_t::cksum2
uint8_t cksum2
Definition: ISComm.h:450
-
BE_SWAP16
#define BE_SWAP16(_i)
Definition: data_sets.h:2520
-
FREE
#define FREE(m)
Definition: ISConstants.h:134
-
MALLOC
#define MALLOC(m)
Definition: ISConstants.h:133
+
BE_SWAP16
#define BE_SWAP16(_i)
Definition: data_sets.h:2553
+
FREE
#define FREE(m)
Definition: ISConstants.h:135
+
MALLOC
#define MALLOC(m)
Definition: ISConstants.h:134
calculate24BitCRCQ
unsigned int calculate24BitCRCQ(unsigned char *buffer, unsigned int len)
Definition: ISComm.c:27
is_comm_instance_t::hasStartByte
uint32_t hasStartByte
Definition: ISComm.h:104
bufPtr_t::ptr
uint8_t * ptr
Definition: ISComm.h:311
@@ -172,7 +172,7 @@
p_data_get_t::size
uint32_t size
Definition: ISComm.h:507
p_data_get_t
Definition: ISComm.h:501
IS_BAUDRATE_19200
Definition: ISComm.h:227
- +
diff --git a/docs/html/_i_s_comm_8h.html b/docs/html/_i_s_comm_8h.html index bdf7050c0..e7d84431a 100644 --- a/docs/html/_i_s_comm_8h.html +++ b/docs/html/_i_s_comm_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -129,8 +129,8 @@   #define _DID_IMU_PREINTEGRATED_IMU   DID_PREINTEGRATED_IMU /** (see preintegrated_imu_t) Dual IMU output: Conning and sculling integrated at IMU update rate. */   -#define _DID_GPS_NAV   DID_GPS_NAV /** (see gps_nav_t) GPS output */ -  +#define _DID_GPS1_POS   DID_GPS1_POS /** (see gps_pos_t) GPS output */ +  #define _DID_MAG_CAL   DID_MAG_CAL /** (see mag_cal_t) Magnetometer calibration */   #define _DID_MAGNETOMETER_1   DID_MAGNETOMETER_1 /** (see magnetometer_t) Magnetometer sensor 1 output */ @@ -377,14 +377,14 @@

-

◆ _DID_GPS_NAV

+ +

◆ _DID_GPS1_POS

- +
#define _DID_GPS_NAV   DID_GPS_NAV /** (see gps_nav_t) GPS output */#define _DID_GPS1_POS   DID_GPS1_POS /** (see gps_pos_t) GPS output */
diff --git a/docs/html/_i_s_comm_8h_source.html b/docs/html/_i_s_comm_8h_source.html index 984f9f763..610c9dffd 100644 --- a/docs/html/_i_s_comm_8h_source.html +++ b/docs/html/_i_s_comm_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,7 +72,7 @@
ISComm.h
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef IS_SIMPLE_INTERFACE_H
14 #define IS_SIMPLE_INTERFACE_H
15 
16 #include "data_sets.h"
17 #include "stddef.h"
18 
19 #ifdef __cplusplus
20 extern "C" {
21 #endif
22 
37 // -------------------------------------------------------------------------------------------------------------------------------
38 // Inertial Sense simple communications interface --------------------------------------------------------------------------------
39 // -------------------------------------------------------------------------------------------------------------------------------
40 // The simple comm interface does not require any of the com manager APIs and is designed for simple or lightweight scenarios, tiny embedded platforms, etc.
41 // *****************************************************************************
42 // ****** Binary messages ******
43 // *****************************************************************************
44 
46 #define _DID_INS_ECEF_QE2B DID_INS_4
47 #define _DID_INS_LLA_EULER_NED DID_INS_1
48 #define _DID_INS_LLA_QN2B DID_INS_3
51 #define _DID_IMU_DUAL DID_DUAL_IMU
52 #define _DID_IMU_PREINTEGRATED_IMU DID_PREINTEGRATED_IMU
55 #define _DID_GPS_NAV DID_GPS_NAV
58 #define _DID_MAG_CAL DID_MAG_CAL
59 #define _DID_MAGNETOMETER_1 DID_MAGNETOMETER_1
60 #define _DID_MAGNETOMETER_2 DID_MAGNETOMETER_2
61 #define _DID_BAROMETER DID_BAROMETER
64 #define _DID_DEV_INFO DID_DEV_INFO
65 #define _DID_BIT DID_BIT
66 #define _DID_STROBE_IN_TIME DID_STROBE_IN_TIME
69 #define _DID_FLASH_CONFIG DID_FLASH_CONFIG
70 #define _DID_RMC DID_RMC
73 #define _DID_EXTERNAL 0xFFFFFFFF
74 
75 #define EXTERNAL_DATA_ID_UBLOX UBLOX_START_BYTE1
76 #define EXTERNAL_DATA_ID_RTCM3 RTCM3_START_BYTE
77 #define EXTERNAL_DATA_ID_ASCII PSC_ASCII_START_BYTE
78 
80 typedef struct
81 {
86  uint8_t* buffer;
87 
89  uint32_t bufferSize;
90 
92  uint32_t counter;
93 
95  uint32_t errorCount;
96 
98  uint8_t* bufferPtr;
99 
101  uint8_t* bufferPtrEnd;
102 
104  uint32_t hasStartByte;
105 
107  int32_t externalParseState;
108 
110  uint32_t externalDataIdentifier;
111 
113  uint32_t dataOffset;
114 
116  uint32_t dataSize;
117 } is_comm_instance_t;
118 
123 void is_comm_init(is_comm_instance_t* instance);
124 
134 uint32_t is_comm_parse(is_comm_instance_t* instance, uint8_t byte);
135 
146 int is_comm_get_data(is_comm_instance_t* instance, uint32_t dataId, uint32_t offset, uint32_t size, uint32_t periodMS);
147 
155 int is_comm_get_data_rmc(is_comm_instance_t* instance, uint64_t rmcBits);
156 
167 int is_comm_set_data(is_comm_instance_t* instance, uint32_t dataId, uint32_t offset, uint32_t size, void* data);
168 
174 int is_comm_stop_broadcasts(is_comm_instance_t* instance);
175 
177 #define IS_COM_BAUDRATE_DEFAULT IS_BAUDRATE_3000000
178 
180 #define MAX_DATASET_SIZE 1024
181 
183 #define PKT_OVERHEAD_SIZE 8 // = START_BYTE + INFO_BYTE + COUNTER_BYTE + FLAGS_BYTE + CHECKSUM_BYTE_1 + CHECKSUM_BYTE_2 + CHECKSUM_BYTE_3 + END_BYTE
184 
186 #ifndef PKT_BUF_SIZE
187 #define PKT_BUF_SIZE 2048
188 #endif
189 
191 #define MAX_PKT_OVERHEAD_SIZE (PKT_OVERHEAD_SIZE + PKT_OVERHEAD_SIZE - 2) // worst case for packet encoding header / footer
192 
194 #define MAX_PKT_BODY_SIZE (((PKT_BUF_SIZE - MAX_PKT_OVERHEAD_SIZE) / 2) & 0xFFFFFFFE) // worst case for packet encoding body, rounded down to even number
195 
197 #define MAX_P_DATA_BODY_SIZE (MAX_PKT_BODY_SIZE-sizeof(p_data_hdr_t)) // Data size limit
198 
200 #define MAX_P_ACK_BODY_SIZE (MAX_PKT_BODY_SIZE-sizeof(p_ack_hdr_t)) // Ack data size
201 
203 #define CHECKSUM_SEED 0x00AAAAAA
204 
207 // Major (in com_manager.h)
208 #define PROTOCOL_VERSION_CHAR0 (1)
209 
210 // version 1: initial release
211 // version 2: 24 bit checksum support
212 #define PROTOCOL_VERSION_CHAR1 (2)
213 
214 // Minor (in data_sets.h)
215 // #define PROTOCOL_VERSION_CHAR2 0
216 // #define PROTOCOL_VERSION_CHAR3 0
217 
218 #define UBLOX_HEADER_SIZE 6
219 #define RTCM3_HEADER_SIZE 3
220 
222 PUSH_PACK_1
223 
225 typedef enum
226 {
227  IS_BAUDRATE_19200 = 19200,
228  IS_BAUDRATE_38400 = 38400,
229  IS_BAUDRATE_57600 = 57600,
230  IS_BAUDRATE_115200 = 115200,
231  IS_BAUDRATE_230400 = 230400,
232  IS_BAUDRATE_460800 = 460800,
233  IS_BAUDRATE_921600 = 921600,
234  IS_BAUDRATE_3000000 = 3000000,
235 
236  IS_BAUDRATE_COUNT = 8
237 } baud_rate_t;
238 
240 extern const unsigned int g_validBaudRates[IS_BAUDRATE_COUNT];
241 
242 /*
243 Packet Overview
244 
245 Byte
246 0 Packet start byte
247 1 Packet indo: ID (mask 0x1F) | reserved bits (mask 0xE)
248 2 Packet counter (for ACK and retry)
249 3 Packet flags
250 
251 // packet body, may or may not exist depending on packet id - packet body is made up of 4 byte or 8 byte values.
252 4-7 Data identifier
253 8-11 Data length
254 12-15 Data offset
255 16-19 Data start
256 (n-8)-(n-5) Last piece of data
257 // end data
258 
259 n-4 Reserved
260 n-3 Checksum high byte
261 n-2 Checksum low byte
262 n-1 Packet end byte
263 */
264 typedef enum
265 {
267  PID_INVALID = 0,
268 
270  PID_ACK,
271 
273  PID_NACK,
274 
276  PID_GET_DATA,
277 
279  PID_DATA,
280 
282  PID_SET_DATA,
283 
285  PID_STOP_ALL_BROADCASTS,
286 
288  PID_STOP_DID_BROADCAST,
289 
291  PID_COUNT,
292 
294  PID_MAX_COUNT = 32
295 } pkt_info_byte_t;
296 
298 typedef struct
299 {
301  uint32_t size;
302 
304  uint8_t buf[PKT_BUF_SIZE];
305 } buffer_t;
306 
308 typedef struct
309 {
311  uint8_t *ptr;
312 
314  uint32_t size;
315 } bufPtr_t;
316 
318 typedef struct
319 {
321  uint8_t *txPtr;
322 
324  uint8_t *rxPtr;
325 
327  uint32_t size;
328 } bufTxRxPtr_t;
329 
331 typedef enum
332 {
334  asciiTypeInt = 0,
335 
337  asciiTypeUInt = 1,
338 
340  asciiTypeFloat = 2,
341 
343  asciiTypeDouble = 3
344 } asciiDataType;
345 
347 #define ASCII_MESSAGEID_TO_UINT(c4) ((uint32_t)c4[0] << 24 | ((uint32_t)c4[1] << 16) | ((uint32_t)c4[2] << 8) | ((uint32_t)c4[3]))
348 
349 enum ePktHdrFlags
350 {
351  // bit set for little endian, bit cleared for big endian
352  CM_PKT_FLAGS_LITTLE_ENDIAN = 0x01,
353  CM_PKT_FLAGS_ENDIANNESS_MASK = 0x01,
354 
355  // has any valid packet been received
356  CM_PKT_FLAGS_RX_VALID_DATA = 0x02,
357 
358  // multi-packet data set
359  CM_PKT_FLAGS_MORE_DATA_AVAILABLE = 0x04,
360 
361  // Allow for arbitrary length in bytes of data, not necessarily multiple of 4. Don't auto-swap bytes for endianness
362  CM_PKT_FLAGS_RAW_DATA_NO_SWAP = 0x08,
363 
364  // Checksum is the new 24 bit algorithm instead of the old 16 bit algorithm
365  CM_PKT_FLAGS_CHECKSUM_24_BIT = 0x10
366 };
367 
375 typedef enum
376 {
378  PSC_ASCII_START_BYTE = 0x24,
379 
381  PSC_ASCII_END_BYTE = 0x0A,
382 
384  PSC_START_BYTE = 0xFF,
385 
387  PSC_END_BYTE = 0xFE,
388 
390  PSC_RESERVED_KEY = 0xFD,
391 
393  UBLOX_START_BYTE1 = 0xB5,
394 
396  UBLOX_START_BYTE2 = 0x62,
397 
399  RTCM3_START_BYTE = 0xD3
400 } pkt_special_chars_t;
401 
403 typedef struct
404 {
406  unsigned char messageId[4];
407 
409  uint8_t* ptr;
410 
412  int ptrSize;
413 
415  int fieldCount;
416 
418  uint16_t* fieldsAndOffsets;
419 } asciiMessageMap_t;
420 
422 typedef struct
423 {
425  uint8_t startByte;
426 
428  uint8_t pid;
429 
431  uint8_t counter;
432 
440  uint8_t flags;
441 } packet_hdr_t;
442 
444 typedef struct
445 {
447  uint8_t cksum3;
448 
450  uint8_t cksum2;
451 
453  uint8_t cksum1;
454 
456  uint8_t stopByte;
457 } packet_ftr_t;
458 
460 typedef struct
461 {
463  packet_hdr_t hdr;
464 
466  bufPtr_t body;
467 } packet_t;
468 
470 typedef struct
471 {
472  packet_hdr_t hdr; // Packet header
473  bufPtr_t bodyHdr; // Body header
474  bufPtr_t txData; // Pointer and size of data to send
475 } pkt_info_t;
476 
478 typedef struct
479 {
481  uint32_t id;
482 
484  uint32_t size;
485 
487  uint32_t offset;
488 } p_data_hdr_t;
489 
491 typedef struct
492 {
494  p_data_hdr_t hdr;
495 
497  uint8_t buf[MAX_DATASET_SIZE];
498 } p_data_t, p_data_set_t;
499 
501 typedef struct
502 {
504  uint32_t id;
505 
507  uint32_t size;
508 
510  uint32_t offset;
511 
516  uint32_t bc_period_ms;
517 } p_data_get_t;
518 
520 typedef struct
521 {
523  uint32_t id;
524 } p_data_disable_t;
525 
527 typedef struct
528 {
530  uint32_t pktInfo;
531 
533  uint32_t pktCounter;
534 } p_ack_hdr_t;
535 
537 typedef struct
538 {
540  p_ack_hdr_t hdr;
541 
543  uint8_t buf[MAX_P_ACK_BODY_SIZE];
544 } p_ack_t, p_nack_t;
545 
547 POP_PACK
548 
549 // -------------------------------------------------------------------------------------------------------------------------------
550 // Common packet encode / decode functions
551 // -------------------------------------------------------------------------------------------------------------------------------
552 // common encode / decode for com manager and simple interface
553 int is_encode_binary_packet(void* srcBuffer, unsigned int srcBufferLength, packet_hdr_t* hdr, uint8_t additionalPktFlags, void* encodedPacket, int encodedPacketLength);
554 int is_decode_binary_packet(packet_t *pkt, unsigned char* pbuf, int pbufSize);
555 int is_decode_binary_packet_byte(uint8_t** _ptrSrc, uint8_t** _ptrDest, uint32_t* checksum, uint32_t shift);
556 void is_decode_binary_packet_footer(packet_ftr_t* ftr, uint8_t* ptrSrc, uint8_t** ptrSrcEnd, uint32_t* checksum);
557 
558 #if defined(RTK_EMBEDDED)
559 
560 // include rtklib.h yourself elsewhere
561 #define calculate24BitCRCQ rtk_crc24q
562 #define getBitsAsUInt32 getbitu
563 
564 #else
565 
566 unsigned int calculate24BitCRCQ(unsigned char* buffer, unsigned int len);
567 unsigned int getBitsAsUInt32(const unsigned char* buffer, unsigned int pos, unsigned int len);
568 
569 #endif
570 
572 char copyDataPToStructP(void *sptr, const p_data_t *data, const unsigned int maxsize);
573 
575 char copyDataPToStructP2(void *sptr, const p_data_hdr_t *dataHdr, const uint8_t *dataBuf, const unsigned int maxsize);
576 
577 
578 #ifdef __cplusplus
579 }
580 #endif
581 
582 #endif // IS_SIMPLE_INTERFACE_H
PSC_RESERVED_KEY
Definition: ISComm.h:390
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef IS_SIMPLE_INTERFACE_H
14 #define IS_SIMPLE_INTERFACE_H
15 
16 #include "data_sets.h"
17 #include "stddef.h"
18 
19 #ifdef __cplusplus
20 extern "C" {
21 #endif
22 
37 // -------------------------------------------------------------------------------------------------------------------------------
38 // Inertial Sense simple communications interface --------------------------------------------------------------------------------
39 // -------------------------------------------------------------------------------------------------------------------------------
40 // The simple comm interface does not require any of the com manager APIs and is designed for simple or lightweight scenarios, tiny embedded platforms, etc.
41 // *****************************************************************************
42 // ****** Binary messages ******
43 // *****************************************************************************
44 
46 #define _DID_INS_ECEF_QE2B DID_INS_4
47 #define _DID_INS_LLA_EULER_NED DID_INS_1
48 #define _DID_INS_LLA_QN2B DID_INS_3
51 #define _DID_IMU_DUAL DID_DUAL_IMU
52 #define _DID_IMU_PREINTEGRATED_IMU DID_PREINTEGRATED_IMU
55 #define _DID_GPS1_POS DID_GPS1_POS
58 #define _DID_MAG_CAL DID_MAG_CAL
59 #define _DID_MAGNETOMETER_1 DID_MAGNETOMETER_1
60 #define _DID_MAGNETOMETER_2 DID_MAGNETOMETER_2
61 #define _DID_BAROMETER DID_BAROMETER
64 #define _DID_DEV_INFO DID_DEV_INFO
65 #define _DID_BIT DID_BIT
66 #define _DID_STROBE_IN_TIME DID_STROBE_IN_TIME
69 #define _DID_FLASH_CONFIG DID_FLASH_CONFIG
70 #define _DID_RMC DID_RMC
73 #define _DID_EXTERNAL 0xFFFFFFFF
74 
75 #define EXTERNAL_DATA_ID_UBLOX UBLOX_START_BYTE1
76 #define EXTERNAL_DATA_ID_RTCM3 RTCM3_START_BYTE
77 #define EXTERNAL_DATA_ID_ASCII PSC_ASCII_START_BYTE
78 
80 typedef struct
81 {
86  uint8_t* buffer;
87 
89  uint32_t bufferSize;
90 
92  uint32_t counter;
93 
95  uint32_t errorCount;
96 
98  uint8_t* bufferPtr;
99 
101  uint8_t* bufferPtrEnd;
102 
104  uint32_t hasStartByte;
105 
107  int32_t externalParseState;
108 
110  uint32_t externalDataIdentifier;
111 
113  uint32_t dataOffset;
114 
116  uint32_t dataSize;
117 } is_comm_instance_t;
118 
123 void is_comm_init(is_comm_instance_t* instance);
124 
134 uint32_t is_comm_parse(is_comm_instance_t* instance, uint8_t byte);
135 
146 int is_comm_get_data(is_comm_instance_t* instance, uint32_t dataId, uint32_t offset, uint32_t size, uint32_t periodMS);
147 
155 int is_comm_get_data_rmc(is_comm_instance_t* instance, uint64_t rmcBits);
156 
167 int is_comm_set_data(is_comm_instance_t* instance, uint32_t dataId, uint32_t offset, uint32_t size, void* data);
168 
174 int is_comm_stop_broadcasts(is_comm_instance_t* instance);
175 
177 #define IS_COM_BAUDRATE_DEFAULT IS_BAUDRATE_3000000
178 
180 #define MAX_DATASET_SIZE 1024
181 
183 #define PKT_OVERHEAD_SIZE 8 // = START_BYTE + INFO_BYTE + COUNTER_BYTE + FLAGS_BYTE + CHECKSUM_BYTE_1 + CHECKSUM_BYTE_2 + CHECKSUM_BYTE_3 + END_BYTE
184 
186 #ifndef PKT_BUF_SIZE
187 #define PKT_BUF_SIZE 2048
188 #endif
189 
191 #define MAX_PKT_OVERHEAD_SIZE (PKT_OVERHEAD_SIZE + PKT_OVERHEAD_SIZE - 2) // worst case for packet encoding header / footer
192 
194 #define MAX_PKT_BODY_SIZE (((PKT_BUF_SIZE - MAX_PKT_OVERHEAD_SIZE) / 2) & 0xFFFFFFFE) // worst case for packet encoding body, rounded down to even number
195 
197 #define MAX_P_DATA_BODY_SIZE (MAX_PKT_BODY_SIZE-sizeof(p_data_hdr_t)) // Data size limit
198 
200 #define MAX_P_ACK_BODY_SIZE (MAX_PKT_BODY_SIZE-sizeof(p_ack_hdr_t)) // Ack data size
201 
203 #define CHECKSUM_SEED 0x00AAAAAA
204 
207 // Major (in com_manager.h)
208 #define PROTOCOL_VERSION_CHAR0 (1)
209 
210 // version 1: initial release
211 // version 2: 24 bit checksum support
212 #define PROTOCOL_VERSION_CHAR1 (2)
213 
214 // Minor (in data_sets.h)
215 // #define PROTOCOL_VERSION_CHAR2 0
216 // #define PROTOCOL_VERSION_CHAR3 0
217 
218 #define UBLOX_HEADER_SIZE 6
219 #define RTCM3_HEADER_SIZE 3
220 
222 PUSH_PACK_1
223 
225 typedef enum
226 {
227  IS_BAUDRATE_19200 = 19200,
228  IS_BAUDRATE_38400 = 38400,
229  IS_BAUDRATE_57600 = 57600,
230  IS_BAUDRATE_115200 = 115200,
231  IS_BAUDRATE_230400 = 230400,
232  IS_BAUDRATE_460800 = 460800,
233  IS_BAUDRATE_921600 = 921600,
234  IS_BAUDRATE_3000000 = 3000000,
235 
236  IS_BAUDRATE_COUNT = 8
237 } baud_rate_t;
238 
240 extern const unsigned int g_validBaudRates[IS_BAUDRATE_COUNT];
241 
242 /*
243 Packet Overview
244 
245 Byte
246 0 Packet start byte
247 1 Packet indo: ID (mask 0x1F) | reserved bits (mask 0xE)
248 2 Packet counter (for ACK and retry)
249 3 Packet flags
250 
251 // packet body, may or may not exist depending on packet id - packet body is made up of 4 byte or 8 byte values.
252 4-7 Data identifier
253 8-11 Data length
254 12-15 Data offset
255 16-19 Data start
256 (n-8)-(n-5) Last piece of data
257 // end data
258 
259 n-4 Reserved
260 n-3 Checksum high byte
261 n-2 Checksum low byte
262 n-1 Packet end byte
263 */
264 typedef enum
265 {
267  PID_INVALID = 0,
268 
270  PID_ACK,
271 
273  PID_NACK,
274 
276  PID_GET_DATA,
277 
279  PID_DATA,
280 
282  PID_SET_DATA,
283 
285  PID_STOP_ALL_BROADCASTS,
286 
288  PID_STOP_DID_BROADCAST,
289 
291  PID_COUNT,
292 
294  PID_MAX_COUNT = 32
295 } pkt_info_byte_t;
296 
298 typedef struct
299 {
301  uint32_t size;
302 
304  uint8_t buf[PKT_BUF_SIZE];
305 } buffer_t;
306 
308 typedef struct
309 {
311  uint8_t *ptr;
312 
314  uint32_t size;
315 } bufPtr_t;
316 
318 typedef struct
319 {
321  uint8_t *txPtr;
322 
324  uint8_t *rxPtr;
325 
327  uint32_t size;
328 } bufTxRxPtr_t;
329 
331 typedef enum
332 {
334  asciiTypeInt = 0,
335 
337  asciiTypeUInt = 1,
338 
340  asciiTypeFloat = 2,
341 
343  asciiTypeDouble = 3
344 } asciiDataType;
345 
347 #define ASCII_MESSAGEID_TO_UINT(c4) ((uint32_t)c4[0] << 24 | ((uint32_t)c4[1] << 16) | ((uint32_t)c4[2] << 8) | ((uint32_t)c4[3]))
348 
349 enum ePktHdrFlags
350 {
351  // bit set for little endian, bit cleared for big endian
352  CM_PKT_FLAGS_LITTLE_ENDIAN = 0x01,
353  CM_PKT_FLAGS_ENDIANNESS_MASK = 0x01,
354 
355  // has any valid packet been received
356  CM_PKT_FLAGS_RX_VALID_DATA = 0x02,
357 
358  // multi-packet data set
359  CM_PKT_FLAGS_MORE_DATA_AVAILABLE = 0x04,
360 
361  // Allow for arbitrary length in bytes of data, not necessarily multiple of 4. Don't auto-swap bytes for endianness
362  CM_PKT_FLAGS_RAW_DATA_NO_SWAP = 0x08,
363 
364  // Checksum is the new 24 bit algorithm instead of the old 16 bit algorithm
365  CM_PKT_FLAGS_CHECKSUM_24_BIT = 0x10
366 };
367 
375 typedef enum
376 {
378  PSC_ASCII_START_BYTE = 0x24,
379 
381  PSC_ASCII_END_BYTE = 0x0A,
382 
384  PSC_START_BYTE = 0xFF,
385 
387  PSC_END_BYTE = 0xFE,
388 
390  PSC_RESERVED_KEY = 0xFD,
391 
393  UBLOX_START_BYTE1 = 0xB5,
394 
396  UBLOX_START_BYTE2 = 0x62,
397 
399  RTCM3_START_BYTE = 0xD3
400 } pkt_special_chars_t;
401 
403 typedef struct
404 {
406  unsigned char messageId[4];
407 
409  uint8_t* ptr;
410 
412  int ptrSize;
413 
415  int fieldCount;
416 
418  uint16_t* fieldsAndOffsets;
419 } asciiMessageMap_t;
420 
422 typedef struct
423 {
425  uint8_t startByte;
426 
428  uint8_t pid;
429 
431  uint8_t counter;
432 
440  uint8_t flags;
441 } packet_hdr_t;
442 
444 typedef struct
445 {
447  uint8_t cksum3;
448 
450  uint8_t cksum2;
451 
453  uint8_t cksum1;
454 
456  uint8_t stopByte;
457 } packet_ftr_t;
458 
460 typedef struct
461 {
463  packet_hdr_t hdr;
464 
466  bufPtr_t body;
467 } packet_t;
468 
470 typedef struct
471 {
472  packet_hdr_t hdr; // Packet header
473  bufPtr_t bodyHdr; // Body header
474  bufPtr_t txData; // Pointer and size of data to send
475 } pkt_info_t;
476 
478 typedef struct
479 {
481  uint32_t id;
482 
484  uint32_t size;
485 
487  uint32_t offset;
488 } p_data_hdr_t;
489 
491 typedef struct
492 {
494  p_data_hdr_t hdr;
495 
497  uint8_t buf[MAX_DATASET_SIZE];
498 } p_data_t, p_data_set_t;
499 
501 typedef struct
502 {
504  uint32_t id;
505 
507  uint32_t size;
508 
510  uint32_t offset;
511 
516  uint32_t bc_period_ms;
517 } p_data_get_t;
518 
520 typedef struct
521 {
523  uint32_t id;
524 } p_data_disable_t;
525 
527 typedef struct
528 {
530  uint32_t pktInfo;
531 
533  uint32_t pktCounter;
534 } p_ack_hdr_t;
535 
537 typedef struct
538 {
540  p_ack_hdr_t hdr;
541 
543  uint8_t buf[MAX_P_ACK_BODY_SIZE];
544 } p_ack_t, p_nack_t;
545 
547 POP_PACK
548 
549 // -------------------------------------------------------------------------------------------------------------------------------
550 // Common packet encode / decode functions
551 // -------------------------------------------------------------------------------------------------------------------------------
552 // common encode / decode for com manager and simple interface
553 int is_encode_binary_packet(void* srcBuffer, unsigned int srcBufferLength, packet_hdr_t* hdr, uint8_t additionalPktFlags, void* encodedPacket, int encodedPacketLength);
554 int is_decode_binary_packet(packet_t *pkt, unsigned char* pbuf, int pbufSize);
555 int is_decode_binary_packet_byte(uint8_t** _ptrSrc, uint8_t** _ptrDest, uint32_t* checksum, uint32_t shift);
556 void is_decode_binary_packet_footer(packet_ftr_t* ftr, uint8_t* ptrSrc, uint8_t** ptrSrcEnd, uint32_t* checksum);
557 
558 #if defined(RTK_EMBEDDED)
559 
560 // include rtklib.h yourself elsewhere
561 #define calculate24BitCRCQ rtk_crc24q
562 #define getBitsAsUInt32 getbitu
563 
564 #else
565 
566 unsigned int calculate24BitCRCQ(unsigned char* buffer, unsigned int len);
567 unsigned int getBitsAsUInt32(const unsigned char* buffer, unsigned int pos, unsigned int len);
568 
569 #endif
570 
572 char copyDataPToStructP(void *sptr, const p_data_t *data, const unsigned int maxsize);
573 
575 char copyDataPToStructP2(void *sptr, const p_data_hdr_t *dataHdr, const uint8_t *dataBuf, const unsigned int maxsize);
576 
577 
578 #ifdef __cplusplus
579 }
580 #endif
581 
582 #endif // IS_SIMPLE_INTERFACE_H
PSC_RESERVED_KEY
Definition: ISComm.h:390
is_comm_instance_t::buffer
uint8_t * buffer
Definition: ISComm.h:86
packet_t::body
bufPtr_t body
Definition: ISComm.h:466
CM_PKT_FLAGS_LITTLE_ENDIAN
Definition: ISComm.h:352
@@ -100,7 +100,7 @@
CM_PKT_FLAGS_CHECKSUM_24_BIT
Definition: ISComm.h:365
packet_ftr_t::cksum1
uint8_t cksum1
Definition: ISComm.h:453
is_comm_set_data
int is_comm_set_data(is_comm_instance_t *instance, uint32_t dataId, uint32_t offset, uint32_t size, void *data)
Definition: ISComm.c:488
-
POP_PACK
#define POP_PACK
Definition: ISConstants.h:224
+
POP_PACK
#define POP_PACK
Definition: ISConstants.h:221
asciiMessageMap_t::fieldCount
int fieldCount
Definition: ISComm.h:415
asciiTypeFloat
Definition: ISComm.h:340
IS_BAUDRATE_3000000
Definition: ISComm.h:234
@@ -119,7 +119,7 @@
packet_ftr_t::stopByte
uint8_t stopByte
Definition: ISComm.h:456
buffer_t
Definition: ISComm.h:298
PID_SET_DATA
Definition: ISComm.h:282
-
PUSH_PACK_1
#define PUSH_PACK_1
Definition: ISConstants.h:221
+
PUSH_PACK_1
#define PUSH_PACK_1
Definition: ISConstants.h:218
p_data_get_t::offset
uint32_t offset
Definition: ISComm.h:510
p_ack_hdr_t::pktCounter
uint32_t pktCounter
Definition: ISComm.h:533
IS_BAUDRATE_460800
Definition: ISComm.h:232
diff --git a/docs/html/_i_s_comm_data_buffer_8cpp.html b/docs/html/_i_s_comm_data_buffer_8cpp.html index de4407cc6..dd4356af3 100644 --- a/docs/html/_i_s_comm_data_buffer_8cpp.html +++ b/docs/html/_i_s_comm_data_buffer_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_comm_data_buffer_8cpp_source.html b/docs/html/_i_s_comm_data_buffer_8cpp_source.html index 929a004af..046a203f7 100644 --- a/docs/html/_i_s_comm_data_buffer_8cpp_source.html +++ b/docs/html/_i_s_comm_data_buffer_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,13 +72,13 @@
ISCommDataBuffer.cpp
-Go to the documentation of this file.
1 #include "ISCommDataBuffer.h"
2 #include "ISDataMappings.h"
3 #include "ISLogger.h"
4 
5 #include <stdio.h>
6 #include <sstream>
7 
8 #define MAX_ITEM_HISTORY 2048
9 
10 cComDataBuffer g_comDataBuffer;
11 
12 cComDataBuffer::cComDataBuffer()
13 {
14  m_lastTimestamp = 0.0;
15  basePath = tempPath();
16  _MKDIR(basePath.c_str());
17  basePath += "InertialSense/";
18  _MKDIR(basePath.c_str());
19  basePath += "ComDataBuffer/";
20  Reset();
21 }
22 
23 
24 cComDataBuffer::~cComDataBuffer()
25 {
26  Reset();
27 }
28 
29 
30 void cComDataBuffer::Reset()
31 {
32  for (size_t i = 0; i < m_buffers.size(); i++)
33  {
34  for (size_t j = 0; j < m_buffers[i].size(); j++)
35  {
36  fclose(m_buffers[i][j].file);
37  fclose(m_timestamps[i][j].file);
38  }
39  }
40  m_buffers.clear();
41  m_timestamps.clear();
42  m_lastTimestamp = 0.0;
43  cISLogger::DeleteDirectory(basePath);
44  _MKDIR(basePath.c_str());
45 }
46 
47 
48 int cComDataBuffer::PushData(int pHandle, const p_data_t* data)
49 {
50  if (data->hdr.id == 0 || data->hdr.id >= DID_MAX_COUNT)
51  {
52  return -1;
53  }
54 
55  cMutexLocker lock(&m_mutex);
56 
57  EnsureBuffers(pHandle);
58  float timestamp = (float)cISDataMappings::GetTimestamp(&data->hdr, data->buf);
59  if (timestamp != 0.0f)
60  {
61  m_lastTimestamp = timestamp;
62  }
63 
64  uint32_t structSize = cISDataMappings::GetSize(data->hdr.id);
65  vector<uint8_t> dataBuffer;
66  dataBuffer.reserve(structSize);
67 
68  if (data->hdr.offset + data->hdr.size > structSize)
69  {
70  // push a completely zeroed out data struct, out of bounds / corrupt data
71  for (size_t i = 0; i < structSize; i++)
72  {
73  dataBuffer.push_back(0);
74  }
75  }
76  else
77  {
78  // add 0 for every byte before offset
79  for (size_t i = 0; i < data->hdr.offset; i++)
80  {
81  dataBuffer.push_back(0);
82  }
83  // add the actual data bytes
84  for (size_t i = 0; i < data->hdr.size; i++)
85  {
86  dataBuffer.push_back(data->buf[i]);
87  }
88  // add 0 for every byte after offset + size but before total size
89  for (size_t i = 0; i < structSize - data->hdr.size; i++)
90  {
91  dataBuffer.push_back(0);
92  }
93  }
94 
95  // write timestamp and increment write offset
96  size_t written = fwrite(&timestamp, 1, sizeof(float), m_timestamps[pHandle][data->hdr.id].file);
97  if (written != sizeof(float))
98  {
99  return -1;
100  }
101  else if ((m_timestamps[pHandle][data->hdr.id].writeOffset += sizeof(float)) / sizeof(float) >= MAX_ITEM_HISTORY)
102  {
103  m_timestamps[pHandle][data->hdr.id].writeOffset = 0;
104  fseek(m_timestamps[pHandle][data->hdr.id].file, 0, SEEK_SET);
105  }
106 
107  // write data and increment offset
108  written = fwrite(&dataBuffer[0], 1, dataBuffer.size(), m_buffers[pHandle][data->hdr.id].file);
109  if (written != dataBuffer.size())
110  {
111  return -1;
112  }
113  else if ((m_buffers[pHandle][data->hdr.id].writeOffset += structSize) / structSize >= MAX_ITEM_HISTORY)
114  {
115  m_buffers[pHandle][data->hdr.id].writeOffset = 0;
116  fseek(m_buffers[pHandle][data->hdr.id].file, 0, SEEK_SET);
117  }
118 
119  return 0;
120 }
121 
122 
123 int cComDataBuffer::ReadData(int pHandle, uint32_t dataId, vector<uint8_t>& data)
124 {
125  data.clear();
126 
127  if (dataId == 0 || dataId >= DID_MAX_COUNT)
128  {
129  return -1;
130  }
131 
132  cMutexLocker lock(&m_mutex);
133 
134  struct stat buf;
135  FILE* file = m_buffers[pHandle][dataId].file;
136  fflush(file);
137 #ifdef __linux__
138  fstat(fileno(file), &buf);
139 #else
140  fstat(_fileno(file), &buf);
141 #endif
142  long size = buf.st_size;
143  long pos = ftell(file);
144  long afterWriteOffset = size - pos;
145  size_t read = 0;
146 
147  // read everything after write offset
148  data.resize(size);
149  if (pos < size)
150  {
151  read += fread(&data[0], 1, afterWriteOffset, file);
152  }
153 
154  // read in anything before write offset
155  if (pos != 0)
156  {
157  fseek(file, 0, SEEK_SET);
158  read += fread(&data[afterWriteOffset], 1, pos, file);
159  }
160 
161  if (read != size)
162  {
163  return ferror(file);
164  }
165 
166  // reset file pointer to correct location for next read or write
167  fseek(file, (long)m_buffers[pHandle][dataId].writeOffset, SEEK_SET);
168 
169  return 0;
170 }
171 
172 
173 void cComDataBuffer::EnsureBuffers(int pHandle)
174 {
175  while (m_buffers.size() <= (size_t)pHandle)
176  {
177  size_t i = m_buffers.size();
178  m_buffers.push_back(vector<buffer_file_t>());
179  m_timestamps.push_back(vector<buffer_file_t>());
180 
181  stringstream out;
182  out << i;
183  string num = out.str();
184 
185  for (uint32_t dataIndex = 1; dataIndex < DID_COUNT; dataIndex++)
186  {
187  stringstream out2;
188  out2 << dataIndex;
189  string num2 = out2.str();
190 
191  buffer_file_t file = { 0 };
192 
193  file.path = basePath + "databuffer_" + num + "_" + num2 + string(".buf");
194  file.file = openFile(file.path.c_str(), "wb+");
195  m_buffers[i].push_back(file);
196 
197  file.path = basePath + "timebuffer_" + num + "_" + num2 + string(".buf");
198  file.file = openFile(file.path.c_str(), "wb+");
199  m_timestamps[i].push_back(file);
200  }
201  }
202 }
cISDataMappings::GetSize
static uint32_t GetSize(uint32_t dataId)
Definition: ISDataMappings.cpp:1270
+Go to the documentation of this file.
1 #include "ISCommDataBuffer.h"
2 #include "ISDataMappings.h"
3 #include "ISLogger.h"
4 
5 #include <stdio.h>
6 #include <sstream>
7 
8 #define MAX_ITEM_HISTORY 2048
9 
10 cComDataBuffer g_comDataBuffer;
11 
12 cComDataBuffer::cComDataBuffer()
13 {
14  m_lastTimestamp = 0.0;
15  basePath = tempPath();
16  _MKDIR(basePath.c_str());
17  basePath += "InertialSense/";
18  _MKDIR(basePath.c_str());
19  basePath += "ComDataBuffer/";
20  Reset();
21 }
22 
23 
24 cComDataBuffer::~cComDataBuffer()
25 {
26  Reset();
27 }
28 
29 
30 void cComDataBuffer::Reset()
31 {
32  for (size_t i = 0; i < m_buffers.size(); i++)
33  {
34  for (size_t j = 0; j < m_buffers[i].size(); j++)
35  {
36  fclose(m_buffers[i][j].file);
37  fclose(m_timestamps[i][j].file);
38  }
39  }
40  m_buffers.clear();
41  m_timestamps.clear();
42  m_lastTimestamp = 0.0;
43  cISLogger::DeleteDirectory(basePath);
44  _MKDIR(basePath.c_str());
45 }
46 
47 
48 int cComDataBuffer::PushData(int pHandle, const p_data_t* data)
49 {
50  if (data->hdr.id == 0 || data->hdr.id >= DID_MAX_COUNT)
51  {
52  return -1;
53  }
54 
55  cMutexLocker lock(&m_mutex);
56 
57  EnsureBuffers(pHandle);
58  float timestamp = (float)cISDataMappings::GetTimestamp(&data->hdr, data->buf);
59  if (timestamp != 0.0f)
60  {
61  m_lastTimestamp = timestamp;
62  }
63 
64  uint32_t structSize = cISDataMappings::GetSize(data->hdr.id);
65  vector<uint8_t> dataBuffer;
66  dataBuffer.reserve(structSize);
67 
68  if (data->hdr.offset + data->hdr.size > structSize)
69  {
70  // push a completely zeroed out data struct, out of bounds / corrupt data
71  for (size_t i = 0; i < structSize; i++)
72  {
73  dataBuffer.push_back(0);
74  }
75  }
76  else
77  {
78  // add 0 for every byte before offset
79  for (size_t i = 0; i < data->hdr.offset; i++)
80  {
81  dataBuffer.push_back(0);
82  }
83  // add the actual data bytes
84  for (size_t i = 0; i < data->hdr.size; i++)
85  {
86  dataBuffer.push_back(data->buf[i]);
87  }
88  // add 0 for every byte after offset + size but before total size
89  for (size_t i = 0; i < structSize - data->hdr.size; i++)
90  {
91  dataBuffer.push_back(0);
92  }
93  }
94 
95  // write timestamp and increment write offset
96  size_t written = fwrite(&timestamp, 1, sizeof(float), m_timestamps[pHandle][data->hdr.id].file);
97  if (written != sizeof(float))
98  {
99  return -1;
100  }
101  else if ((m_timestamps[pHandle][data->hdr.id].writeOffset += sizeof(float)) / sizeof(float) >= MAX_ITEM_HISTORY)
102  {
103  m_timestamps[pHandle][data->hdr.id].writeOffset = 0;
104  fseek(m_timestamps[pHandle][data->hdr.id].file, 0, SEEK_SET);
105  }
106 
107  // write data and increment offset
108  written = fwrite(&dataBuffer[0], 1, dataBuffer.size(), m_buffers[pHandle][data->hdr.id].file);
109  if (written != dataBuffer.size())
110  {
111  return -1;
112  }
113  else if ((m_buffers[pHandle][data->hdr.id].writeOffset += structSize) / structSize >= MAX_ITEM_HISTORY)
114  {
115  m_buffers[pHandle][data->hdr.id].writeOffset = 0;
116  fseek(m_buffers[pHandle][data->hdr.id].file, 0, SEEK_SET);
117  }
118 
119  return 0;
120 }
121 
122 
123 int cComDataBuffer::ReadData(int pHandle, uint32_t dataId, vector<uint8_t>& data)
124 {
125  data.clear();
126 
127  if (dataId == 0 || dataId >= DID_MAX_COUNT)
128  {
129  return -1;
130  }
131 
132  cMutexLocker lock(&m_mutex);
133 
134  struct stat buf;
135  FILE* file = m_buffers[pHandle][dataId].file;
136  fflush(file);
137 #ifdef __linux__
138  fstat(fileno(file), &buf);
139 #else
140  fstat(_fileno(file), &buf);
141 #endif
142  long size = buf.st_size;
143  long pos = ftell(file);
144  long afterWriteOffset = size - pos;
145  size_t read = 0;
146 
147  // read everything after write offset
148  data.resize(size);
149  if (pos < size)
150  {
151  read += fread(&data[0], 1, afterWriteOffset, file);
152  }
153 
154  // read in anything before write offset
155  if (pos != 0)
156  {
157  fseek(file, 0, SEEK_SET);
158  read += fread(&data[afterWriteOffset], 1, pos, file);
159  }
160 
161  if (read != size)
162  {
163  return ferror(file);
164  }
165 
166  // reset file pointer to correct location for next read or write
167  fseek(file, (long)m_buffers[pHandle][dataId].writeOffset, SEEK_SET);
168 
169  return 0;
170 }
171 
172 
173 void cComDataBuffer::EnsureBuffers(int pHandle)
174 {
175  while (m_buffers.size() <= (size_t)pHandle)
176  {
177  size_t i = m_buffers.size();
178  m_buffers.push_back(vector<buffer_file_t>());
179  m_timestamps.push_back(vector<buffer_file_t>());
180 
181  stringstream out;
182  out << i;
183  string num = out.str();
184 
185  for (uint32_t dataIndex = 1; dataIndex < DID_COUNT; dataIndex++)
186  {
187  stringstream out2;
188  out2 << dataIndex;
189  string num2 = out2.str();
190 
191  buffer_file_t file = { 0 };
192 
193  file.path = basePath + "databuffer_" + num + "_" + num2 + string(".buf");
194  file.file = openFile(file.path.c_str(), "wb+");
195  m_buffers[i].push_back(file);
196 
197  file.path = basePath + "timebuffer_" + num + "_" + num2 + string(".buf");
198  file.file = openFile(file.path.c_str(), "wb+");
199  m_timestamps[i].push_back(file);
200  }
201  }
202 }
cISDataMappings::GetSize
static uint32_t GetSize(uint32_t dataId)
Definition: ISDataMappings.cpp:1291
g_comDataBuffer
cComDataBuffer g_comDataBuffer
Definition: ISCommDataBuffer.cpp:10
ISCommDataBuffer.h
ISDataMappings.h
p_data_hdr_t::id
uint32_t id
Definition: ISComm.h:481
p_data_hdr_t::size
uint32_t size
Definition: ISComm.h:484
-
cISDataMappings::GetTimestamp
static double GetTimestamp(const p_data_hdr_t *hdr, const uint8_t *buf)
Definition: ISDataMappings.cpp:1457
+
cISDataMappings::GetTimestamp
static double GetTimestamp(const p_data_hdr_t *hdr, const uint8_t *buf)
Definition: ISDataMappings.cpp:1532
ISLogger.h
DID_COUNT
#define DID_COUNT
Definition: data_sets.h:117
@@ -89,12 +89,12 @@
cComDataBuffer::PushData
int PushData(int pHandle, const p_data_t *data)
Definition: ISCommDataBuffer.cpp:48
p_data_t
Definition: ISComm.h:491
tempPath
const char * tempPath()
Definition: ISUtilities.cpp:433
-
cISLogger::DeleteDirectory
static void DeleteDirectory(const string &directory, bool recursive=true)
Definition: ISLogger.cpp:339
+
cISLogger::DeleteDirectory
static void DeleteDirectory(const string &directory, bool recursive=true)
Definition: ISLogger.cpp:340
p_data_t::buf
uint8_t buf[MAX_DATASET_SIZE]
Definition: ISComm.h:497
p_data_hdr_t::offset
uint32_t offset
Definition: ISComm.h:487
cComDataBuffer::~cComDataBuffer
virtual ~cComDataBuffer()
Definition: ISCommDataBuffer.cpp:24
-
_MKDIR
#define _MKDIR(dir)
Definition: ISConstants.h:203
+
_MKDIR
#define _MKDIR(dir)
Definition: ISConstants.h:200
MAX_ITEM_HISTORY
#define MAX_ITEM_HISTORY
Definition: ISCommDataBuffer.cpp:8
DID_MAX_COUNT
#define DID_MAX_COUNT
Definition: data_sets.h:120
diff --git a/docs/html/_i_s_comm_data_buffer_8h.html b/docs/html/_i_s_comm_data_buffer_8h.html index 43f494f28..82219f346 100644 --- a/docs/html/_i_s_comm_data_buffer_8h.html +++ b/docs/html/_i_s_comm_data_buffer_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_comm_data_buffer_8h_source.html b/docs/html/_i_s_comm_data_buffer_8h_source.html index 2de328e64..eb0b43ca0 100644 --- a/docs/html/_i_s_comm_data_buffer_8h_source.html +++ b/docs/html/_i_s_comm_data_buffer_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_constants_8h.html b/docs/html/_i_s_constants_8h.html index 6ab1a7303..1d9bed6d4 100644 --- a/docs/html/_i_s_constants_8h.html +++ b/docs/html/_i_s_constants_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -76,6 +76,7 @@
#include <stdlib.h>
+#include <stdio.h>
#include <math.h>
#include <string.h>
#include <assert.h>
@@ -103,12 +104,12 @@   #define REALLOC(m, size)   realloc(m, size)   +#define SNPRINTF   snprintf +  #define INLINE   inline   #define SSCANF   sscanf   -#define SNPRINTF   snprintf -  #define STRNCPY(a, b, c)   strncpy((char*)a, (char*)b, c)   #define BEGIN_CRITICAL_SECTION @@ -772,7 +773,7 @@

-

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+

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@@ -792,7 +793,7 @@

-

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+

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@@ -812,7 +813,7 @@

-

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+

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+

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+

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+

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+

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-

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+

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+

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+

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+

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+

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+

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+

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+

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+

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+

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+

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+

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+

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+

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+

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+

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+

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+

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+

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+

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-

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+

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+

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diff --git a/docs/html/_i_s_constants_8h_source.html b/docs/html/_i_s_constants_8h_source.html index d5a91fa6b..031786107 100644 --- a/docs/html/_i_s_constants_8h_source.html +++ b/docs/html/_i_s_constants_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,22 +72,22 @@
ISConstants.h
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef CONSTANTS_H_
14 #define CONSTANTS_H_
15 
16 #ifdef __cplusplus
17 extern "C" {
18 #endif
19 
20 #undef _MATH_DEFINES_DEFINED
21 #define _MATH_DEFINES_DEFINED
22 #include <stdlib.h>
23 #include <math.h>
24 #include <string.h>
25 #include <assert.h>
26 #include <inttypes.h>
27 #include <time.h>
28 
29 #define PRE_PROC_COMBINE1(X, Y) X##Y
30 #define PRE_PROC_COMBINE(X, Y) PRE_PROC_COMBINE1(X, Y)
31 
32 #if defined(WIN32) || defined(__WIN32__) || defined(_WIN32)
33 
34 #define PLATFORM_IS_WINDOWS 1
35 #ifndef _CRT_SECURE_NO_DEPRECATE
36 #define _CRT_SECURE_NO_DEPRECATE
37 #endif
38 
39 // If you are getting winsock compile errors, make sure to include ISConstants.h as the first file in your header or c/cpp file
40 #define _WINSOCKAPI_
41 #include <winsock2.h>
42 #include <WS2tcpip.h>
43 #include <windows.h>
44 #define socket_t SOCKET
45 
46 #define CPU_IS_LITTLE_ENDIAN (REG_DWORD == REG_DWORD_LITTLE_ENDIAN)
47 #define CPU_IS_BIG_ENDIAN (REG_DWORD == REG_DWORD_BIG_ENDIAN)
48 #define S_ISREG(m) (((m) & S_IFMT) == S_IFREG)
49 #define S_ISDIR(m) (((m) & S_IFMT) == S_IFDIR)
50 
51 #elif defined(__APPLE__)
52 
53 #define socket_t int
54 
55 #define PLATFORM_IS_APPLE 1
56 #if defined(__LITTLE_ENDIAN__)
57 #define CPU_IS_LITTLE_ENDIAN 1
58 #define CPU_IS_BIG_ENDIAN 0
59 #elif defined(__BIG_ENDIAN__)
60 #define CPU_IS_LITTLE_ENDIAN 0
61 #define CPU_IS_BIG_ENDIAN 1
62 #endif
63 
64 #elif defined(__linux__) || defined(__unix__) || defined(__CYGWIN__)
65 
66 #include <endian.h>
67 
68 #ifndef __BYTE_ORDER
69 #error __BYTE_ORDER not defined, must be __LITTLE_ENDIAN or __BIG_ENDIAN
70 #endif
71 
72 #define PLATFORM_IS_LINUX 1
73 #define socket_t int
74 #define CPU_IS_LITTLE_ENDIAN (__BYTE_ORDER == __LITTLE_ENDIAN)
75 #define CPU_IS_BIG_ENDIAN (__BYTE_ORDER == __BIG_ENDIAN)
76 
77 #elif defined(ARM)
78 
79 #define PLATFORM_IS_EMBEDDED 1
80 #define PLATFORM_IS_ARM 1
81 #define CPU_IS_LITTLE_ENDIAN 1
82 #define CPU_IS_BIG_ENDIAN 0
83 
84 #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega168__) ||defined(__AVR_ATmega168P__) ||defined(__AVR_ATmega328P__)
85 #define PLATFORM_IS_EMBEDDED 1
86 #define PLATFORM_IS_ARM 0
87 #define CPU_IS_LITTLE_ENDIAN 1
88 #define CPU_IS_BIG_ENDIAN 0
89 
90 #elif defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__)
91 
92 #define PLATFORM_IS_EMBEDDED 1
93 #define PLATFORM_IS_ARM 1
94 #define CPU_IS_LITTLE_ENDIAN 1
95 #define CPU_IS_BIG_ENDIAN 0
96 
97 #else
98 
99 #error Unknown platform not supported, be sure to set it up here, defining CPU_IS_LITTLE_ENDIAN and CPU_IS_BIG_ENDIAN
100 
101 #endif
102 
103 #if !defined(CPU_IS_LITTLE_ENDIAN) || !defined(CPU_IS_BIG_ENDIAN) || CPU_IS_LITTLE_ENDIAN == CPU_IS_BIG_ENDIAN
104 
105 #error Unsupported / unknown CPU architecture
106 
107 #endif
108 
109 #if defined(PLATFORM_IS_EMBEDDED) && PLATFORM_IS_EMBEDDED
110 
111 extern void* pvPortMalloc(size_t xWantedSize);
112 extern void vPortFree(void* pv);
113 #define MALLOC(m) pvPortMalloc(m)
114 #define FREE(m) vPortFree(m)
115 #define REALLOC(m, size) 0 // not supported
116 
117 #else
118 
119 #ifdef MALLOC_DEBUG
120 #ifdef __cplusplus
121 extern "C" {
122 #endif
123 extern void* malloc_debug(size_t size);
124 extern void free_debug(void* mem);
125 extern void* realloc_debug(void* mem, size_t newSize);
126 #ifdef __cplusplus
127 }
128 #endif
129 #define MALLOC(m) malloc_debug(m)
130 #define FREE(m) free_debug(m)
131 #define REALLOC(m, size) realloc_debug(m, size)
132 #else
133 #define MALLOC(m) malloc(m)
134 #define FREE(m) free(m)
135 #define REALLOC(m, size) realloc(m, size)
136 #endif
137 
138 #endif
139 
140 #if defined(_MSC_VER)
141 
142 #ifndef INLINE
143 #define INLINE __inline
144 #endif
145 
146 #ifndef SSCANF
147 #define SSCANF(src, fmt, ...) sscanf_s(src, fmt, __VA_ARGS__);
148 #endif
149 
150 #ifndef SNPRINTF
151 #define SNPRINTF(buf, size, format, ...) _snprintf_s(buf, size, size, format, __VA_ARGS__)
152 #endif
153 
154 #ifndef STRNCPY
155 #define STRNCPY(a, b, c) strncpy_s(a, c, b, c);
156 #endif
157 
158 #define strncasecmp _strnicmp
159 
160 #else
161 
162 #ifndef INLINE
163 #define INLINE inline
164 #endif
165 
166 #ifndef SSCANF
167 #define SSCANF sscanf
168 #endif
169 
170 #ifndef SNPRINTF
171 #define SNPRINTF snprintf
172 #endif
173 
174 #ifndef STRNCPY
175 #define STRNCPY(a, b, c) strncpy((char*)a, (char*)b, c)
176 #endif
177 
178 #endif
179 
180 #if !defined(PLATFORM_IS_EMBEDDED) || !PLATFORM_IS_EMBEDDED
181 
182 #define BEGIN_CRITICAL_SECTION
183 #define END_CRITICAL_SECTION
184 
185 #if PLATFORM_IS_WINDOWS
186 
187 #include <direct.h>
188 #include <sys/utime.h>
189 #define _MKDIR(dir) _mkdir(dir)
190 #define _RMDIR(dir) _rmdir(dir)
191 #define _GETCWD(buf, len) _getcwd(buf, len)
192 #define _UTIME _utime
193 #define _UTIMEBUF struct _utimbuf
194 
195 #else
196 
197 #include <unistd.h>
198 #include <dirent.h>
199 #include <errno.h>
200 #include <utime.h>
201 #include <sys/stat.h>
202 //#define _MKDIR(dir) mkdir(dir, S_IRWXU) // 777 owner access only
203 #define _MKDIR(dir) mkdir(dir, ACCESSPERMS) // 0777 access for all
204 #define _RMDIR(dir) rmdir(dir)
205 #define _GETCWD(buf, len) getcwd(buf, len)
206 #define _UTIME utime
207 #define _UTIMEBUF struct utimbuf
208 
209 #endif
210 
211 #endif
212 
213 // with this you can tell the compiler not to insert padding
214 #if defined(_MSC_VER)
215 #define PUSH_PACK_1 __pragma(pack(push, 1))
216 #define PUSH_PACK_4 __pragma(pack(push, 4))
217 #define PUSH_PACK_8 __pragma(pack(push, 8))
218 #define POP_PACK __pragma(pack(pop))
219 #define PACKED
220 #else
221 #define PUSH_PACK_1 _Pragma("pack(push, 1)")
222 #define PUSH_PACK_4 _Pragma("pack(push, 4)")
223 #define PUSH_PACK_8 _Pragma("pack(push, 8)")
224 #define POP_PACK _Pragma("pack(pop)")
225 #define PACKED
226 #endif
227 
228 // #define PACKED_STRUCT typedef struct PACKED
229 // #define PACKED_UNION typedef union PACKED
230 
231 #ifndef UNMASK
232 #define UNMASK(_word, _prefix) (((_word) & (_prefix##_MASK)) >> (_prefix##_SHIFT))
233 #endif
234 
235 #ifndef MASK
236 #define MASK(_prefix, _val) ((_prefix##_MASK) & ((_val) << (_prefix##_SHIFT)))
237 #endif
238 
239 #ifndef SWAP16
240 #define SWAP16(v) ((uint16_t)(((uint16_t)(v) >> 8) | ((uint16_t)(v) << 8)))
241 #endif
242 
243 #ifndef SWAP32
244 #if defined(__GNUC__)
245 #define SWAP32 __builtin_bswap32
246 #define SWAP64 __builtin_bswap64
247 #elif defined(__ICCAVR32__)
248 #define SWAP32 __swap_bytes
249 #elif defined(_MSC_VER)
250 #include "intrin.h"
251 #define SWAP32 _byteswap_ulong
252 #define SWAP64 _byteswap_uint64
253 #endif
254 #endif
255 
256 #ifndef SWAP32
257 #define SWAP32(v) ((uint32_t)(((uint32_t)SWAP16((uint32_t)(v) >> 16)) | ((uint32_t)SWAP16((uint32_t)(v)) << 16)))
258 #endif
259 
260 #ifndef SWAP64
261 #define SWAP64(v) ((uint64_t)(((uint64_t)SWAP32((uint64_t)(v) >> 32)) | ((uint64_t)SWAP32((uint64_t)(v)) << 32)))
262 #endif
263 
264 #ifndef _MAX
265 #define _MAX(a,b) (((a) > (b)) ? (a) : (b))
266 #endif
267 
268 #ifndef _MIN
269 #define _MIN(a,b) (((a) < (b)) ? (a) : (b))
270 #endif
271 
272 #ifndef _CLAMP
273 #define _CLAMP(v, minV, maxV) (v < minV ? minV : (v > maxV ? maxV : v))
274 #endif
275 
276 #ifndef _SATURATE
277 #define _SATURATE(v) _CLAMP(v, 0, 1)
278 #endif
279 
280 #ifndef _LIMIT
281 #define _LIMIT(x, lim) {if(!((x)>(-lim))){(x)=(-lim);}else{if(!((x)<(lim))){(x)=(lim);}}} // Works w/ NAN
282 #endif
283 
284 #ifndef _LIMIT2
285 #define _LIMIT2(x, xmin, xmax) { if ((x) < (xmin)) { (x) = (xmin); } else { if ((x) > (xmax)) { (x) = (xmax); } } }
286 #endif
287 
288 #ifndef _ISNAN
289 #define _ISNAN(a) ((a)!=(a))
290 #endif
291 
292 #ifndef _ARRAY_BYTE_COUNT
293 #define _ARRAY_BYTE_COUNT(a) sizeof(a)
294 #endif
295 
296 #ifndef _ARRAY_ELEMENT_COUNT
297 #define _ARRAY_ELEMENT_COUNT(a) (sizeof(a) / sizeof(a[0]))
298 #endif
299 
300 #ifndef _MEMBER_ARRAY_ELEMENT_COUNT
301 #define _MEMBER_ARRAY_ELEMENT_COUNT(type, member) _ARRAY_ELEMENT_COUNT(((type*)0)->member)
302 #endif
303 
304 #ifndef MEMBERSIZE
305 #define MEMBERSIZE(type, member) sizeof(((type*)0)->member)
306 #endif
307 
308 #ifndef STRINGIFY
309 #define STRINGIFY(x) #x
310 #endif
311 
312 #ifndef M_PI
313 #define M_PI (3.14159265358979323846f)
314 #endif
315 
316 #ifndef RAD2DEG
317 #define RAD2DEG(rad) ((rad)*(180.0f/M_PI))
318 #endif
319 #ifndef DEG2RAD
320 #define DEG2RAD(deg) ((deg)*(M_PI/180.0f))
321 #endif
322 #ifndef DEG2RADMULT
323 #define DEG2RADMULT (M_PI/180.0f)
324 #endif
325 #ifndef RAD2DEGMULT
326 #define RAD2DEGMULT (180.0f/M_PI)
327 #endif
328 #define ATanH(x) (0.5 * log((1 + x) / (1 - x)))
329 
330 #if defined(__cplusplus)
331 
332 #define PURE_VIRTUAL = 0
333 
334 #endif
335 
336 #if ((defined(_MSC_VER) && _MSC_VER >= 1900) || (defined(__cplusplus) && ((__cplusplus >= 201103L || (__cplusplus < 200000 && __cplusplus > 199711L)))))
337 
338 #ifndef C11_IS_ENABLED
339 #define C11_IS_ENABLED 1
340 #endif
341 #ifndef CONST_EXPRESSION
342 #define CONST_EXPRESSION constexpr static
343 #endif
344 #ifndef STATIC_ASSERT
345 #define STATIC_ASSERT(exp) static_assert(exp, "STATIC ASSERT FAILED!")
346 #endif
347 #ifndef STATIC_ASSERT_MSG
348 #define STATIC_ASSERT_MSG(exp, msg) static_assert(exp, msg)
349 #endif
350 #ifndef OVERRIDE
351 #define OVERRIDE override
352 #endif
353 #ifndef NULLPTR
354 #define NULLPTR nullptr
355 #endif
356 
357 #else
358 
359 #if defined(__GNUC__)
360 #pragma GCC diagnostic push
361 #pragma GCC diagnostic ignored "-Wunused-local-typedefs"
362 #endif
363 
364 #ifndef C11_IS_ENABLED
365 #define C11_IS_ENABLED 0
366 #endif
367 #ifndef CONST_EXPRESSION
368 #define CONST_EXPRESSION static const
369 #endif
370 #ifndef STATIC_ASSERT
371 #define STATIC_ASSERT(exp) typedef char PRE_PROC_COMBINE(STATIC_ASSERT_FAILED_, __LINE__)[(exp) ? 1 : -1]
372 #endif
373 #ifndef STATIC_ASSERT_MSG
374 #define STATIC_ASSERT_MSG(exp, msg) typedef char PRE_PROC_COMBINE(msg, __LINE__)[(exp) ? 1 : -1]
375 #endif
376 #ifndef OVERRIDE
377 #define OVERRIDE
378 #endif
379 #ifndef NULLPTR
380 #define NULLPTR 0
381 #endif
382 
383 #if defined(__GNUC__)
384 #pragma GCC diagnostic pop
385 #endif
386 
387 #endif
388 
389 // diff two times as uint32_t, handling wrap-around
390 #define UINT32_TIME_DIFF(current, prev) ((uint32_t)(current) - (uint32_t)(prev))
391 
392 #define DT_TO_HZ(dt) (((dt) == (0.0)) ? (0) : (1.0/dt))
393 
394 #define C_IN2M 0.0254 // inches to meters
395 #define C_FT2M 0.3048 // (C_IN2M*12) feet to meters
396 #define C_M2FT 3.2808398950131233595800524934383 // (1.0/C_FT2M)
397 
398 #define C_YD2M 0.9144 // (C_FT2M*3) yards to meters
399 
400 #define C_IN2M_F 0.0254f // inches to meters
401 #define C_FT2M_F 0.3048f // (C_IN2M*12) feet to meters
402 #define C_M2FT_F 3.2808398950131233595800524934383f // (1.0/C_FT2M)
403 #define C_YD2M_F 0.9144f // (C_FT2M*3) yards to meters
404 
405 
406 #define C_NMI2M 1852.0 // nautical miles to meters
407 #define C_MI2M 1609.344 // (C_FT2M*5280) miles to meters
408 
409 #define C_NMI2M_F 1852.0f // nautical miles to meters
410 #define C_MI2M_F 1609.344f // (C_FT2M*5280) miles to meters
411 
412 #define C_METERS_KNOTS 1.943844 // Meters/sec squared to knots
413 #define C_METERS_KNOTS_F 1.943844f // Meters/sec squared to knots
414 
416 // Acceleration / Force
417 
418 // Local gravity available as = gravity_igf80(lattitude_rad, altitude_m);
419 #if 1
420 
421 // Standard Gravity (at sea level)
422 #define C_G_TO_MPS2 9.80665 // (m/s^2) standard gravity
423 #define C_MPS2_TO_G 0.101971621297793
424 #define C_G_TO_FTPS2 32.17404856 // (ft/s^2) standard gravity
425 
426 #define C_G_TO_MPS2_F 9.80665f // (m/s^2) standard gravity
427 #define C_MPS2_TO_G_F 0.101971621297793f
428 #define C_G_TO_FTPS2_F 32.17404856f // (ft/s^2) standard gravity
429 #endif
430 
432 // Pressure
433 
434 // Standard Atmospheric Pressure (at sea level)
435  // standard atmospheric pressure
436 #define C_P0N_M2 1.01325e5 // p0 in N/m^2
437 #define C_P0N_M2_F 1.01325e5f // p0 in N/m^2
438 #define C_P0 14.692125 // (C_P0N_M2*1.450e-4)
439 #define C_P0_F 14.692125f // (C_P0N_M2*1.450e-4)
440 
441 #define C_P0_PA_F 101325f // (Pa) Sea level standard atmospheric pressure
442 #define C_P0_KPA_F 101.325f // (kPa) Sea level standard atmospheric pressure
443 #define C_P0_MBAR_F 1013.25f // (mbar) Sea level standard atmospheric pressure
444 
445 #define C_INV_P0_KPA_F 9.8692326671601283e-3f // (1/kPa) Inverse of Sea level standard atmospheric pressure
446 
447 #define C_MBAR_TO_KPA_F 0.1f // (kpa/mbar) absolute pressure
448 #define C_KPA_TO_MBAR_F 10.0f // (mbar/kpa) absolute pressure
449 #define C_MBAR_TO_PA_F 100.0f // (kpa/mbar) absolute pressure
450 
452 // Temperature
453 
454 #define C_T0_F 288.15f // (K) Sea level standard temperature
455 
457 // Mass
458 
459 #define C_LBM2KG 0.45359237 // lb mass
460 #define C_KG2LBM 2.204622622 // (1.0/C_LBM2KG)
461 #define C_LBF2N 4.448221615 // (C_LBM2KG*C_G0MPERSEC2) lb force
462 #define C_SLUG2KG 14.59390294 // (C_LBM2KG*C_G0) slugs
463 
464 #define C_LBM2KG_F 0.45359237f // lb mass
465 #define C_KG2LBM_F 2.204622622f // (1.0/C_LBM2KG)
466 #define C_LBF2N_F 4.448221615f // (C_LBM2KG*C_G0MPERSEC2) lb force
467 #define C_SLUG2KG_F 14.59390294f // (C_LBM2KG*C_G0) slugs
468 
469 // Math constants
470 // from CRC Standard Mathematical Tables, 27th edition, 1984
471 
472 #define C_ROOT2 1.41421356237309504880168872420969807856967187537695
473 #define C_ROOT3 1.73205080756887729352744634150587236694280525381039
474 #define C_E 2.71828182845904523536028747135266249775724709369996
475 
476 #define C_DIVROOT2 0.70710678118654752440084436210485
477 
478 #define C_ROOT2_F 1.41421356237309504880168872420969807856967187537695f
479 #define C_ROOT3_F 1.73205080756887729352744634150587236694280525381039f
480 #define C_E_F 2.71828182845904523536028747135266249775724709369996f
481 
482 #define C_PIDIV16 0.19634954084936207740391521145497 // 11.25 deg
483 #define C_PIDIV8 0.39269908169872415480783042290994 // 22.5 deg
484 #define C_PIDIV4 0.78539816339744830961566084581988
485 #define C_PIDIV2 1.5707963267948966192313216916398
486 #define C_PI 3.14159265358979323846264338327950288419716939937511
487 #define C_TWOPI 6.283185307179586476925286766559
488 #define C_DIVTWOPI 0.15915494309189533576888376337251
489 #define C_DIVPI 0.31830988618379067153776752674503
490 
491 #define C_PIDIV16_F 0.19634954084936207740391521145497f // 11.25 deg
492 #define C_PIDIV8_F 0.39269908169872415480783042290994f // 22.5 deg
493 #define C_PIDIV4_F 0.78539816339744830961566084581988f // 45 deg
494 #define C_PIDIV2_F 1.5707963267948966192313216916398f // 90 deg
495 #define C_PI_F 3.14159265358979323846264338327950288419716939937511f // 180 deg
496 #define C_TWOPI_F 6.283185307179586476925286766559f // 360 deg
497 #define C_DIVTWOPI_F 0.15915494309189533576888376337251f
498 #define C_DIVPI_F 0.31830988618379067153776752674503f
499 
500 #define C_DEG2RAD 0.017453292519943295769236907684886
501 #define C_DEG2RAD_F 0.017453292519943295769236907684886f
502 #define C_RAD2DEG 57.295779513082320876798154814105
503 #define C_RAD2DEG_F 57.295779513082320876798154814105f
504 
505 #define C_MM2M 0.001
506 #define C_MM2M_F 0.001f
507 #define C_M2MM 1000.0
508 #define C_M2MM_F 1000.0f
509 
510 #define C_IN2M 0.0254
511 #define C_IN2M_F 0.0254f
512 #define C_M2IN 39.37007874
513 #define C_M2IN_F 39.37007874f
514 
515 #define C_IN2MM 25.4
516 #define C_IN2MM_F 25.4f
517 #define C_MM2IN 0.03937007874
518 #define C_MM2IN_F 0.03937007874f
519 
520 #define C_FPS2KT 0.5924838
521 #define C_FPS2KT_F 0.5924838f
522 #define C_KT2FPS 1.68780986
523 #define C_KT2FPS_F 1.68780986f
524 
525 #define C_SQIN2SQFT 0.00694444444444444444444
526 #define C_SQIN2SQFT_F 0.00694444444444444444444f
527 #define C_SQFT2SQIN 144.0
528 #define C_SQFT2SQIN_F 144.0f
529 
530 #define C_GPM2CFS 0.0022280093
531 #define C_GPM2CFS_F 0.0022280093f
532 #define C_CFS2GPM 448.83117
533 #define C_CFS2GPM_F 448.83117f
534 
535 #define C_DEGF0_R 459.69
536 #define C_DEGC0_T 273.16
537 #define C_DEGC0_DEGF 32.0
538 #define C_DEGF_PER_DEGC 1.8
539 
540 #define C_LN_2 0.69314718055994530941723212145818
541 #define C_LN_2_F 0.69314718055994530941723212145818f
542 
543 #define C_C2K 273.16
544 #define C_C2K_F 273.16f
545 #define C_F2R 459.69
546 #define C_F2R_F 459.69f
547 
548 #define C_G_CONST 1.068944098e-09 // 6.6732e-11*CUBE(C_M2FT)/C_KG2LBM
549 #define C_EARTH_MASS 1.317041554e25 // 5.974e24*C_KG2LBM
550 #define C_N0_AVOGADRO 6.02205e23
551 #define C_R_IDEAL_SU 8.31434
552 #define C_K_BOLTZMANN 1.380622e-23
553 #define C_C_LIGHT 983571194.2 // 2.9979250e+8*C_M2FT
554 #define C_ECHARGE 1.6021917e-19
555 
556 #define C_DOFA 0.080719353 // 1.293*C_KG2LBM/CUBE(C_M2FT)
557 #define C_DOFH2O 62.427960576 // 1.000e3*C_KG2LBM/CUBE(C_M2FT)
558 #define C_STOFH2O 75.6
559 #define C_VOFH2O 1.787e-3
560 #define C_SOUND0VEL 1087.598425 // 331.5*C_M2FT
561 #define C_SOUND20VEL 1126.64042 // 343.4*C_M2FT
562 
563 #define C_G_CONST_F 1.068944098e-09f // 6.6732e-11*CUBE(C_M2FT)/C_KG2LBM
564 #define C_EARTH_MASS_F 1.317041554e25f // 5.974e24*C_KG2LBM
565 #define C_N0_AVOGADRO_F 6.02205e23f
566 #define C_R_IDEAL_SU_F 8.31434f
567 #define C_K_BOLTZMANN_F 1.380622e-23f
568 #define C_C_LIGHT_F 983571194.2f // 2.9979250e+8*C_M2FT
569 #define C_ECHARGE_F 1.6021917e-19f
570 
571 #define C_DOFA_F 0.080719353f // 1.293*C_KG2LBM/CUBE(C_M2FT)
572 #define C_DOFH2O_F 62.427960576f // 1.000e3*C_KG2LBM/CUBE(C_M2FT)
573 #define C_STOFH2O_F 75.6f
574 #define C_VOFH2O_F 1.787e-3f
575 #define C_SOUND0VEL_F 1087.598425f // 331.5*C_M2FT
576 #define C_SOUND20VEL_F 1126.64042f // 343.4*C_M2FT
577 
578 #define C_WGS84_a 6378137.0 // WGS-84 semimajor axis (m)
579 #define C_WGS84_a_F 6378137.0f
580 #define C_WGS84_b 6356752.3142 // WGS-84 semiminor axis (m)
581 #define C_WGS84_b_F 6356752.3142f
582 #define C_WIE 7.2321151467e-05 // WGS-84 earth rotation rate (rad/s)
583 #define C_WIE_F 7.2321151467e-05f
584 
585 #define C_TESLA2GAUSS_F 10000.0
586 #define C_UTESLA2GAUSS_F 0.01
587 
588 #define C_0p1_DEG2RAD_F 0.00174532925199433f // = 0.1f * C_0pDEG2RAD_F
589 #define C_0p11_DEG2RAD_F 0.00191986217719376f
590 #define C_0p12_DEG2RAD_F 0.00209439510239320f
591 #define C_0p13_DEG2RAD_F 0.00226892802759263f
592 #define C_0p14_DEG2RAD_F 0.00244346095279206f
593 #define C_0p15_DEG2RAD_F 0.00261799387799149f
594 #define C_0p16_DEG2RAD_F 0.00279252680319093f
595 #define C_0p17_DEG2RAD_F 0.00296705972839036f
596 #define C_0p18_DEG2RAD_F 0.00314159265358979f
597 #define C_0p19_DEG2RAD_F 0.00331612557878923f
598 #define C_0p2_DEG2RAD_F 0.00349065850398866f
599 #define C_0p21_DEG2RAD_F 0.00366519142918809f
600 #define C_0p22_DEG2RAD_F 0.00383972435438753f
601 #define C_0p23_DEG2RAD_F 0.00401425727958696f
602 #define C_0p24_DEG2RAD_F 0.00418879020478639f
603 #define C_0p25_DEG2RAD_F 0.00436332312998582f
604 #define C_0p26_DEG2RAD_F 0.00453785605518526f
605 #define C_0p27_DEG2RAD_F 0.00471238898038469f
606 #define C_0p28_DEG2RAD_F 0.00488692190558412f
607 #define C_0p29_DEG2RAD_F 0.00506145483078356f
608 #define C_0p3_DEG2RAD_F 0.00523598775598299f
609 #define C_0p31_DEG2RAD_F 0.00541052068118242f
610 #define C_0p32_DEG2RAD_F 0.00558505360638185f
611 #define C_0p33_DEG2RAD_F 0.00575958653158129f
612 #define C_0p34_DEG2RAD_F 0.00593411945678072f
613 #define C_0p35_DEG2RAD_F 0.00610865238198015f
614 #define C_0p36_DEG2RAD_F 0.00628318530717959f
615 #define C_0p37_DEG2RAD_F 0.00645771823237902f
616 #define C_0p38_DEG2RAD_F 0.00663225115757845f
617 #define C_0p39_DEG2RAD_F 0.00680678408277788f
618 #define C_0p4_DEG2RAD_F 0.00698131700797732f
619 #define C_0p41_DEG2RAD_F 0.00715584993317675f
620 #define C_0p42_DEG2RAD_F 0.00733038285837618f
621 #define C_0p43_DEG2RAD_F 0.00750491578357562f
622 #define C_0p44_DEG2RAD_F 0.00767944870877505f
623 #define C_0p45_DEG2RAD_F 0.00785398163397448f
624 #define C_0p46_DEG2RAD_F 0.00802851455917391f
625 #define C_0p47_DEG2RAD_F 0.00820304748437335f
626 #define C_0p48_DEG2RAD_F 0.00837758040957278f
627 #define C_0p49_DEG2RAD_F 0.00855211333477222f
628 #define C_0p5_DEG2RAD_F 0.00872664625997165f // = 5.0f * C_0pDEG2RAD_F
629 #define C_0p6_DEG2RAD_F 0.01047197551196600f
630 #define C_0p7_DEG2RAD_F 0.01221730476396030f
631 #define C_0p8_DEG2RAD_F 0.01396263401595460f
632 #define C_0p9_DEG2RAD_F 0.01570796326794900f
633 #define C_1p0_DEG2RAD_F 0.0174532925199433f // = 1.0f * C_DEG2RAD_F
634 #define C_1p1_DEG2RAD_F 0.0191986217719376f
635 #define C_1p2_DEG2RAD_F 0.0209439510239320f
636 #define C_1p3_DEG2RAD_F 0.0226892802759263f
637 #define C_1p4_DEG2RAD_F 0.0244346095279206f
638 #define C_1p5_DEG2RAD_F 0.0261799387799149f
639 #define C_1p6_DEG2RAD_F 0.0279252680319093f
640 #define C_1p7_DEG2RAD_F 0.0296705972839036f
641 #define C_1p8_DEG2RAD_F 0.0314159265358979f
642 #define C_1p9_DEG2RAD_F 0.0331612557878923f
643 #define C_2p0_DEG2RAD_F 0.0349065850398866f
644 #define C_2p1_DEG2RAD_F 0.0366519142918809f
645 #define C_2p2_DEG2RAD_F 0.0383972435438753f
646 #define C_2p3_DEG2RAD_F 0.0401425727958696f
647 #define C_2p4_DEG2RAD_F 0.0418879020478639f
648 #define C_2p5_DEG2RAD_F 0.0436332312998582f
649 #define C_2p6_DEG2RAD_F 0.0453785605518526f
650 #define C_2p7_DEG2RAD_F 0.0471238898038469f
651 #define C_2p8_DEG2RAD_F 0.0488692190558412f
652 #define C_2p9_DEG2RAD_F 0.0506145483078356f
653 #define C_3p0_DEG2RAD_F 0.0523598775598299f
654 #define C_3p1_DEG2RAD_F 0.0541052068118242f
655 #define C_3p2_DEG2RAD_F 0.0558505360638185f
656 #define C_3p3_DEG2RAD_F 0.0575958653158129f
657 #define C_3p4_DEG2RAD_F 0.0593411945678072f
658 #define C_3p5_DEG2RAD_F 0.0610865238198015f
659 #define C_3p6_DEG2RAD_F 0.0628318530717959f
660 #define C_3p7_DEG2RAD_F 0.0645771823237902f
661 #define C_3p8_DEG2RAD_F 0.0663225115757845f
662 #define C_3p9_DEG2RAD_F 0.0680678408277788f
663 #define C_4p0_DEG2RAD_F 0.0698131700797732f
664 #define C_4p1_DEG2RAD_F 0.0715584993317675f
665 #define C_4p2_DEG2RAD_F 0.0733038285837618f
666 #define C_4p3_DEG2RAD_F 0.0750491578357562f
667 #define C_4p4_DEG2RAD_F 0.0767944870877505f
668 #define C_4p5_DEG2RAD_F 0.0785398163397448f
669 #define C_4p6_DEG2RAD_F 0.0802851455917391f
670 #define C_4p7_DEG2RAD_F 0.0820304748437335f
671 #define C_4p8_DEG2RAD_F 0.0837758040957278f
672 #define C_4p9_DEG2RAD_F 0.0855211333477222f
673 #define C_5p0_DEG2RAD_F 0.0872664625997165f // = 5.0f * C_DEG2RAD_F
674 #define C_6p0_DEG2RAD_F 0.1047197551196600f
675 #define C_7p0_DEG2RAD_F 0.1221730476396030f
676 #define C_8p0_DEG2RAD_F 0.1396263401595460f
677 #define C_9p0_DEG2RAD_F 0.1570796326794900f
678 #define C_10p0_DEG2RAD_F 0.1745329251994330f
679 #define C_15p0_DEG2RAD_F 0.2617993877991490f
680 #define C_20p0_DEG2RAD_F 0.3490658503988660f // = 20.0f * C_DEG2RAD_F
681 #define C_25p0_DEG2RAD_F 0.4363323129985820f
682 #define C_30p0_DEG2RAD_F 0.5235987755982990f
683 #define C_35p0_DEG2RAD_F 0.6108652381980150f
684 #define C_40p0_DEG2RAD_F 0.6981317007977320f
685 #define C_45p0_DEG2RAD_F 0.7853981633974480f
686 #define C_50p0_DEG2RAD_F 0.8726646259971650f
687 #define C_55p0_DEG2RAD_F 0.9599310885968810f
688 #define C_60p0_DEG2RAD_F 1.0471975511966000f
689 #define C_65p0_DEG2RAD_F 1.1344640137963100f
690 #define C_70p0_DEG2RAD_F 1.2217304763960300f
691 #define C_75p0_DEG2RAD_F 1.3089969389957500f
692 #define C_80p0_DEG2RAD_F 1.3962634015954600f
693 #define C_85p0_DEG2RAD_F 1.4835298641951800f
694 #define C_90p0_DEG2RAD_F 1.5707963267949000f
695 #define C_135p0_DEG2RAD_F 2.3561944901923400f
696 #define C_180p0_DEG2RAD_F 3.1415926535897900f
697 
698 // Angle Unwrap
699 #define UNWRAP_DEG_F64(x) { if((x) < (-180.0 )) { (x) += (360.0 ); } if((x) > (180.0 )) { (x) -= (360.0 ); } } // unwrap to +- 180
700 #define UNWRAP_DEG_F32(x) { if((x) < (-180.0f)) { (x) += (360.0f); } if((x) > (180.0f)) { (x) -= (360.0f); } } // unwrap to +- 180
701 #define UNWRAP_F64(x) { if((x) < (-C_PI)) { (x) += (C_TWOPI); } if((x) > (C_PI)) { (x) -= (C_TWOPI); } } // unwrap to +- PI
702 #define UNWRAP_F32(x) { if((x) < (-C_PI_F)) { (x) += (C_TWOPI_F); } if((x) > (C_PI_F)) { (x) -= (C_TWOPI_F); } } // unwrap to +- PI
703 #define UNWRAP_ZERO_TWOPI_F64(x) { if((x) < (0.0)) { (x) += (C_TWOPI); } if((x) > (C_TWOPI)) { (x) -= (C_TWOPI); } } // unwrap to 0 to TWOPI
704 #define UNWRAP_ZERO_TWOPI_F32(x) { if((x) < (0.f)) { (x) += (C_TWOPI_F); } if((x) > (C_TWOPI_F)) { (x) -= (C_TWOPI_F); } } // unwrap to 0 to TWOPI
705 
706 #define _SIN sinf
707 #define _COS cosf
708 #define _TAN tanf
709 #define _ASIN asinf
710 #define _ACOS acosf
711 #define _ATAN2 atan2f
712 #define _SQRT sqrtf
713 #define _FABS fabsf
714 #define _LOG logf
715 
716 #define _DEG2RAD C_DEG2RAD_F
717 #define _RAD2DEG C_RAD2DEG_F
718 #define _ZERO 0.0f
719 
720 #define FLOAT2DOUBLE (double) // Used to prevent warning when compiling with -Wdouble-promotion in Linux
721 
722 typedef float f_t;
723 typedef int i_t;
724 typedef double Vector2d[3]; // V = | 0 1 |
725 typedef f_t Vector2[3]; // V = | 0 1 |
726 typedef double Vector3d[3]; // V = | 0 1 2 |
727 typedef f_t Vector3[3]; // V = | 0 1 2 |
728 typedef double Vector4d[4]; // V = | 0 1 2 3 |
729 typedef f_t Vector4[4]; // V = | 0 1 2 3 |
730 typedef f_t Vector5[5]; // V = | 0 1 2 3 4 |
731 typedef f_t Vector6[6]; // V = | 0 1 2 3 4 5 |
732 typedef Vector4 Quat; // w,x,y,z
733 typedef Vector3 Euler; // roll,pitch,yaw
734 typedef f_t Matrix2[4];
735 typedef f_t Matrix3[9];
736 typedef f_t Matrix4[16];
737 typedef f_t Matrix5[25];
738 
739 #ifdef __cplusplus
740 } // extern "C"
741 #endif
742 
743 #endif // CONSTANTS_H_
Euler
Vector3 Euler
Definition: ISConstants.h:733
-
f_t
float f_t
Definition: ISConstants.h:722
-
Vector2d
double Vector2d[3]
Definition: ISConstants.h:724
-
Matrix5
f_t Matrix5[25]
Definition: ISConstants.h:737
-
i_t
int i_t
Definition: ISConstants.h:723
-
Vector4
f_t Vector4[4]
Definition: ISConstants.h:729
-
Vector2
f_t Vector2[3]
Definition: ISConstants.h:725
-
Vector3
f_t Vector3[3]
Definition: ISConstants.h:727
-
Matrix3
f_t Matrix3[9]
Definition: ISConstants.h:735
-
Vector5
f_t Vector5[5]
Definition: ISConstants.h:730
-
Matrix4
f_t Matrix4[16]
Definition: ISConstants.h:736
-
Matrix2
f_t Matrix2[4]
Definition: ISConstants.h:734
-
Vector4d
double Vector4d[4]
Definition: ISConstants.h:728
-
Vector6
f_t Vector6[6]
Definition: ISConstants.h:731
-
Vector3d
double Vector3d[3]
Definition: ISConstants.h:726
-
Quat
Vector4 Quat
Definition: ISConstants.h:732
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef CONSTANTS_H_
14 #define CONSTANTS_H_
15 
16 #ifdef __cplusplus
17 extern "C" {
18 #endif
19 
20 #undef _MATH_DEFINES_DEFINED
21 #define _MATH_DEFINES_DEFINED
22 #include <stdlib.h>
23 #include <stdio.h>
24 #include <math.h>
25 #include <string.h>
26 #include <assert.h>
27 #include <inttypes.h>
28 #include <time.h>
29 
30 #define PRE_PROC_COMBINE1(X, Y) X##Y
31 #define PRE_PROC_COMBINE(X, Y) PRE_PROC_COMBINE1(X, Y)
32 
33 #if defined(WIN32) || defined(__WIN32__) || defined(_WIN32)
34 
35 #define PLATFORM_IS_WINDOWS 1
36 #ifndef _CRT_SECURE_NO_DEPRECATE
37 #define _CRT_SECURE_NO_DEPRECATE
38 #endif
39 
40 // If you are getting winsock compile errors, make sure to include ISConstants.h as the first file in your header or c/cpp file
41 #define _WINSOCKAPI_
42 #include <winsock2.h>
43 #include <WS2tcpip.h>
44 #include <windows.h>
45 #define socket_t SOCKET
46 
47 #define CPU_IS_LITTLE_ENDIAN (REG_DWORD == REG_DWORD_LITTLE_ENDIAN)
48 #define CPU_IS_BIG_ENDIAN (REG_DWORD == REG_DWORD_BIG_ENDIAN)
49 #define S_ISREG(m) (((m) & S_IFMT) == S_IFREG)
50 #define S_ISDIR(m) (((m) & S_IFMT) == S_IFDIR)
51 
52 #elif defined(__APPLE__)
53 
54 #define socket_t int
55 
56 #define PLATFORM_IS_APPLE 1
57 #if defined(__LITTLE_ENDIAN__)
58 #define CPU_IS_LITTLE_ENDIAN 1
59 #define CPU_IS_BIG_ENDIAN 0
60 #elif defined(__BIG_ENDIAN__)
61 #define CPU_IS_LITTLE_ENDIAN 0
62 #define CPU_IS_BIG_ENDIAN 1
63 #endif
64 
65 #elif defined(__linux__) || defined(__unix__) || defined(__CYGWIN__)
66 
67 #include <endian.h>
68 
69 #ifndef __BYTE_ORDER
70 #error __BYTE_ORDER not defined, must be __LITTLE_ENDIAN or __BIG_ENDIAN
71 #endif
72 
73 #define PLATFORM_IS_LINUX 1
74 #define socket_t int
75 #define CPU_IS_LITTLE_ENDIAN (__BYTE_ORDER == __LITTLE_ENDIAN)
76 #define CPU_IS_BIG_ENDIAN (__BYTE_ORDER == __BIG_ENDIAN)
77 
78 #elif defined(ARM)
79 
80 #define PLATFORM_IS_EMBEDDED 1
81 #define PLATFORM_IS_ARM 1
82 #define CPU_IS_LITTLE_ENDIAN 1
83 #define CPU_IS_BIG_ENDIAN 0
84 
85 #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega168__) ||defined(__AVR_ATmega168P__) ||defined(__AVR_ATmega328P__)
86 #define PLATFORM_IS_EMBEDDED 1
87 #define PLATFORM_IS_ARM 0
88 #define CPU_IS_LITTLE_ENDIAN 1
89 #define CPU_IS_BIG_ENDIAN 0
90 
91 #elif defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__)
92 
93 #define PLATFORM_IS_EMBEDDED 1
94 #define PLATFORM_IS_ARM 1
95 #define CPU_IS_LITTLE_ENDIAN 1
96 #define CPU_IS_BIG_ENDIAN 0
97 
98 #else
99 
100 #error Unknown platform not supported, be sure to set it up here, defining CPU_IS_LITTLE_ENDIAN and CPU_IS_BIG_ENDIAN
101 
102 #endif
103 
104 #if !defined(CPU_IS_LITTLE_ENDIAN) || !defined(CPU_IS_BIG_ENDIAN) || CPU_IS_LITTLE_ENDIAN == CPU_IS_BIG_ENDIAN
105 
106 #error Unsupported / unknown CPU architecture
107 
108 #endif
109 
110 #if defined(PLATFORM_IS_EMBEDDED) && PLATFORM_IS_EMBEDDED
111 
112 extern void* pvPortMalloc(size_t xWantedSize);
113 extern void vPortFree(void* pv);
114 #define MALLOC(m) pvPortMalloc(m)
115 #define FREE(m) vPortFree(m)
116 #define REALLOC(m, size) 0 // not supported
117 
118 #else
119 
120 #ifdef MALLOC_DEBUG
121 #ifdef __cplusplus
122 extern "C" {
123 #endif
124 extern void* malloc_debug(size_t size);
125 extern void free_debug(void* mem);
126 extern void* realloc_debug(void* mem, size_t newSize);
127 #ifdef __cplusplus
128 }
129 #endif
130 #define MALLOC(m) malloc_debug(m)
131 #define FREE(m) free_debug(m)
132 #define REALLOC(m, size) realloc_debug(m, size)
133 #else
134 #define MALLOC(m) malloc(m)
135 #define FREE(m) free(m)
136 #define REALLOC(m, size) realloc(m, size)
137 #endif
138 
139 #endif
140 
141 #ifndef SNPRINTF
142 #define SNPRINTF snprintf
143 #endif
144 
145 #if defined(_MSC_VER)
146 
147 #ifndef INLINE
148 #define INLINE __inline
149 #endif
150 
151 #ifndef SSCANF
152 #define SSCANF(src, fmt, ...) sscanf_s(src, fmt, __VA_ARGS__);
153 #endif
154 
155 #ifndef STRNCPY
156 #define STRNCPY(a, b, c) strncpy_s(a, c, b, c);
157 #endif
158 
159 #define strncasecmp _strnicmp
160 
161 #else
162 
163 #ifndef INLINE
164 #define INLINE inline
165 #endif
166 
167 #ifndef SSCANF
168 #define SSCANF sscanf
169 #endif
170 
171 #ifndef STRNCPY
172 #define STRNCPY(a, b, c) strncpy((char*)a, (char*)b, c)
173 #endif
174 
175 #endif
176 
177 #if !defined(PLATFORM_IS_EMBEDDED) || !PLATFORM_IS_EMBEDDED
178 
179 #define BEGIN_CRITICAL_SECTION
180 #define END_CRITICAL_SECTION
181 
182 #if PLATFORM_IS_WINDOWS
183 
184 #include <direct.h>
185 #include <sys/utime.h>
186 #define _MKDIR(dir) _mkdir(dir)
187 #define _RMDIR(dir) _rmdir(dir)
188 #define _GETCWD(buf, len) _getcwd(buf, len)
189 #define _UTIME _utime
190 #define _UTIMEBUF struct _utimbuf
191 
192 #else
193 
194 #include <unistd.h>
195 #include <dirent.h>
196 #include <errno.h>
197 #include <utime.h>
198 #include <sys/stat.h>
199 //#define _MKDIR(dir) mkdir(dir, S_IRWXU) // 777 owner access only
200 #define _MKDIR(dir) mkdir(dir, ACCESSPERMS) // 0777 access for all
201 #define _RMDIR(dir) rmdir(dir)
202 #define _GETCWD(buf, len) getcwd(buf, len)
203 #define _UTIME utime
204 #define _UTIMEBUF struct utimbuf
205 
206 #endif
207 
208 #endif
209 
210 // with this you can tell the compiler not to insert padding
211 #if defined(_MSC_VER)
212 #define PUSH_PACK_1 __pragma(pack(push, 1))
213 #define PUSH_PACK_4 __pragma(pack(push, 4))
214 #define PUSH_PACK_8 __pragma(pack(push, 8))
215 #define POP_PACK __pragma(pack(pop))
216 #define PACKED
217 #else
218 #define PUSH_PACK_1 _Pragma("pack(push, 1)")
219 #define PUSH_PACK_4 _Pragma("pack(push, 4)")
220 #define PUSH_PACK_8 _Pragma("pack(push, 8)")
221 #define POP_PACK _Pragma("pack(pop)")
222 #define PACKED
223 #endif
224 
225 // #define PACKED_STRUCT typedef struct PACKED
226 // #define PACKED_UNION typedef union PACKED
227 
228 #ifndef UNMASK
229 #define UNMASK(_word, _prefix) (((_word) & (_prefix##_MASK)) >> (_prefix##_SHIFT))
230 #endif
231 
232 #ifndef MASK
233 #define MASK(_prefix, _val) ((_prefix##_MASK) & ((_val) << (_prefix##_SHIFT)))
234 #endif
235 
236 #ifndef SWAP16
237 #define SWAP16(v) ((uint16_t)(((uint16_t)(v) >> 8) | ((uint16_t)(v) << 8)))
238 #endif
239 
240 #ifndef SWAP32
241 #if defined(__GNUC__)
242 #define SWAP32 __builtin_bswap32
243 #define SWAP64 __builtin_bswap64
244 #elif defined(__ICCAVR32__)
245 #define SWAP32 __swap_bytes
246 #elif defined(_MSC_VER)
247 #include "intrin.h"
248 #define SWAP32 _byteswap_ulong
249 #define SWAP64 _byteswap_uint64
250 #endif
251 #endif
252 
253 #ifndef SWAP32
254 #define SWAP32(v) ((uint32_t)(((uint32_t)SWAP16((uint32_t)(v) >> 16)) | ((uint32_t)SWAP16((uint32_t)(v)) << 16)))
255 #endif
256 
257 #ifndef SWAP64
258 #define SWAP64(v) ((uint64_t)(((uint64_t)SWAP32((uint64_t)(v) >> 32)) | ((uint64_t)SWAP32((uint64_t)(v)) << 32)))
259 #endif
260 
261 #ifndef _MAX
262 #define _MAX(a,b) (((a) > (b)) ? (a) : (b))
263 #endif
264 
265 #ifndef _MIN
266 #define _MIN(a,b) (((a) < (b)) ? (a) : (b))
267 #endif
268 
269 #ifndef _CLAMP
270 #define _CLAMP(v, minV, maxV) (v < minV ? minV : (v > maxV ? maxV : v))
271 #endif
272 
273 #ifndef _SATURATE
274 #define _SATURATE(v) _CLAMP(v, 0, 1)
275 #endif
276 
277 #ifndef _LIMIT
278 #define _LIMIT(x, lim) {if(!((x)>(-lim))){(x)=(-lim);}else{if(!((x)<(lim))){(x)=(lim);}}} // Works w/ NAN
279 #endif
280 
281 #ifndef _LIMIT2
282 #define _LIMIT2(x, xmin, xmax) { if ((x) < (xmin)) { (x) = (xmin); } else { if ((x) > (xmax)) { (x) = (xmax); } } }
283 #endif
284 
285 #ifndef _ISNAN
286 #define _ISNAN(a) ((a)!=(a))
287 #endif
288 
289 #ifndef _ARRAY_BYTE_COUNT
290 #define _ARRAY_BYTE_COUNT(a) sizeof(a)
291 #endif
292 
293 #ifndef _ARRAY_ELEMENT_COUNT
294 #define _ARRAY_ELEMENT_COUNT(a) (sizeof(a) / sizeof(a[0]))
295 #endif
296 
297 #ifndef _MEMBER_ARRAY_ELEMENT_COUNT
298 #define _MEMBER_ARRAY_ELEMENT_COUNT(type, member) _ARRAY_ELEMENT_COUNT(((type*)0)->member)
299 #endif
300 
301 #ifndef MEMBERSIZE
302 #define MEMBERSIZE(type, member) sizeof(((type*)0)->member)
303 #endif
304 
305 #ifndef STRINGIFY
306 #define STRINGIFY(x) #x
307 #endif
308 
309 #ifndef M_PI
310 #define M_PI (3.14159265358979323846f)
311 #endif
312 
313 #ifndef RAD2DEG
314 #define RAD2DEG(rad) ((rad)*(180.0f/M_PI))
315 #endif
316 #ifndef DEG2RAD
317 #define DEG2RAD(deg) ((deg)*(M_PI/180.0f))
318 #endif
319 #ifndef DEG2RADMULT
320 #define DEG2RADMULT (M_PI/180.0f)
321 #endif
322 #ifndef RAD2DEGMULT
323 #define RAD2DEGMULT (180.0f/M_PI)
324 #endif
325 #define ATanH(x) (0.5 * log((1 + x) / (1 - x)))
326 
327 #if defined(__cplusplus)
328 
329 #define PURE_VIRTUAL = 0
330 
331 #endif
332 
333 #if ((defined(_MSC_VER) && _MSC_VER >= 1900) || (defined(__cplusplus) && ((__cplusplus >= 201103L || (__cplusplus < 200000 && __cplusplus > 199711L)))))
334 
335 #ifndef C11_IS_ENABLED
336 #define C11_IS_ENABLED 1
337 #endif
338 #ifndef CONST_EXPRESSION
339 #define CONST_EXPRESSION constexpr static
340 #endif
341 #ifndef STATIC_ASSERT
342 #define STATIC_ASSERT(exp) static_assert(exp, "STATIC ASSERT FAILED!")
343 #endif
344 #ifndef STATIC_ASSERT_MSG
345 #define STATIC_ASSERT_MSG(exp, msg) static_assert(exp, msg)
346 #endif
347 #ifndef OVERRIDE
348 #define OVERRIDE override
349 #endif
350 #ifndef NULLPTR
351 #define NULLPTR nullptr
352 #endif
353 
354 #else
355 
356 #if defined(__GNUC__)
357 #pragma GCC diagnostic push
358 #pragma GCC diagnostic ignored "-Wunused-local-typedefs"
359 #endif
360 
361 #ifndef C11_IS_ENABLED
362 #define C11_IS_ENABLED 0
363 #endif
364 #ifndef CONST_EXPRESSION
365 #define CONST_EXPRESSION static const
366 #endif
367 #ifndef STATIC_ASSERT
368 #define STATIC_ASSERT(exp) typedef char PRE_PROC_COMBINE(STATIC_ASSERT_FAILED_, __LINE__)[(exp) ? 1 : -1]
369 #endif
370 #ifndef STATIC_ASSERT_MSG
371 #define STATIC_ASSERT_MSG(exp, msg) typedef char PRE_PROC_COMBINE(msg, __LINE__)[(exp) ? 1 : -1]
372 #endif
373 #ifndef OVERRIDE
374 #define OVERRIDE
375 #endif
376 #ifndef NULLPTR
377 #define NULLPTR 0
378 #endif
379 
380 #if defined(__GNUC__)
381 #pragma GCC diagnostic pop
382 #endif
383 
384 #endif
385 
386 // diff two times as uint32_t, handling wrap-around
387 #define UINT32_TIME_DIFF(current, prev) ((uint32_t)(current) - (uint32_t)(prev))
388 
389 #define DT_TO_HZ(dt) (((dt) == (0.0)) ? (0) : (1.0/dt))
390 
391 #define C_IN2M 0.0254 // inches to meters
392 #define C_FT2M 0.3048 // (C_IN2M*12) feet to meters
393 #define C_M2FT 3.2808398950131233595800524934383 // (1.0/C_FT2M)
394 
395 #define C_YD2M 0.9144 // (C_FT2M*3) yards to meters
396 
397 #define C_IN2M_F 0.0254f // inches to meters
398 #define C_FT2M_F 0.3048f // (C_IN2M*12) feet to meters
399 #define C_M2FT_F 3.2808398950131233595800524934383f // (1.0/C_FT2M)
400 #define C_YD2M_F 0.9144f // (C_FT2M*3) yards to meters
401 
402 
403 #define C_NMI2M 1852.0 // nautical miles to meters
404 #define C_MI2M 1609.344 // (C_FT2M*5280) miles to meters
405 
406 #define C_NMI2M_F 1852.0f // nautical miles to meters
407 #define C_MI2M_F 1609.344f // (C_FT2M*5280) miles to meters
408 
409 #define C_METERS_KNOTS 1.943844 // Meters/sec squared to knots
410 #define C_METERS_KNOTS_F 1.943844f // Meters/sec squared to knots
411 
413 // Acceleration / Force
414 
415 // Local gravity available as = gravity_igf80(lattitude_rad, altitude_m);
416 #if 1
417 
418 // Standard Gravity (at sea level)
419 #define C_G_TO_MPS2 9.80665 // (m/s^2) standard gravity
420 #define C_MPS2_TO_G 0.101971621297793
421 #define C_G_TO_FTPS2 32.17404856 // (ft/s^2) standard gravity
422 
423 #define C_G_TO_MPS2_F 9.80665f // (m/s^2) standard gravity
424 #define C_MPS2_TO_G_F 0.101971621297793f
425 #define C_G_TO_FTPS2_F 32.17404856f // (ft/s^2) standard gravity
426 #endif
427 
429 // Pressure
430 
431 // Standard Atmospheric Pressure (at sea level)
432  // standard atmospheric pressure
433 #define C_P0N_M2 1.01325e5 // p0 in N/m^2
434 #define C_P0N_M2_F 1.01325e5f // p0 in N/m^2
435 #define C_P0 14.692125 // (C_P0N_M2*1.450e-4)
436 #define C_P0_F 14.692125f // (C_P0N_M2*1.450e-4)
437 
438 #define C_P0_PA_F 101325f // (Pa) Sea level standard atmospheric pressure
439 #define C_P0_KPA_F 101.325f // (kPa) Sea level standard atmospheric pressure
440 #define C_P0_MBAR_F 1013.25f // (mbar) Sea level standard atmospheric pressure
441 
442 #define C_INV_P0_KPA_F 9.8692326671601283e-3f // (1/kPa) Inverse of Sea level standard atmospheric pressure
443 
444 #define C_MBAR_TO_KPA_F 0.1f // (kpa/mbar) absolute pressure
445 #define C_KPA_TO_MBAR_F 10.0f // (mbar/kpa) absolute pressure
446 #define C_MBAR_TO_PA_F 100.0f // (kpa/mbar) absolute pressure
447 
449 // Temperature
450 
451 #define C_T0_F 288.15f // (K) Sea level standard temperature
452 
454 // Mass
455 
456 #define C_LBM2KG 0.45359237 // lb mass
457 #define C_KG2LBM 2.204622622 // (1.0/C_LBM2KG)
458 #define C_LBF2N 4.448221615 // (C_LBM2KG*C_G0MPERSEC2) lb force
459 #define C_SLUG2KG 14.59390294 // (C_LBM2KG*C_G0) slugs
460 
461 #define C_LBM2KG_F 0.45359237f // lb mass
462 #define C_KG2LBM_F 2.204622622f // (1.0/C_LBM2KG)
463 #define C_LBF2N_F 4.448221615f // (C_LBM2KG*C_G0MPERSEC2) lb force
464 #define C_SLUG2KG_F 14.59390294f // (C_LBM2KG*C_G0) slugs
465 
466 // Math constants
467 // from CRC Standard Mathematical Tables, 27th edition, 1984
468 
469 #define C_ROOT2 1.41421356237309504880168872420969807856967187537695
470 #define C_ROOT3 1.73205080756887729352744634150587236694280525381039
471 #define C_E 2.71828182845904523536028747135266249775724709369996
472 
473 #define C_DIVROOT2 0.70710678118654752440084436210485
474 
475 #define C_ROOT2_F 1.41421356237309504880168872420969807856967187537695f
476 #define C_ROOT3_F 1.73205080756887729352744634150587236694280525381039f
477 #define C_E_F 2.71828182845904523536028747135266249775724709369996f
478 
479 #define C_PIDIV16 0.19634954084936207740391521145497 // 11.25 deg
480 #define C_PIDIV8 0.39269908169872415480783042290994 // 22.5 deg
481 #define C_PIDIV4 0.78539816339744830961566084581988
482 #define C_PIDIV2 1.5707963267948966192313216916398
483 #define C_PI 3.14159265358979323846264338327950288419716939937511
484 #define C_TWOPI 6.283185307179586476925286766559
485 #define C_DIVTWOPI 0.15915494309189533576888376337251
486 #define C_DIVPI 0.31830988618379067153776752674503
487 
488 #define C_PIDIV16_F 0.19634954084936207740391521145497f // 11.25 deg
489 #define C_PIDIV8_F 0.39269908169872415480783042290994f // 22.5 deg
490 #define C_PIDIV4_F 0.78539816339744830961566084581988f // 45 deg
491 #define C_PIDIV2_F 1.5707963267948966192313216916398f // 90 deg
492 #define C_PI_F 3.14159265358979323846264338327950288419716939937511f // 180 deg
493 #define C_TWOPI_F 6.283185307179586476925286766559f // 360 deg
494 #define C_DIVTWOPI_F 0.15915494309189533576888376337251f
495 #define C_DIVPI_F 0.31830988618379067153776752674503f
496 
497 #define C_DEG2RAD 0.017453292519943295769236907684886
498 #define C_DEG2RAD_F 0.017453292519943295769236907684886f
499 #define C_RAD2DEG 57.295779513082320876798154814105
500 #define C_RAD2DEG_F 57.295779513082320876798154814105f
501 
502 #define C_MM2M 0.001
503 #define C_MM2M_F 0.001f
504 #define C_M2MM 1000.0
505 #define C_M2MM_F 1000.0f
506 
507 #define C_IN2M 0.0254
508 #define C_IN2M_F 0.0254f
509 #define C_M2IN 39.37007874
510 #define C_M2IN_F 39.37007874f
511 
512 #define C_IN2MM 25.4
513 #define C_IN2MM_F 25.4f
514 #define C_MM2IN 0.03937007874
515 #define C_MM2IN_F 0.03937007874f
516 
517 #define C_FPS2KT 0.5924838
518 #define C_FPS2KT_F 0.5924838f
519 #define C_KT2FPS 1.68780986
520 #define C_KT2FPS_F 1.68780986f
521 
522 #define C_SQIN2SQFT 0.00694444444444444444444
523 #define C_SQIN2SQFT_F 0.00694444444444444444444f
524 #define C_SQFT2SQIN 144.0
525 #define C_SQFT2SQIN_F 144.0f
526 
527 #define C_GPM2CFS 0.0022280093
528 #define C_GPM2CFS_F 0.0022280093f
529 #define C_CFS2GPM 448.83117
530 #define C_CFS2GPM_F 448.83117f
531 
532 #define C_DEGF0_R 459.69
533 #define C_DEGC0_T 273.16
534 #define C_DEGC0_DEGF 32.0
535 #define C_DEGF_PER_DEGC 1.8
536 
537 #define C_LN_2 0.69314718055994530941723212145818
538 #define C_LN_2_F 0.69314718055994530941723212145818f
539 
540 #define C_C2K 273.16
541 #define C_C2K_F 273.16f
542 #define C_F2R 459.69
543 #define C_F2R_F 459.69f
544 
545 #define C_G_CONST 1.068944098e-09 // 6.6732e-11*CUBE(C_M2FT)/C_KG2LBM
546 #define C_EARTH_MASS 1.317041554e25 // 5.974e24*C_KG2LBM
547 #define C_N0_AVOGADRO 6.02205e23
548 #define C_R_IDEAL_SU 8.31434
549 #define C_K_BOLTZMANN 1.380622e-23
550 #define C_C_LIGHT 983571194.2 // 2.9979250e+8*C_M2FT
551 #define C_ECHARGE 1.6021917e-19
552 
553 #define C_DOFA 0.080719353 // 1.293*C_KG2LBM/CUBE(C_M2FT)
554 #define C_DOFH2O 62.427960576 // 1.000e3*C_KG2LBM/CUBE(C_M2FT)
555 #define C_STOFH2O 75.6
556 #define C_VOFH2O 1.787e-3
557 #define C_SOUND0VEL 1087.598425 // 331.5*C_M2FT
558 #define C_SOUND20VEL 1126.64042 // 343.4*C_M2FT
559 
560 #define C_G_CONST_F 1.068944098e-09f // 6.6732e-11*CUBE(C_M2FT)/C_KG2LBM
561 #define C_EARTH_MASS_F 1.317041554e25f // 5.974e24*C_KG2LBM
562 #define C_N0_AVOGADRO_F 6.02205e23f
563 #define C_R_IDEAL_SU_F 8.31434f
564 #define C_K_BOLTZMANN_F 1.380622e-23f
565 #define C_C_LIGHT_F 983571194.2f // 2.9979250e+8*C_M2FT
566 #define C_ECHARGE_F 1.6021917e-19f
567 
568 #define C_DOFA_F 0.080719353f // 1.293*C_KG2LBM/CUBE(C_M2FT)
569 #define C_DOFH2O_F 62.427960576f // 1.000e3*C_KG2LBM/CUBE(C_M2FT)
570 #define C_STOFH2O_F 75.6f
571 #define C_VOFH2O_F 1.787e-3f
572 #define C_SOUND0VEL_F 1087.598425f // 331.5*C_M2FT
573 #define C_SOUND20VEL_F 1126.64042f // 343.4*C_M2FT
574 
575 #define C_WGS84_a 6378137.0 // WGS-84 semimajor axis (m)
576 #define C_WGS84_a_F 6378137.0f
577 #define C_WGS84_b 6356752.3142 // WGS-84 semiminor axis (m)
578 #define C_WGS84_b_F 6356752.3142f
579 #define C_WIE 7.2321151467e-05 // WGS-84 earth rotation rate (rad/s)
580 #define C_WIE_F 7.2321151467e-05f
581 
582 #define C_TESLA2GAUSS_F 10000.0
583 #define C_UTESLA2GAUSS_F 0.01
584 
585 #define C_0p1_DEG2RAD_F 0.00174532925199433f // = 0.1f * C_0pDEG2RAD_F
586 #define C_0p11_DEG2RAD_F 0.00191986217719376f
587 #define C_0p12_DEG2RAD_F 0.00209439510239320f
588 #define C_0p13_DEG2RAD_F 0.00226892802759263f
589 #define C_0p14_DEG2RAD_F 0.00244346095279206f
590 #define C_0p15_DEG2RAD_F 0.00261799387799149f
591 #define C_0p16_DEG2RAD_F 0.00279252680319093f
592 #define C_0p17_DEG2RAD_F 0.00296705972839036f
593 #define C_0p18_DEG2RAD_F 0.00314159265358979f
594 #define C_0p19_DEG2RAD_F 0.00331612557878923f
595 #define C_0p2_DEG2RAD_F 0.00349065850398866f
596 #define C_0p21_DEG2RAD_F 0.00366519142918809f
597 #define C_0p22_DEG2RAD_F 0.00383972435438753f
598 #define C_0p23_DEG2RAD_F 0.00401425727958696f
599 #define C_0p24_DEG2RAD_F 0.00418879020478639f
600 #define C_0p25_DEG2RAD_F 0.00436332312998582f
601 #define C_0p26_DEG2RAD_F 0.00453785605518526f
602 #define C_0p27_DEG2RAD_F 0.00471238898038469f
603 #define C_0p28_DEG2RAD_F 0.00488692190558412f
604 #define C_0p29_DEG2RAD_F 0.00506145483078356f
605 #define C_0p3_DEG2RAD_F 0.00523598775598299f
606 #define C_0p31_DEG2RAD_F 0.00541052068118242f
607 #define C_0p32_DEG2RAD_F 0.00558505360638185f
608 #define C_0p33_DEG2RAD_F 0.00575958653158129f
609 #define C_0p34_DEG2RAD_F 0.00593411945678072f
610 #define C_0p35_DEG2RAD_F 0.00610865238198015f
611 #define C_0p36_DEG2RAD_F 0.00628318530717959f
612 #define C_0p37_DEG2RAD_F 0.00645771823237902f
613 #define C_0p38_DEG2RAD_F 0.00663225115757845f
614 #define C_0p39_DEG2RAD_F 0.00680678408277788f
615 #define C_0p4_DEG2RAD_F 0.00698131700797732f
616 #define C_0p41_DEG2RAD_F 0.00715584993317675f
617 #define C_0p42_DEG2RAD_F 0.00733038285837618f
618 #define C_0p43_DEG2RAD_F 0.00750491578357562f
619 #define C_0p44_DEG2RAD_F 0.00767944870877505f
620 #define C_0p45_DEG2RAD_F 0.00785398163397448f
621 #define C_0p46_DEG2RAD_F 0.00802851455917391f
622 #define C_0p47_DEG2RAD_F 0.00820304748437335f
623 #define C_0p48_DEG2RAD_F 0.00837758040957278f
624 #define C_0p49_DEG2RAD_F 0.00855211333477222f
625 #define C_0p5_DEG2RAD_F 0.00872664625997165f // = 5.0f * C_0pDEG2RAD_F
626 #define C_0p6_DEG2RAD_F 0.01047197551196600f
627 #define C_0p7_DEG2RAD_F 0.01221730476396030f
628 #define C_0p8_DEG2RAD_F 0.01396263401595460f
629 #define C_0p9_DEG2RAD_F 0.01570796326794900f
630 #define C_1p0_DEG2RAD_F 0.0174532925199433f // = 1.0f * C_DEG2RAD_F
631 #define C_1p1_DEG2RAD_F 0.0191986217719376f
632 #define C_1p2_DEG2RAD_F 0.0209439510239320f
633 #define C_1p3_DEG2RAD_F 0.0226892802759263f
634 #define C_1p4_DEG2RAD_F 0.0244346095279206f
635 #define C_1p5_DEG2RAD_F 0.0261799387799149f
636 #define C_1p6_DEG2RAD_F 0.0279252680319093f
637 #define C_1p7_DEG2RAD_F 0.0296705972839036f
638 #define C_1p8_DEG2RAD_F 0.0314159265358979f
639 #define C_1p9_DEG2RAD_F 0.0331612557878923f
640 #define C_2p0_DEG2RAD_F 0.0349065850398866f
641 #define C_2p1_DEG2RAD_F 0.0366519142918809f
642 #define C_2p2_DEG2RAD_F 0.0383972435438753f
643 #define C_2p3_DEG2RAD_F 0.0401425727958696f
644 #define C_2p4_DEG2RAD_F 0.0418879020478639f
645 #define C_2p5_DEG2RAD_F 0.0436332312998582f
646 #define C_2p6_DEG2RAD_F 0.0453785605518526f
647 #define C_2p7_DEG2RAD_F 0.0471238898038469f
648 #define C_2p8_DEG2RAD_F 0.0488692190558412f
649 #define C_2p9_DEG2RAD_F 0.0506145483078356f
650 #define C_3p0_DEG2RAD_F 0.0523598775598299f
651 #define C_3p1_DEG2RAD_F 0.0541052068118242f
652 #define C_3p2_DEG2RAD_F 0.0558505360638185f
653 #define C_3p3_DEG2RAD_F 0.0575958653158129f
654 #define C_3p4_DEG2RAD_F 0.0593411945678072f
655 #define C_3p5_DEG2RAD_F 0.0610865238198015f
656 #define C_3p6_DEG2RAD_F 0.0628318530717959f
657 #define C_3p7_DEG2RAD_F 0.0645771823237902f
658 #define C_3p8_DEG2RAD_F 0.0663225115757845f
659 #define C_3p9_DEG2RAD_F 0.0680678408277788f
660 #define C_4p0_DEG2RAD_F 0.0698131700797732f
661 #define C_4p1_DEG2RAD_F 0.0715584993317675f
662 #define C_4p2_DEG2RAD_F 0.0733038285837618f
663 #define C_4p3_DEG2RAD_F 0.0750491578357562f
664 #define C_4p4_DEG2RAD_F 0.0767944870877505f
665 #define C_4p5_DEG2RAD_F 0.0785398163397448f
666 #define C_4p6_DEG2RAD_F 0.0802851455917391f
667 #define C_4p7_DEG2RAD_F 0.0820304748437335f
668 #define C_4p8_DEG2RAD_F 0.0837758040957278f
669 #define C_4p9_DEG2RAD_F 0.0855211333477222f
670 #define C_5p0_DEG2RAD_F 0.0872664625997165f // = 5.0f * C_DEG2RAD_F
671 #define C_6p0_DEG2RAD_F 0.1047197551196600f
672 #define C_7p0_DEG2RAD_F 0.1221730476396030f
673 #define C_8p0_DEG2RAD_F 0.1396263401595460f
674 #define C_9p0_DEG2RAD_F 0.1570796326794900f
675 #define C_10p0_DEG2RAD_F 0.1745329251994330f
676 #define C_15p0_DEG2RAD_F 0.2617993877991490f
677 #define C_20p0_DEG2RAD_F 0.3490658503988660f // = 20.0f * C_DEG2RAD_F
678 #define C_25p0_DEG2RAD_F 0.4363323129985820f
679 #define C_30p0_DEG2RAD_F 0.5235987755982990f
680 #define C_35p0_DEG2RAD_F 0.6108652381980150f
681 #define C_40p0_DEG2RAD_F 0.6981317007977320f
682 #define C_45p0_DEG2RAD_F 0.7853981633974480f
683 #define C_50p0_DEG2RAD_F 0.8726646259971650f
684 #define C_55p0_DEG2RAD_F 0.9599310885968810f
685 #define C_60p0_DEG2RAD_F 1.0471975511966000f
686 #define C_65p0_DEG2RAD_F 1.1344640137963100f
687 #define C_70p0_DEG2RAD_F 1.2217304763960300f
688 #define C_75p0_DEG2RAD_F 1.3089969389957500f
689 #define C_80p0_DEG2RAD_F 1.3962634015954600f
690 #define C_85p0_DEG2RAD_F 1.4835298641951800f
691 #define C_90p0_DEG2RAD_F 1.5707963267949000f
692 #define C_135p0_DEG2RAD_F 2.3561944901923400f
693 #define C_180p0_DEG2RAD_F 3.1415926535897900f
694 
695 // Angle Unwrap
696 #define UNWRAP_DEG_F64(x) { if((x) < (-180.0 )) { (x) += (360.0 ); } if((x) > (180.0 )) { (x) -= (360.0 ); } } // unwrap to +- 180
697 #define UNWRAP_DEG_F32(x) { if((x) < (-180.0f)) { (x) += (360.0f); } if((x) > (180.0f)) { (x) -= (360.0f); } } // unwrap to +- 180
698 #define UNWRAP_F64(x) { if((x) < (-C_PI)) { (x) += (C_TWOPI); } if((x) > (C_PI)) { (x) -= (C_TWOPI); } } // unwrap to +- PI
699 #define UNWRAP_F32(x) { if((x) < (-C_PI_F)) { (x) += (C_TWOPI_F); } if((x) > (C_PI_F)) { (x) -= (C_TWOPI_F); } } // unwrap to +- PI
700 #define UNWRAP_ZERO_TWOPI_F64(x) { if((x) < (0.0)) { (x) += (C_TWOPI); } if((x) > (C_TWOPI)) { (x) -= (C_TWOPI); } } // unwrap to 0 to TWOPI
701 #define UNWRAP_ZERO_TWOPI_F32(x) { if((x) < (0.f)) { (x) += (C_TWOPI_F); } if((x) > (C_TWOPI_F)) { (x) -= (C_TWOPI_F); } } // unwrap to 0 to TWOPI
702 
703 #define _SIN sinf
704 #define _COS cosf
705 #define _TAN tanf
706 #define _ASIN asinf
707 #define _ACOS acosf
708 #define _ATAN2 atan2f
709 #define _SQRT sqrtf
710 #define _FABS fabsf
711 #define _LOG logf
712 
713 #define _DEG2RAD C_DEG2RAD_F
714 #define _RAD2DEG C_RAD2DEG_F
715 #define _ZERO 0.0f
716 
717 #define FLOAT2DOUBLE (double) // Used to prevent warning when compiling with -Wdouble-promotion in Linux
718 
719 typedef float f_t;
720 typedef int i_t;
721 typedef double Vector2d[3]; // V = | 0 1 |
722 typedef f_t Vector2[3]; // V = | 0 1 |
723 typedef double Vector3d[3]; // V = | 0 1 2 |
724 typedef f_t Vector3[3]; // V = | 0 1 2 |
725 typedef double Vector4d[4]; // V = | 0 1 2 3 |
726 typedef f_t Vector4[4]; // V = | 0 1 2 3 |
727 typedef f_t Vector5[5]; // V = | 0 1 2 3 4 |
728 typedef f_t Vector6[6]; // V = | 0 1 2 3 4 5 |
729 typedef Vector4 Quat; // w,x,y,z
730 typedef Vector3 Euler; // roll,pitch,yaw
731 typedef f_t Matrix2[4];
732 typedef f_t Matrix3[9];
733 typedef f_t Matrix4[16];
734 typedef f_t Matrix5[25];
735 
736 #ifdef __cplusplus
737 } // extern "C"
738 #endif
739 
740 #endif // CONSTANTS_H_
Euler
Vector3 Euler
Definition: ISConstants.h:730
+
f_t
float f_t
Definition: ISConstants.h:719
+
Vector2d
double Vector2d[3]
Definition: ISConstants.h:721
+
Matrix5
f_t Matrix5[25]
Definition: ISConstants.h:734
+
i_t
int i_t
Definition: ISConstants.h:720
+
Vector4
f_t Vector4[4]
Definition: ISConstants.h:726
+
Vector2
f_t Vector2[3]
Definition: ISConstants.h:722
+
Vector3
f_t Vector3[3]
Definition: ISConstants.h:724
+
Matrix3
f_t Matrix3[9]
Definition: ISConstants.h:732
+
Vector5
f_t Vector5[5]
Definition: ISConstants.h:727
+
Matrix4
f_t Matrix4[16]
Definition: ISConstants.h:733
+
Matrix2
f_t Matrix2[4]
Definition: ISConstants.h:731
+
Vector4d
double Vector4d[4]
Definition: ISConstants.h:725
+
Vector6
f_t Vector6[6]
Definition: ISConstants.h:728
+
Vector3d
double Vector3d[3]
Definition: ISConstants.h:723
+
Quat
Vector4 Quat
Definition: ISConstants.h:729
diff --git a/docs/html/_i_s_data_mappings_8cpp.html b/docs/html/_i_s_data_mappings_8cpp.html index c6fb2a268..95a0dddcd 100644 --- a/docs/html/_i_s_data_mappings_8cpp.html +++ b/docs/html/_i_s_data_mappings_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -87,6 +87,7 @@ #include <assert.h>
#include <string.h>
#include "ISDataMappings.h"
+#include "DataJSON.h"
#include "ISUtilities.h"
#include "ISConstants.h"
#include "data_sets.h"
@@ -169,7 +170,7 @@

-

Definition at line 78 of file ISDataMappings.cpp.

+

Definition at line 79 of file ISDataMappings.cpp.

@@ -229,7 +230,7 @@

-

Definition at line 77 of file ISDataMappings.cpp.

+

Definition at line 78 of file ISDataMappings.cpp.

@@ -249,7 +250,7 @@

-

Definition at line 79 of file ISDataMappings.cpp.

+

Definition at line 80 of file ISDataMappings.cpp.

@@ -285,7 +286,7 @@

Returns
the size of the data type, or 0 if unknown or variable length (i.e. DataTypeString)
-

Definition at line 52 of file ISDataMappings.cpp.

+

Definition at line 53 of file ISDataMappings.cpp.

@@ -302,7 +303,7 @@

Initial value:
=
{
(uint32_t)sizeof(int8_t),
(uint32_t)sizeof(uint8_t),
(uint32_t)sizeof(int16_t),
(uint32_t)sizeof(uint16_t),
(uint32_t)sizeof(int32_t),
(uint32_t)sizeof(uint32_t),
(uint32_t)sizeof(int64_t),
(uint32_t)sizeof(uint64_t),
(uint32_t)sizeof(float),
(uint32_t)sizeof(double),
(uint32_t)0,
(uint32_t)0
}
-

Definition at line 36 of file ISDataMappings.cpp.

+

Definition at line 37 of file ISDataMappings.cpp.

diff --git a/docs/html/_i_s_data_mappings_8cpp_source.html b/docs/html/_i_s_data_mappings_8cpp_source.html index 55ff1e6c4..571974eb7 100644 --- a/docs/html/_i_s_data_mappings_8cpp_source.html +++ b/docs/html/_i_s_data_mappings_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,25 +72,25 @@
ISDataMappings.cpp
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <map>
14 #include <vector>
15 #include <set>
16 #include <algorithm>
17 #include <stdlib.h>
18 #include <stddef.h>
19 #include <inttypes.h>
20 #include <stdio.h>
21 #include <assert.h>
22 #include <string.h>
23 
24 #include "ISDataMappings.h"
25 #include "ISUtilities.h"
26 #include "ISConstants.h"
27 #include "data_sets.h"
28 
29 #ifdef USE_IS_INTERNAL
30 #include "../../libs/IS_internal.h"
31 #endif
32 
33 
34 cISDataMappings cISDataMappings::s_map;
35 
36 CONST_EXPRESSION uint32_t s_eDataTypeSizes[DataTypeCount] =
37 {
38  (uint32_t)sizeof(int8_t),
39  (uint32_t)sizeof(uint8_t),
40  (uint32_t)sizeof(int16_t),
41  (uint32_t)sizeof(uint16_t),
42  (uint32_t)sizeof(int32_t),
43  (uint32_t)sizeof(uint32_t),
44  (uint32_t)sizeof(int64_t),
45  (uint32_t)sizeof(uint64_t),
46  (uint32_t)sizeof(float),
47  (uint32_t)sizeof(double),
48  (uint32_t)0, // string, must be set to actual size by caller
49  (uint32_t)0 // binary, must be set to actual size by caller
50 };
51 
52 inline uint32_t GetDataTypeSize(eDataType dataType)
53 {
54  if (dataType >= 0 && dataType < DataTypeCount)
55  {
56  return s_eDataTypeSizes[dataType];
57  }
58  return 0;
59 }
60 
61 #if C11_IS_ENABLED
62 
63 // dataSize can be 0 for default size, must be set for string type
64 #define ADD_MAP_NO_VALIDATION(map, totalSize, name, member, dataSize, dataType, memberType) map[name] = { (uint32_t)offsetof(MAP_TYPE, member), (uint32_t)(dataSize == 0 ? sizeof(memberType) : dataSize), dataType, name }; totalSize += sizeof(memberType);
65 
66 // note when passing member type for arrays, it must be a reference, i.e. float&
67 #define ADD_MAP(map, totalSize, name, member, dataSize, dataType, memberType) \
68  ADD_MAP_NO_VALIDATION(map, totalSize, name, member, dataSize, dataType, memberType); \
69  static_assert(is_same<decltype(MAP_TYPE::member), memberType>::value, "Member type is an unexpected type"); \
70  static_assert((uint32_t)(dataSize == 0 ? sizeof(memberType) : dataSize) == sizeof(memberType), "Member type is an unexpected size"); \
71  static_assert((uint32_t)(dataSize == 0 ? sizeof(memberType) : dataSize) == sizeof(MAP_TYPE::member), "Member type is an unexpected size"); \
72  static_assert(s_eDataTypeSizes[dataType] == 0 || (uint32_t)(dataSize == 0 ? sizeof(memberType) : dataSize) == s_eDataTypeSizes[dataType], "Data type size does not match member size");
73 #define ASSERT_SIZE(s) assert(s == sizeof(MAP_TYPE))
74 
75 #else
76 
77 #define ADD_MAP_NO_VALIDATION(map, totalSize, name, member, dataSize, dataType, memberType) map[name] = { (uint32_t)offsetof(MAP_TYPE, member), (uint32_t)(dataSize == 0 ? sizeof(memberType) : dataSize), dataType, name }; totalSize += sizeof(memberType);
78 #define ADD_MAP(map, totalSize, name, member, dataSize, dataType, memberType) ADD_MAP_NO_VALIDATION(map, totalSize, name, member, dataSize, dataType, memberType)
79 #define ASSERT_SIZE(s) // not supported on VS < 2015
80 
81 #endif
82 
83 static void PopulateSizeMappings(map<uint32_t, uint32_t>& sizeMap)
84 {
85  sizeMap[DID_DEV_INFO] = sizeof(dev_info_t);
86  sizeMap[DID_MAGNETOMETER_1] = sizeof(magnetometer_t);
87  sizeMap[DID_MAGNETOMETER_2] = sizeof(magnetometer_t);
88  sizeMap[DID_BAROMETER] = sizeof(barometer_t);
89  sizeMap[DID_PREINTEGRATED_IMU] = sizeof(preintegrated_imu_t);
90  sizeMap[DID_CONFIG] = sizeof(config_t);
91  sizeMap[DID_INS_1] = sizeof(ins_1_t);
92  sizeMap[DID_INS_2] = sizeof(ins_2_t);
93  sizeMap[DID_INS_3] = sizeof(ins_3_t);
94  sizeMap[DID_INS_4] = sizeof(ins_4_t);
95  sizeMap[DID_GPS_NAV] = sizeof(gps_nav_t);
96  sizeMap[DID_GPS1_NAV] = sizeof(gps_nav_t);
97  sizeMap[DID_GPS2_NAV] = sizeof(gps_nav_t);
98  sizeMap[DID_GPS1_SAT] = sizeof(gps_sat_t);
99  sizeMap[DID_GPS2_SAT] = sizeof(gps_sat_t);
100  sizeMap[DID_GPS1_VERSION] = sizeof(gps_version_t);
101  sizeMap[DID_GPS2_VERSION] = sizeof(gps_version_t);
102  sizeMap[DID_GPS_RTK_MISC] = sizeof(gps_rtk_misc_t);
103  sizeMap[DID_SYS_PARAMS] = sizeof(sys_params_t);
104  sizeMap[DID_SYS_SENSORS] = sizeof(sys_sensors_t);
105  sizeMap[DID_FLASH_CONFIG] = sizeof(nvm_flash_cfg_t);
106  sizeMap[DID_DUAL_IMU] = sizeof(dual_imu_t);
107  sizeMap[DID_DUAL_IMU_RAW] = sizeof(dual_imu_t);
108  sizeMap[DID_GPS_BASE_RAW] = sizeof(gps_raw_t);
109  sizeMap[DID_STROBE_IN_TIME] = sizeof(strobe_in_time_t);
110  sizeMap[DID_RTOS_INFO] = sizeof(rtos_info_t);
111 
112 #ifdef USE_IS_INTERNAL
113 
114  sizeMap[DID_SENSORS_ADC] = sizeof(sys_sensors_adc_t);
115  sizeMap[DID_SENSORS_IS1] = sizeof(sensors_w_temp_t);
116  sizeMap[DID_SENSORS_IS2] = sizeof(sensors_w_temp_t);
117  sizeMap[DID_SENSORS_TC_BIAS] = sizeof(sensors_t);
118  sizeMap[DID_SCOMP] = sizeof(sensor_compensation_t);
119  sizeMap[DID_DEBUG_ARRAY] = sizeof(debug_array_t);
120  sizeMap[DID_NVR_USERPAGE_G0] = sizeof(nvm_group_0_t);
121  sizeMap[DID_NVR_USERPAGE_G1] = sizeof(nvm_group_1_t);
122  sizeMap[DID_INL2_STATES] = sizeof(inl2_states_t);
123  sizeMap[DID_INL2_STATUS] = sizeof(inl2_status_t);
124  sizeMap[DID_INL2_MISC] = sizeof(inl2_misc_t);
125 
126 #endif
127 
128 }
129 
130 static void PopulateDeviceInfoMappings(map_lookup_name_t& mappings)
131 {
132  typedef dev_info_t MAP_TYPE;
133  map_name_to_info_t m;
134  uint32_t totalSize = 0;
135  ADD_MAP(m, totalSize, "reserved", reserved, 0, DataTypeUInt32, uint32_t);
136  ADD_MAP(m, totalSize, "serialNumber", serialNumber, 0, DataTypeUInt32, uint32_t);
137  ADD_MAP(m, totalSize, "hardwareVer[0]", hardwareVer[0], 0, DataTypeUInt8, uint8_t&);
138  ADD_MAP(m, totalSize, "hardwareVer[1]", hardwareVer[1], 0, DataTypeUInt8, uint8_t&);
139  ADD_MAP(m, totalSize, "hardwareVer[2]", hardwareVer[2], 0, DataTypeUInt8, uint8_t&);
140  ADD_MAP(m, totalSize, "hardwareVer[3]", hardwareVer[3], 0, DataTypeUInt8, uint8_t&);
141  ADD_MAP(m, totalSize, "firmwareVer[0]", firmwareVer[0], 0, DataTypeUInt8, uint8_t&);
142  ADD_MAP(m, totalSize, "firmwareVer[1]", firmwareVer[1], 0, DataTypeUInt8, uint8_t&);
143  ADD_MAP(m, totalSize, "firmwareVer[2]", firmwareVer[2], 0, DataTypeUInt8, uint8_t&);
144  ADD_MAP(m, totalSize, "firmwareVer[3]", firmwareVer[3], 0, DataTypeUInt8, uint8_t&);
145  ADD_MAP(m, totalSize, "buildNumber", buildNumber, 0, DataTypeUInt32, uint32_t);
146  ADD_MAP(m, totalSize, "protocolVer[0]", protocolVer[0], 0, DataTypeUInt8, uint8_t&);
147  ADD_MAP(m, totalSize, "protocolVer[1]", protocolVer[1], 0, DataTypeUInt8, uint8_t&);
148  ADD_MAP(m, totalSize, "protocolVer[2]", protocolVer[2], 0, DataTypeUInt8, uint8_t&);
149  ADD_MAP(m, totalSize, "protocolVer[3]", protocolVer[3], 0, DataTypeUInt8, uint8_t&);
150  ADD_MAP(m, totalSize, "repoRevision", repoRevision, 0, DataTypeUInt32, uint32_t);
151  ADD_MAP(m, totalSize, "manufacturer", manufacturer, DEVINFO_MANUFACTURER_STRLEN, DataTypeString, char[DEVINFO_MANUFACTURER_STRLEN]);
152  ADD_MAP(m, totalSize, "buildDate[0]", buildDate[0], 0, DataTypeUInt8, uint8_t&);
153  ADD_MAP(m, totalSize, "buildDate[1]", buildDate[1], 0, DataTypeUInt8, uint8_t&);
154  ADD_MAP(m, totalSize, "buildDate[2]", buildDate[2], 0, DataTypeUInt8, uint8_t&);
155  ADD_MAP(m, totalSize, "buildDate[3]", buildDate[3], 0, DataTypeUInt8, uint8_t&);
156  ADD_MAP(m, totalSize, "buildTime[0]", buildTime[0], 0, DataTypeUInt8, uint8_t&);
157  ADD_MAP(m, totalSize, "buildTime[1]", buildTime[1], 0, DataTypeUInt8, uint8_t&);
158  ADD_MAP(m, totalSize, "buildTime[2]", buildTime[2], 0, DataTypeUInt8, uint8_t&);
159  ADD_MAP(m, totalSize, "buildTime[3]", buildTime[3], 0, DataTypeUInt8, uint8_t&);
160  ADD_MAP(m, totalSize, "addInfo", addInfo, DEVINFO_ADDINFO_STRLEN, DataTypeString, char[DEVINFO_ADDINFO_STRLEN]);
161  mappings[DID_DEV_INFO] = m;
162 
163  ASSERT_SIZE(totalSize);
164 }
165 
166 static void PopulateIMUMappings(map_lookup_name_t& mappings, uint32_t dataId)
167 {
168  typedef dual_imu_t MAP_TYPE;
169  map_name_to_info_t m;
170  uint32_t totalSize = 0;
171  ADD_MAP(m, totalSize, "time", time, 0, DataTypeDouble, double);
172  ADD_MAP(m, totalSize, "pqr1[0]", I[0].pqr[0], 0, DataTypeFloat, float&);
173  ADD_MAP(m, totalSize, "pqr1[1]", I[0].pqr[1], 0, DataTypeFloat, float&);
174  ADD_MAP(m, totalSize, "pqr1[2]", I[0].pqr[2], 0, DataTypeFloat, float&);
175  ADD_MAP(m, totalSize, "acc1[0]", I[0].acc[0], 0, DataTypeFloat, float&);
176  ADD_MAP(m, totalSize, "acc1[1]", I[0].acc[1], 0, DataTypeFloat, float&);
177  ADD_MAP(m, totalSize, "acc1[2]", I[0].acc[2], 0, DataTypeFloat, float&);
178  ADD_MAP(m, totalSize, "pqr2[0]", I[1].pqr[0], 0, DataTypeFloat, float&);
179  ADD_MAP(m, totalSize, "pqr2[1]", I[1].pqr[1], 0, DataTypeFloat, float&);
180  ADD_MAP(m, totalSize, "pqr2[2]", I[1].pqr[2], 0, DataTypeFloat, float&);
181  ADD_MAP(m, totalSize, "acc2[0]", I[1].acc[0], 0, DataTypeFloat, float&);
182  ADD_MAP(m, totalSize, "acc2[1]", I[1].acc[1], 0, DataTypeFloat, float&);
183  ADD_MAP(m, totalSize, "acc2[2]", I[1].acc[2], 0, DataTypeFloat, float&);
184  mappings[dataId] = m;
185 
186  ASSERT_SIZE(totalSize);
187 }
188 
189 static void PopulateSysParamsMappings(map_lookup_name_t& mappings)
190 {
191  typedef sys_params_t MAP_TYPE;
192  map_name_to_info_t m;
193  uint32_t totalSize = 0;
194  ADD_MAP(m, totalSize, "timeOfWeekMs", timeOfWeekMs, 0, DataTypeUInt32, uint32_t);
195  ADD_MAP(m, totalSize, "insStatus", insStatus, 0, DataTypeUInt32, uint32_t);
196  ADD_MAP(m, totalSize, "hdwStatus", hdwStatus, 0, DataTypeUInt32, uint32_t);
197  ADD_MAP(m, totalSize, "imuTemp", imuTemp, 0, DataTypeFloat, float);
198  ADD_MAP(m, totalSize, "baroTemp", baroTemp, 0, DataTypeFloat, float);
199  ADD_MAP(m, totalSize, "mcuTemp", mcuTemp, 0, DataTypeFloat, float);
200  ADD_MAP(m, totalSize, "reserved1", reserved1, 0, DataTypeFloat, float);
201  ADD_MAP(m, totalSize, "imuPeriodMs", imuPeriodMs, 0, DataTypeUInt32, uint32_t);
202  ADD_MAP(m, totalSize, "navPeriodMs", navPeriodMs, 0, DataTypeUInt32, uint32_t);
203  ADD_MAP(m, totalSize, "reserved2[0]", reserved2[0], 0, DataTypeFloat, float&);
204  ADD_MAP(m, totalSize, "reserved2[1]", reserved2[1], 0, DataTypeFloat, float&);
205  ADD_MAP(m, totalSize, "reserved2[2]", reserved2[2], 0, DataTypeFloat, float&);
206  ADD_MAP(m, totalSize, "reserved2[3]", reserved2[3], 0, DataTypeFloat, float&);
207  ADD_MAP(m, totalSize, "genFaultCode", genFaultCode, 0, DataTypeUInt32, uint32_t);
208  mappings[DID_SYS_PARAMS] = m;
209 
210  ASSERT_SIZE(totalSize);
211 }
212 
213 static void PopulateSysSensorsMappings(map_lookup_name_t& mappings)
214 {
215  typedef sys_sensors_t MAP_TYPE;
216  map_name_to_info_t m;
217  uint32_t totalSize = 0;
218  ADD_MAP(m, totalSize, "time", time, 0, DataTypeDouble, double);
219  ADD_MAP(m, totalSize, "temp", temp, 0, DataTypeFloat, float);
220  ADD_MAP(m, totalSize, "pqr[0]", pqr[0], 0, DataTypeFloat, float&);
221  ADD_MAP(m, totalSize, "pqr[1]", pqr[1], 0, DataTypeFloat, float&);
222  ADD_MAP(m, totalSize, "pqr[2]", pqr[2], 0, DataTypeFloat, float&);
223  ADD_MAP(m, totalSize, "acc[0]", acc[0], 0, DataTypeFloat, float&);
224  ADD_MAP(m, totalSize, "acc[1]", acc[1], 0, DataTypeFloat, float&);
225  ADD_MAP(m, totalSize, "acc[2]", acc[2], 0, DataTypeFloat, float&);
226  ADD_MAP(m, totalSize, "mag[0]", mag[0], 0, DataTypeFloat, float&);
227  ADD_MAP(m, totalSize, "mag[1]", mag[1], 0, DataTypeFloat, float&);
228  ADD_MAP(m, totalSize, "mag[2]", mag[2], 0, DataTypeFloat, float&);
229  ADD_MAP(m, totalSize, "bar", bar, 0, DataTypeFloat, float);
230  ADD_MAP(m, totalSize, "barTemp", barTemp, 0, DataTypeFloat, float);
231  ADD_MAP(m, totalSize, "mslBar", mslBar, 0, DataTypeFloat, float);
232  ADD_MAP(m, totalSize, "humidity", humidity, 0, DataTypeFloat, float);
233  ADD_MAP(m, totalSize, "vin", vin, 0, DataTypeFloat, float);
234  ADD_MAP(m, totalSize, "ana1", ana1, 0, DataTypeFloat, float);
235  ADD_MAP(m, totalSize, "ana3", ana1, 0, DataTypeFloat, float);
236  ADD_MAP(m, totalSize, "ana4", ana1, 0, DataTypeFloat, float);
237  mappings[DID_SYS_SENSORS] = m;
238 
239  ASSERT_SIZE(totalSize);
240 }
241 
242 static void PopulateINS1Mappings(map_lookup_name_t& mappings)
243 {
244  typedef ins_1_t MAP_TYPE;
245  map_name_to_info_t m;
246  uint32_t totalSize = 0;
247  ADD_MAP(m, totalSize, "week", week, 0, DataTypeUInt32, uint32_t);
248  ADD_MAP(m, totalSize, "timeOfWeek", timeOfWeek, 0, DataTypeDouble, double);
249  ADD_MAP(m, totalSize, "insStatus", insStatus, 0, DataTypeUInt32, uint32_t);
250  ADD_MAP(m, totalSize, "hdwStatus", hdwStatus, 0, DataTypeUInt32, uint32_t);
251  ADD_MAP(m, totalSize, "theta[0]", theta[0], 0, DataTypeFloat, float&);
252  ADD_MAP(m, totalSize, "theta[1]", theta[1], 0, DataTypeFloat, float&);
253  ADD_MAP(m, totalSize, "theta[2]", theta[2], 0, DataTypeFloat, float&);
254  ADD_MAP(m, totalSize, "uvw[0]", uvw[0], 0, DataTypeFloat, float&);
255  ADD_MAP(m, totalSize, "uvw[1]", uvw[1], 0, DataTypeFloat, float&);
256  ADD_MAP(m, totalSize, "uvw[2]", uvw[2], 0, DataTypeFloat, float&);
257  ADD_MAP(m, totalSize, "lla[0]", lla[0], 0, DataTypeDouble, double&);
258  ADD_MAP(m, totalSize, "lla[1]", lla[1], 0, DataTypeDouble, double&);
259  ADD_MAP(m, totalSize, "lla[2]", lla[2], 0, DataTypeDouble, double&);
260  ADD_MAP(m, totalSize, "ned[0]", ned[0], 0, DataTypeFloat, float&);
261  ADD_MAP(m, totalSize, "ned[1]", ned[1], 0, DataTypeFloat, float&);
262  ADD_MAP(m, totalSize, "ned[2]", ned[2], 0, DataTypeFloat, float&);
263  mappings[DID_INS_1] = m;
264 
265  ASSERT_SIZE(totalSize);
266 }
267 
268 static void PopulateINS2Mappings(map_lookup_name_t& mappings, uint32_t did)
269 {
270  typedef ins_2_t MAP_TYPE;
271  map_name_to_info_t m;
272  uint32_t totalSize = 0;
273  ADD_MAP(m, totalSize, "week", week, 0, DataTypeUInt32, uint32_t);
274  ADD_MAP(m, totalSize, "timeOfWeek", timeOfWeek, 0, DataTypeDouble, double);
275  ADD_MAP(m, totalSize, "insStatus", insStatus, 0, DataTypeUInt32, uint32_t);
276  ADD_MAP(m, totalSize, "hdwStatus", hdwStatus, 0, DataTypeUInt32, uint32_t);
277  ADD_MAP(m, totalSize, "qn2b[0]", qn2b[0], 0, DataTypeFloat, float&);
278  ADD_MAP(m, totalSize, "qn2b[1]", qn2b[1], 0, DataTypeFloat, float&);
279  ADD_MAP(m, totalSize, "qn2b[2]", qn2b[2], 0, DataTypeFloat, float&);
280  ADD_MAP(m, totalSize, "qn2b[3]", qn2b[3], 0, DataTypeFloat, float&);
281  ADD_MAP(m, totalSize, "uvw[0]", uvw[0], 0, DataTypeFloat, float&);
282  ADD_MAP(m, totalSize, "uvw[1]", uvw[1], 0, DataTypeFloat, float&);
283  ADD_MAP(m, totalSize, "uvw[2]", uvw[2], 0, DataTypeFloat, float&);
284  ADD_MAP(m, totalSize, "lla[0]", lla[0], 0, DataTypeDouble, double&);
285  ADD_MAP(m, totalSize, "lla[1]", lla[1], 0, DataTypeDouble, double&);
286  ADD_MAP(m, totalSize, "lla[2]", lla[2], 0, DataTypeDouble, double&);
287  mappings[did] = m;
288 
289  ASSERT_SIZE(totalSize);
290 }
291 
292 static void PopulateINS4Mappings(map_lookup_name_t& mappings)
293 {
294  typedef ins_4_t MAP_TYPE;
295  map_name_to_info_t m;
296  uint32_t totalSize = 0;
297  ADD_MAP(m, totalSize, "week", week, 0, DataTypeUInt32, uint32_t);
298  ADD_MAP(m, totalSize, "timeOfWeek", timeOfWeek, 0, DataTypeDouble, double);
299  ADD_MAP(m, totalSize, "insStatus", insStatus, 0, DataTypeUInt32, uint32_t);
300  ADD_MAP(m, totalSize, "hdwStatus", hdwStatus, 0, DataTypeUInt32, uint32_t);
301  ADD_MAP(m, totalSize, "qe2b[0]", qe2b[0], 0, DataTypeFloat, float&);
302  ADD_MAP(m, totalSize, "qe2b[1]", qe2b[1], 0, DataTypeFloat, float&);
303  ADD_MAP(m, totalSize, "qe2b[2]", qe2b[2], 0, DataTypeFloat, float&);
304  ADD_MAP(m, totalSize, "qe2b[3]", qe2b[3], 0, DataTypeFloat, float&);
305  ADD_MAP(m, totalSize, "ve[0]", ve[0], 0, DataTypeFloat, float&);
306  ADD_MAP(m, totalSize, "ve[1]", ve[1], 0, DataTypeFloat, float&);
307  ADD_MAP(m, totalSize, "ve[2]", ve[2], 0, DataTypeFloat, float&);
308  ADD_MAP(m, totalSize, "ecef[0]", ecef[0], 0, DataTypeDouble, double&);
309  ADD_MAP(m, totalSize, "ecef[1]", ecef[1], 0, DataTypeDouble, double&);
310  ADD_MAP(m, totalSize, "ecef[2]", ecef[2], 0, DataTypeDouble, double&);
311  mappings[DID_INS_4] = m;
312 
313  ASSERT_SIZE(totalSize);
314 }
315 
316 static void PopulateGPSNavMappings(map_lookup_name_t& mappings)
317 {
318  typedef gps_nav_t MAP_TYPE;
319  map_name_to_info_t m;
320  uint32_t totalSize = 0;
321  ADD_MAP(m, totalSize, "week", week, 0, DataTypeUInt32, uint32_t);
322  ADD_MAP(m, totalSize, "timeOfWeekMs", timeOfWeekMs, 0, DataTypeUInt32, uint32_t);
323  ADD_MAP(m, totalSize, "status", status, 0, DataTypeUInt32, uint32_t);
324  ADD_MAP(m, totalSize, "cnoMax", cnoMax, 0, DataTypeUInt32, uint32_t);
325  ADD_MAP(m, totalSize, "cnoMean", cnoMean, 0, DataTypeFloat, float);
326  ADD_MAP(m, totalSize, "lla[0]", lla[0], 0, DataTypeDouble, double&);
327  ADD_MAP(m, totalSize, "lla[1]", lla[1], 0, DataTypeDouble, double&);
328  ADD_MAP(m, totalSize, "lla[2]", lla[2], 0, DataTypeDouble, double&);
329  ADD_MAP(m, totalSize, "hMSL", hMSL, 0, DataTypeFloat, float);
330  ADD_MAP(m, totalSize, "hAcc", hAcc, 0, DataTypeFloat, float);
331  ADD_MAP(m, totalSize, "vAcc", vAcc, 0, DataTypeFloat, float);
332  ADD_MAP(m, totalSize, "pDop", pDop, 0, DataTypeFloat, float);
333  ADD_MAP(m, totalSize, "velNed[0]", velNed[0], 0, DataTypeFloat, float&);
334  ADD_MAP(m, totalSize, "velNed[1]", velNed[1], 0, DataTypeFloat, float&);
335  ADD_MAP(m, totalSize, "velNed[2]", velNed[2], 0, DataTypeFloat, float&);
336  ADD_MAP(m, totalSize, "sAcc", sAcc, 0, DataTypeFloat, float);
337  ADD_MAP(m, totalSize, "towOffset", towOffset, 0, DataTypeDouble, double);
338  ADD_MAP(m, totalSize, "ecef[0]", ecef[0], 0, DataTypeDouble, double&);
339  ADD_MAP(m, totalSize, "ecef[1]", ecef[1], 0, DataTypeDouble, double&);
340  ADD_MAP(m, totalSize, "ecef[2]", ecef[2], 0, DataTypeDouble, double&);
341  ADD_MAP(m, totalSize, "velEcef[0]", velEcef[0], 0, DataTypeFloat, float&);
342  ADD_MAP(m, totalSize, "velEcef[1]", velEcef[1], 0, DataTypeFloat, float&);
343  ADD_MAP(m, totalSize, "velEcef[2]", velEcef[2], 0, DataTypeFloat, float&);
344  ADD_MAP(m, totalSize, "differentialAge", differentialAge, 0, DataTypeFloat, float);
345  ADD_MAP(m, totalSize, "arRatio", arRatio, 0, DataTypeFloat, float);
346  ADD_MAP(m, totalSize, "distanceToBase", distanceToBase, 0, DataTypeFloat, float);
347  ADD_MAP(m, totalSize, "vectorToBase[0]", vectorToBase[0], 0, DataTypeFloat, float&);
348  ADD_MAP(m, totalSize, "vectorToBase[1]", vectorToBase[1], 0, DataTypeFloat, float&);
349  ADD_MAP(m, totalSize, "vectorToBase[2]", vectorToBase[2], 0, DataTypeFloat, float&);
350  mappings[DID_GPS_NAV] = m;
351  mappings[DID_GPS1_NAV] = m;
352  mappings[DID_GPS2_NAV] = m;
353  mappings[DID_GPS_RTK_NAV] = m;
354 
355  ASSERT_SIZE(totalSize);
356 }
357 
358 #if 0
359 
360 static void PopulateGPSCNOMappings(map_lookup_name_t& mappings)
361 {
362  typedef gps_sat_t MAP_TYPE;
363  map_name_to_info_t m;
364  uint32_t totalSize = 0;
365  ADD_MAP(m, totalSize, "timeOfWeekMs", timeOfWeekMs, 0, DataTypeUInt32, uint32_t);
366  ADD_MAP(m, totalSize, "numSats", numSats, 0, DataTypeUInt32, uint32_t);
367  ADD_MAP(m, totalSize, "svId[0]", sat[0].svId, 0, DataTypeUInt8, uint8_t);
368  ADD_MAP(m, totalSize, "svId[1]", sat[1].svId, 0, DataTypeUInt8, uint8_t);
369  ADD_MAP(m, totalSize, "svId[2]", sat[2].svId, 0, DataTypeUInt8, uint8_t);
370  ADD_MAP(m, totalSize, "svId[3]", sat[3].svId, 0, DataTypeUInt8, uint8_t);
371  ADD_MAP(m, totalSize, "svId[4]", sat[4].svId, 0, DataTypeUInt8, uint8_t);
372  ADD_MAP(m, totalSize, "svId[5]", sat[5].svId, 0, DataTypeUInt8, uint8_t);
373  ADD_MAP(m, totalSize, "svId[6]", sat[6].svId, 0, DataTypeUInt8, uint8_t);
374  ADD_MAP(m, totalSize, "svId[7]", sat[7].svId, 0, DataTypeUInt8, uint8_t);
375  ADD_MAP(m, totalSize, "svId[8]", sat[8].svId, 0, DataTypeUInt8, uint8_t);
376  ADD_MAP(m, totalSize, "svId[9]", sat[9].svId, 0, DataTypeUInt8, uint8_t);
377  ADD_MAP(m, totalSize, "svId[10]", sat[10].svId, 0, DataTypeUInt8, uint8_t);
378  ADD_MAP(m, totalSize, "svId[11]", sat[11].svId, 0, DataTypeUInt8, uint8_t);
379  ADD_MAP(m, totalSize, "svId[12]", sat[12].svId, 0, DataTypeUInt8, uint8_t);
380  ADD_MAP(m, totalSize, "svId[13]", sat[13].svId, 0, DataTypeUInt8, uint8_t);
381  ADD_MAP(m, totalSize, "svId[14]", sat[14].svId, 0, DataTypeUInt8, uint8_t);
382  ADD_MAP(m, totalSize, "svId[15]", sat[15].svId, 0, DataTypeUInt8, uint8_t);
383  ADD_MAP(m, totalSize, "svId[16]", sat[16].svId, 0, DataTypeUInt8, uint8_t);
384  ADD_MAP(m, totalSize, "svId[17]", sat[17].svId, 0, DataTypeUInt8, uint8_t);
385  ADD_MAP(m, totalSize, "svId[18]", sat[18].svId, 0, DataTypeUInt8, uint8_t);
386  ADD_MAP(m, totalSize, "svId[19]", sat[19].svId, 0, DataTypeUInt8, uint8_t);
387  ADD_MAP(m, totalSize, "svId[20]", sat[20].svId, 0, DataTypeUInt8, uint8_t);
388  ADD_MAP(m, totalSize, "svId[21]", sat[21].svId, 0, DataTypeUInt8, uint8_t);
389  ADD_MAP(m, totalSize, "svId[22]", sat[22].svId, 0, DataTypeUInt8, uint8_t);
390  ADD_MAP(m, totalSize, "svId[23]", sat[23].svId, 0, DataTypeUInt8, uint8_t);
391  ADD_MAP(m, totalSize, "svId[24]", sat[24].svId, 0, DataTypeUInt8, uint8_t);
392  ADD_MAP(m, totalSize, "svId[25]", sat[25].svId, 0, DataTypeUInt8, uint8_t);
393  ADD_MAP(m, totalSize, "svId[26]", sat[26].svId, 0, DataTypeUInt8, uint8_t);
394  ADD_MAP(m, totalSize, "svId[27]", sat[27].svId, 0, DataTypeUInt8, uint8_t);
395  ADD_MAP(m, totalSize, "svId[28]", sat[28].svId, 0, DataTypeUInt8, uint8_t);
396  ADD_MAP(m, totalSize, "svId[29]", sat[29].svId, 0, DataTypeUInt8, uint8_t);
397  ADD_MAP(m, totalSize, "svId[30]", sat[30].svId, 0, DataTypeUInt8, uint8_t);
398  ADD_MAP(m, totalSize, "svId[31]", sat[31].svId, 0, DataTypeUInt8, uint8_t);
399  ADD_MAP(m, totalSize, "svId[32]", sat[32].svId, 0, DataTypeUInt8, uint8_t);
400  ADD_MAP(m, totalSize, "svId[33]", sat[33].svId, 0, DataTypeUInt8, uint8_t);
401  ADD_MAP(m, totalSize, "svId[34]", sat[34].svId, 0, DataTypeUInt8, uint8_t);
402  ADD_MAP(m, totalSize, "svId[35]", sat[35].svId, 0, DataTypeUInt8, uint8_t);
403  ADD_MAP(m, totalSize, "svId[36]", sat[36].svId, 0, DataTypeUInt8, uint8_t);
404  ADD_MAP(m, totalSize, "svId[37]", sat[37].svId, 0, DataTypeUInt8, uint8_t);
405  ADD_MAP(m, totalSize, "svId[38]", sat[38].svId, 0, DataTypeUInt8, uint8_t);
406  ADD_MAP(m, totalSize, "svId[39]", sat[39].svId, 0, DataTypeUInt8, uint8_t);
407  ADD_MAP(m, totalSize, "svId[40]", sat[40].svId, 0, DataTypeUInt8, uint8_t);
408  ADD_MAP(m, totalSize, "svId[41]", sat[41].svId, 0, DataTypeUInt8, uint8_t);
409  ADD_MAP(m, totalSize, "svId[42]", sat[42].svId, 0, DataTypeUInt8, uint8_t);
410  ADD_MAP(m, totalSize, "svId[43]", sat[43].svId, 0, DataTypeUInt8, uint8_t);
411  ADD_MAP(m, totalSize, "svId[44]", sat[44].svId, 0, DataTypeUInt8, uint8_t);
412  ADD_MAP(m, totalSize, "svId[45]", sat[45].svId, 0, DataTypeUInt8, uint8_t);
413  ADD_MAP(m, totalSize, "svId[46]", sat[46].svId, 0, DataTypeUInt8, uint8_t);
414  ADD_MAP(m, totalSize, "svId[47]", sat[47].svId, 0, DataTypeUInt8, uint8_t);
415  ADD_MAP(m, totalSize, "svId[48]", sat[48].svId, 0, DataTypeUInt8, uint8_t);
416  ADD_MAP(m, totalSize, "svId[49]", sat[49].svId, 0, DataTypeUInt8, uint8_t);
417  ADD_MAP(m, totalSize, "cno[0]", sat[0].cno, 0, DataTypeUInt8, uint8_t);
418  ADD_MAP(m, totalSize, "cno[1]", sat[1].cno, 0, DataTypeUInt8, uint8_t);
419  ADD_MAP(m, totalSize, "cno[2]", sat[2].cno, 0, DataTypeUInt8, uint8_t);
420  ADD_MAP(m, totalSize, "cno[3]", sat[3].cno, 0, DataTypeUInt8, uint8_t);
421  ADD_MAP(m, totalSize, "cno[4]", sat[4].cno, 0, DataTypeUInt8, uint8_t);
422  ADD_MAP(m, totalSize, "cno[5]", sat[5].cno, 0, DataTypeUInt8, uint8_t);
423  ADD_MAP(m, totalSize, "cno[6]", sat[6].cno, 0, DataTypeUInt8, uint8_t);
424  ADD_MAP(m, totalSize, "cno[7]", sat[7].cno, 0, DataTypeUInt8, uint8_t);
425  ADD_MAP(m, totalSize, "cno[8]", sat[8].cno, 0, DataTypeUInt8, uint8_t);
426  ADD_MAP(m, totalSize, "cno[9]", sat[9].cno, 0, DataTypeUInt8, uint8_t);
427  ADD_MAP(m, totalSize, "cno[10]", sat[10].cno, 0, DataTypeUInt8, uint8_t);
428  ADD_MAP(m, totalSize, "cno[11]", sat[11].cno, 0, DataTypeUInt8, uint8_t);
429  ADD_MAP(m, totalSize, "cno[12]", sat[12].cno, 0, DataTypeUInt8, uint8_t);
430  ADD_MAP(m, totalSize, "cno[13]", sat[13].cno, 0, DataTypeUInt8, uint8_t);
431  ADD_MAP(m, totalSize, "cno[14]", sat[14].cno, 0, DataTypeUInt8, uint8_t);
432  ADD_MAP(m, totalSize, "cno[15]", sat[15].cno, 0, DataTypeUInt8, uint8_t);
433  ADD_MAP(m, totalSize, "cno[16]", sat[16].cno, 0, DataTypeUInt8, uint8_t);
434  ADD_MAP(m, totalSize, "cno[17]", sat[17].cno, 0, DataTypeUInt8, uint8_t);
435  ADD_MAP(m, totalSize, "cno[18]", sat[18].cno, 0, DataTypeUInt8, uint8_t);
436  ADD_MAP(m, totalSize, "cno[19]", sat[19].cno, 0, DataTypeUInt8, uint8_t);
437  ADD_MAP(m, totalSize, "cno[20]", sat[20].cno, 0, DataTypeUInt8, uint8_t);
438  ADD_MAP(m, totalSize, "cno[21]", sat[21].cno, 0, DataTypeUInt8, uint8_t);
439  ADD_MAP(m, totalSize, "cno[22]", sat[22].cno, 0, DataTypeUInt8, uint8_t);
440  ADD_MAP(m, totalSize, "cno[23]", sat[23].cno, 0, DataTypeUInt8, uint8_t);
441  ADD_MAP(m, totalSize, "cno[24]", sat[24].cno, 0, DataTypeUInt8, uint8_t);
442  ADD_MAP(m, totalSize, "cno[25]", sat[25].cno, 0, DataTypeUInt8, uint8_t);
443  ADD_MAP(m, totalSize, "cno[26]", sat[26].cno, 0, DataTypeUInt8, uint8_t);
444  ADD_MAP(m, totalSize, "cno[27]", sat[27].cno, 0, DataTypeUInt8, uint8_t);
445  ADD_MAP(m, totalSize, "cno[28]", sat[28].cno, 0, DataTypeUInt8, uint8_t);
446  ADD_MAP(m, totalSize, "cno[29]", sat[29].cno, 0, DataTypeUInt8, uint8_t);
447  ADD_MAP(m, totalSize, "cno[30]", sat[30].cno, 0, DataTypeUInt8, uint8_t);
448  ADD_MAP(m, totalSize, "cno[31]", sat[31].cno, 0, DataTypeUInt8, uint8_t);
449  ADD_MAP(m, totalSize, "cno[32]", sat[32].cno, 0, DataTypeUInt8, uint8_t);
450  ADD_MAP(m, totalSize, "cno[33]", sat[33].cno, 0, DataTypeUInt8, uint8_t);
451  ADD_MAP(m, totalSize, "cno[34]", sat[34].cno, 0, DataTypeUInt8, uint8_t);
452  ADD_MAP(m, totalSize, "cno[35]", sat[35].cno, 0, DataTypeUInt8, uint8_t);
453  ADD_MAP(m, totalSize, "cno[36]", sat[36].cno, 0, DataTypeUInt8, uint8_t);
454  ADD_MAP(m, totalSize, "cno[37]", sat[37].cno, 0, DataTypeUInt8, uint8_t);
455  ADD_MAP(m, totalSize, "cno[38]", sat[38].cno, 0, DataTypeUInt8, uint8_t);
456  ADD_MAP(m, totalSize, "cno[39]", sat[39].cno, 0, DataTypeUInt8, uint8_t);
457  ADD_MAP(m, totalSize, "cno[40]", sat[40].cno, 0, DataTypeUInt8, uint8_t);
458  ADD_MAP(m, totalSize, "cno[41]", sat[41].cno, 0, DataTypeUInt8, uint8_t);
459  ADD_MAP(m, totalSize, "cno[42]", sat[42].cno, 0, DataTypeUInt8, uint8_t);
460  ADD_MAP(m, totalSize, "cno[43]", sat[43].cno, 0, DataTypeUInt8, uint8_t);
461  ADD_MAP(m, totalSize, "cno[44]", sat[44].cno, 0, DataTypeUInt8, uint8_t);
462  ADD_MAP(m, totalSize, "cno[45]", sat[45].cno, 0, DataTypeUInt8, uint8_t);
463  ADD_MAP(m, totalSize, "cno[46]", sat[46].cno, 0, DataTypeUInt8, uint8_t);
464  ADD_MAP(m, totalSize, "cno[47]", sat[47].cno, 0, DataTypeUInt8, uint8_t);
465  ADD_MAP(m, totalSize, "cno[48]", sat[48].cno, 0, DataTypeUInt8, uint8_t);
466  ADD_MAP(m, totalSize, "cno[49]", sat[49].cno, 0, DataTypeUInt8, uint8_t);
467  mappings[DID_GPS1_SAT] = m;
468  mappings[DID_GPS2_SAT] = m;
469 
470  ASSERT_SIZE(totalSize);
471 }
472 
473 #endif
474 
475 static void PopulateMagnetometerMappings(map_lookup_name_t& mappings)
476 {
477  typedef magnetometer_t MAP_TYPE;
478  map_name_to_info_t m;
479  uint32_t totalSize = 0;
480  ADD_MAP(m, totalSize, "time", time, 0, DataTypeDouble, double);
481  ADD_MAP(m, totalSize, "mag[0]", mag[0], 0, DataTypeFloat, float&);
482  ADD_MAP(m, totalSize, "mag[1]", mag[1], 0, DataTypeFloat, float&);
483  ADD_MAP(m, totalSize, "mag[2]", mag[2], 0, DataTypeFloat, float&);
484  mappings[DID_MAGNETOMETER_1] = m;
485  mappings[DID_MAGNETOMETER_2] = m;
486 
487  ASSERT_SIZE(totalSize);
488 }
489 
490 static void PopulateBarometerMappings(map_lookup_name_t& mappings)
491 {
492  typedef barometer_t MAP_TYPE;
493  map_name_to_info_t m;
494  uint32_t totalSize = 0;
495  ADD_MAP(m, totalSize, "time", time, 0, DataTypeDouble, double);
496  ADD_MAP(m, totalSize, "bar", bar, 0, DataTypeFloat, float);
497  ADD_MAP(m, totalSize, "mslBar", mslBar, 0, DataTypeFloat, float);
498  ADD_MAP(m, totalSize, "barTemp", barTemp, 0, DataTypeFloat, float);
499  ADD_MAP(m, totalSize, "humidity", humidity, 0, DataTypeFloat, float);
500  mappings[DID_BAROMETER] = m;
501 
502  ASSERT_SIZE(totalSize);
503 }
504 
505 static void PopulateIMUDeltaThetaVelocityMappings(map_lookup_name_t& mappings)
506 {
507  typedef preintegrated_imu_t MAP_TYPE;
508  map_name_to_info_t m;
509  uint32_t totalSize = 0;
510  ADD_MAP(m, totalSize, "time", time, 0, DataTypeDouble, double);
511  ADD_MAP(m, totalSize, "theta1[0]", theta1[0], 0, DataTypeFloat, float&);
512  ADD_MAP(m, totalSize, "theta1[1]", theta1[1], 0, DataTypeFloat, float&);
513  ADD_MAP(m, totalSize, "theta1[2]", theta1[2], 0, DataTypeFloat, float&);
514  ADD_MAP(m, totalSize, "vel1[0]", vel1[0], 0, DataTypeFloat, float&);
515  ADD_MAP(m, totalSize, "vel1[1]", vel1[1], 0, DataTypeFloat, float&);
516  ADD_MAP(m, totalSize, "vel1[2]", vel1[2], 0, DataTypeFloat, float&);
517  ADD_MAP(m, totalSize, "theta2[0]", theta2[0], 0, DataTypeFloat, float&);
518  ADD_MAP(m, totalSize, "theta2[1]", theta2[1], 0, DataTypeFloat, float&);
519  ADD_MAP(m, totalSize, "theta2[2]", theta2[2], 0, DataTypeFloat, float&);
520  ADD_MAP(m, totalSize, "vel2[0]", vel2[0], 0, DataTypeFloat, float&);
521  ADD_MAP(m, totalSize, "vel2[1]", vel2[1], 0, DataTypeFloat, float&);
522  ADD_MAP(m, totalSize, "vel2[2]", vel2[2], 0, DataTypeFloat, float&);
523  ADD_MAP(m, totalSize, "dt", dt, 0, DataTypeFloat, float);
524  mappings[DID_PREINTEGRATED_IMU] = m;
525 
526  ASSERT_SIZE(totalSize);
527 }
528 
529 static void PopulateConfigMappings(map_lookup_name_t& mappings)
530 {
531  typedef config_t MAP_TYPE;
532  map_name_to_info_t m;
533  uint32_t totalSize = 0;
534  ADD_MAP(m, totalSize, "enBootloader", enBootloader, 0, DataTypeUInt32, uint32_t);
535  ADD_MAP(m, totalSize, "enSensorStats", enSensorStats, 0, DataTypeUInt32, uint32_t);
536  ADD_MAP(m, totalSize, "enRTOSStats", enBootloader, 0, DataTypeUInt32, uint32_t);
537  ADD_MAP(m, totalSize, "gpsStatus", gpsStatus, 0, DataTypeUInt32, uint32_t);
538  ADD_MAP(m, totalSize, "system", system, 0, DataTypeUInt32, uint32_t);
539  mappings[DID_CONFIG] = m;
540 
541  ASSERT_SIZE(totalSize);
542 }
543 
544 static void PopulateFlashConfigMappings(map_lookup_name_t& mappings)
545 {
546  typedef nvm_flash_cfg_t MAP_TYPE;
547  map_name_to_info_t m;
548  uint32_t totalSize = 0;
549  ADD_MAP(m, totalSize, "size", size, 0, DataTypeUInt32, uint32_t);
550  ADD_MAP(m, totalSize, "checksum", checksum, 0, DataTypeUInt32, uint32_t);
551  ADD_MAP(m, totalSize, "key", key, 0, DataTypeUInt32, uint32_t);
552  ADD_MAP(m, totalSize, "startupImuDtMs", startupImuDtMs, 0, DataTypeUInt32, uint32_t);
553  ADD_MAP(m, totalSize, "startupNavDtMs", startupNavDtMs, 0, DataTypeUInt32, uint32_t);
554  ADD_MAP(m, totalSize, "ser0BaudRate", ser0BaudRate, 0, DataTypeUInt32, uint32_t);
555  ADD_MAP(m, totalSize, "ser1BaudRate", ser1BaudRate, 0, DataTypeUInt32, uint32_t);
556  ADD_MAP(m, totalSize, "insRotation[0]", insRotation[0], 0, DataTypeFloat, float&);
557  ADD_MAP(m, totalSize, "insRotation[1]", insRotation[1], 0, DataTypeFloat, float&);
558  ADD_MAP(m, totalSize, "insRotation[2]", insRotation[2], 0, DataTypeFloat, float&);
559  ADD_MAP(m, totalSize, "insOffset[0]", insOffset[0], 0, DataTypeFloat, float&);
560  ADD_MAP(m, totalSize, "insOffset[1]", insOffset[1], 0, DataTypeFloat, float&);
561  ADD_MAP(m, totalSize, "insOffset[2]", insOffset[2], 0, DataTypeFloat, float&);
562  ADD_MAP(m, totalSize, "gps1AntOffset[0]", gps1AntOffset[0], 0, DataTypeFloat, float&);
563  ADD_MAP(m, totalSize, "gps1AntOffset[1]", gps1AntOffset[1], 0, DataTypeFloat, float&);
564  ADD_MAP(m, totalSize, "gps1AntOffset[2]", gps1AntOffset[2], 0, DataTypeFloat, float&);
565  ADD_MAP(m, totalSize, "insDynModel", insDynModel, 0, DataTypeUInt32, uint32_t);
566  ADD_MAP(m, totalSize, "sysCfgBits", sysCfgBits, 0, DataTypeUInt32, uint32_t);
567  ADD_MAP(m, totalSize, "refLla[0]", refLla[0], 0, DataTypeDouble, double&);
568  ADD_MAP(m, totalSize, "refLla[1]", refLla[1], 0, DataTypeDouble, double&);
569  ADD_MAP(m, totalSize, "refLla[2]", refLla[2], 0, DataTypeDouble, double&);
570  ADD_MAP(m, totalSize, "lastLla[0]", lastLla[0], 0, DataTypeDouble, double&);
571  ADD_MAP(m, totalSize, "lastLla[1]", lastLla[1], 0, DataTypeDouble, double&);
572  ADD_MAP(m, totalSize, "lastLla[2]", lastLla[2], 0, DataTypeDouble, double&);
573  ADD_MAP(m, totalSize, "lastLlaTimeOfWeekMs", lastLlaTimeOfWeekMs, 0, DataTypeUInt32, uint32_t);
574  ADD_MAP(m, totalSize, "lastLlaWeek", lastLlaWeek, 0, DataTypeUInt32, uint32_t);
575  ADD_MAP(m, totalSize, "lastLlaUpdateDistance", lastLlaUpdateDistance, 0, DataTypeFloat, float);
576  ADD_MAP(m, totalSize, "ioConfig", ioConfig, 0, DataTypeUInt32, uint32_t);
577  ADD_MAP(m, totalSize, "cBrdConfig", cBrdConfig, 0, DataTypeUInt32, uint32_t);
578  ADD_MAP(m, totalSize, "magInclination", magInclination, 0, DataTypeFloat, float);
579  ADD_MAP(m, totalSize, "magDeclination", magDeclination, 0, DataTypeFloat, float);
580  ADD_MAP(m, totalSize, "gps2AntOffset[0]", gps2AntOffset[0], 0, DataTypeFloat, float&);
581  ADD_MAP(m, totalSize, "gps2AntOffset[1]", gps2AntOffset[1], 0, DataTypeFloat, float&);
582  ADD_MAP(m, totalSize, "gps2AntOffset[2]", gps2AntOffset[2], 0, DataTypeFloat, float&);
583  ADD_MAP(m, totalSize, "zeroVelRotation[0]", zeroVelRotation[0], 0, DataTypeFloat, float&);
584  ADD_MAP(m, totalSize, "zeroVelRotation[1]", zeroVelRotation[1], 0, DataTypeFloat, float&);
585  ADD_MAP(m, totalSize, "zeroVelRotation[2]", zeroVelRotation[2], 0, DataTypeFloat, float&);
586  ADD_MAP(m, totalSize, "zeroVelOffset[0]", zeroVelOffset[0], 0, DataTypeFloat, float&);
587  ADD_MAP(m, totalSize, "zeroVelOffset[1]", zeroVelOffset[1], 0, DataTypeFloat, float&);
588  ADD_MAP(m, totalSize, "zeroVelOffset[2]", zeroVelOffset[2], 0, DataTypeFloat, float&);
589  ADD_MAP(m, totalSize, "gpsTimeSyncPeriodMs", gpsTimeSyncPeriodMs, 0, DataTypeUInt32, uint32_t);
590  ADD_MAP(m, totalSize, "startupGPSDtMs", startupGPSDtMs, 0, DataTypeUInt32, uint32_t);
591  ADD_MAP(m, totalSize, "RTKCfgBits", RTKCfgBits, 0, DataTypeUInt32, uint32_t);
592  ADD_MAP(m, totalSize, "sensorConfig", sensorConfig, 0, DataTypeUInt32, uint32_t);
593  mappings[DID_FLASH_CONFIG] = m;
594 
595  ASSERT_SIZE(totalSize);
596 }
597 
598 static void PopulateRtkMiscMappings(map_lookup_name_t& mappings)
599 {
600  typedef gps_rtk_misc_t MAP_TYPE;
601  map_name_to_info_t m;
602  uint32_t totalSize = 0;
603  ADD_MAP(m, totalSize, "week", week, 0, DataTypeUInt32, uint32_t);
604  ADD_MAP(m, totalSize, "timeOfWeekMs", timeOfWeekMs, 0, DataTypeUInt32, uint32_t);
605  ADD_MAP(m, totalSize, "accuracyPos[0]", accuracyPos[0], 0, DataTypeFloat, float&);
606  ADD_MAP(m, totalSize, "accuracyPos[1]", accuracyPos[1], 0, DataTypeFloat, float&);
607  ADD_MAP(m, totalSize, "accuracyPos[2]", accuracyPos[2], 0, DataTypeFloat, float&);
608  ADD_MAP(m, totalSize, "accuracyCov[0]", accuracyCov[0], 0, DataTypeFloat, float&);
609  ADD_MAP(m, totalSize, "accuracyCov[1]", accuracyCov[1], 0, DataTypeFloat, float&);
610  ADD_MAP(m, totalSize, "accuracyCov[2]", accuracyCov[2], 0, DataTypeFloat, float&);
611  ADD_MAP(m, totalSize, "arThreshold", arThreshold, 0, DataTypeFloat, float);
612  ADD_MAP(m, totalSize, "gDop", gDop, 0, DataTypeFloat, float);
613  ADD_MAP(m, totalSize, "pDop", pDop, 0, DataTypeFloat, float);
614  ADD_MAP(m, totalSize, "hDop", hDop, 0, DataTypeFloat, float);
615  ADD_MAP(m, totalSize, "vDop", vDop, 0, DataTypeFloat, float);
616  ADD_MAP(m, totalSize, "baseLla[0]", baseLla[0], 0, DataTypeDouble, double&);
617  ADD_MAP(m, totalSize, "baseLla[1]", baseLla[1], 0, DataTypeDouble, double&);
618  ADD_MAP(m, totalSize, "baseLla[2]", baseLla[2], 0, DataTypeDouble, double&);
619  ADD_MAP(m, totalSize, "cycleSlipCount", cycleSlipCount, 0, DataTypeUInt32, uint32_t);
620  ADD_MAP(m, totalSize, "roverGpsObservationCount", roverGpsObservationCount, 0, DataTypeUInt32, uint32_t);
621  ADD_MAP(m, totalSize, "baseGpsObservationCount", baseGpsObservationCount, 0, DataTypeUInt32, uint32_t);
622  ADD_MAP(m, totalSize, "roverGlonassObservationCount", roverGlonassObservationCount, 0, DataTypeUInt32, uint32_t);
623  ADD_MAP(m, totalSize, "baseGlonassObservationCount", baseGlonassObservationCount, 0, DataTypeUInt32, uint32_t);
624  ADD_MAP(m, totalSize, "roverGalileoObservationCount", roverGalileoObservationCount, 0, DataTypeUInt32, uint32_t);
625  ADD_MAP(m, totalSize, "baseGalileoObservationCount", baseGalileoObservationCount, 0, DataTypeUInt32, uint32_t);
626  ADD_MAP(m, totalSize, "roverBeidouObservationCount", roverBeidouObservationCount, 0, DataTypeUInt32, uint32_t);
627  ADD_MAP(m, totalSize, "baseBeidouObservationCount", baseBeidouObservationCount, 0, DataTypeUInt32, uint32_t);
628  ADD_MAP(m, totalSize, "roverQzsObservationCount", roverQzsObservationCount, 0, DataTypeUInt32, uint32_t);
629  ADD_MAP(m, totalSize, "baseQzsObservationCount", baseQzsObservationCount, 0, DataTypeUInt32, uint32_t);
630  ADD_MAP(m, totalSize, "roverGpsEphemerisCount", roverGpsEphemerisCount, 0, DataTypeUInt32, uint32_t);
631  ADD_MAP(m, totalSize, "baseGpsEphemerisCount", baseGpsEphemerisCount, 0, DataTypeUInt32, uint32_t);
632  ADD_MAP(m, totalSize, "roverGlonassEphemerisCount", roverGlonassEphemerisCount, 0, DataTypeUInt32, uint32_t);
633  ADD_MAP(m, totalSize, "baseGlonassEphemerisCount", baseGlonassEphemerisCount, 0, DataTypeUInt32, uint32_t);
634  ADD_MAP(m, totalSize, "roverGalileoEphemerisCount", roverGalileoEphemerisCount, 0, DataTypeUInt32, uint32_t);
635  ADD_MAP(m, totalSize, "baseGalileoEphemerisCount", baseGalileoEphemerisCount, 0, DataTypeUInt32, uint32_t);
636  ADD_MAP(m, totalSize, "roverBeidouEphemerisCount", roverBeidouEphemerisCount, 0, DataTypeUInt32, uint32_t);
637  ADD_MAP(m, totalSize, "baseBeidouEphemerisCount", baseBeidouEphemerisCount, 0, DataTypeUInt32, uint32_t);
638  ADD_MAP(m, totalSize, "roverQzsEphemerisCount", roverQzsEphemerisCount, 0, DataTypeUInt32, uint32_t);
639  ADD_MAP(m, totalSize, "baseQzsEphemerisCount", baseQzsEphemerisCount, 0, DataTypeUInt32, uint32_t);
640  ADD_MAP(m, totalSize, "roverSbasCount", roverSbasCount, 0, DataTypeUInt32, uint32_t);
641  ADD_MAP(m, totalSize, "baseSbasCount", baseSbasCount, 0, DataTypeUInt32, uint32_t);
642  ADD_MAP(m, totalSize, "baseAntennaCount", baseAntennaCount, 0, DataTypeUInt32, uint32_t);
643  ADD_MAP(m, totalSize, "ionUtcAlmCount", ionUtcAlmCount, 0, DataTypeUInt32, uint32_t);
644  ADD_MAP(m, totalSize, "rtkCompassHeading", rtkCompassHeading, 0, DataTypeFloat, float);
645  mappings[DID_GPS_RTK_MISC] = m;
646 
647  ASSERT_SIZE(totalSize);
648 }
649 
650 static void PopulateGpsRawMappings(map_lookup_name_t& mappings)
651 {
652  typedef gps_raw_t MAP_TYPE;
653  map_name_to_info_t m;
654  uint32_t totalSize = 0;
655 
656  ADD_MAP(m, totalSize, "receiveIndex", receiverIndex, 0, DataTypeUInt8, uint8_t);
657  ADD_MAP(m, totalSize, "dataType", dataType, 0, DataTypeUInt8, uint8_t);
658  ADD_MAP(m, totalSize, "obsCount", obsCount, 0, DataTypeUInt8, uint8_t);
659  ADD_MAP(m, totalSize, "reserved", reserved, 0, DataTypeUInt8, uint8_t);
660  ADD_MAP(m, totalSize, "dataBuf", data.buf, 0, DataTypeBinary, uint8_t[MEMBERSIZE(MAP_TYPE, data.buf)]);
661  mappings[DID_GPS1_RAW] = m;
662  mappings[DID_GPS2_RAW] = m;
663  mappings[DID_GPS_BASE_RAW] = m;
664 
665  ASSERT_SIZE(totalSize);
666 }
667 
668 static void PopulateStrobeInTimeMappings(map_lookup_name_t& mappings)
669 {
670  typedef strobe_in_time_t MAP_TYPE;
671  map_name_to_info_t m;
672  uint32_t totalSize = 0;
673 
674  ADD_MAP(m, totalSize, "week", week, 0, DataTypeUInt32, uint32_t);
675  ADD_MAP(m, totalSize, "timeOfWeekMs", timeOfWeekMs, 0, DataTypeUInt32, uint32_t);
676  ADD_MAP(m, totalSize, "pin", pin, 0, DataTypeUInt32, uint32_t);
677  ADD_MAP(m, totalSize, "count", count, 0, DataTypeUInt32, uint32_t);
678  mappings[DID_STROBE_IN_TIME] = m;
679 
680  ASSERT_SIZE(totalSize);
681 }
682 
683 static void PopulateRtosInfoMappings(map_lookup_name_t& mappings)
684 {
685  typedef rtos_info_t MAP_TYPE;
686  map_name_to_info_t m;
687  uint32_t totalSize = 0;
688 
689  ADD_MAP(m, totalSize, "name[0]", task[0].name, MAX_TASK_NAME_LEN, DataTypeString, char[MAX_TASK_NAME_LEN]);
690  ADD_MAP(m, totalSize, "priority[0]", task[0].priority, 0, DataTypeUInt32, uint32_t);
691  ADD_MAP(m, totalSize, "stackUnused[0]", task[0].stackUnused, 0, DataTypeUInt32, uint32_t);
692  ADD_MAP(m, totalSize, "periodMs[0]", task[0].periodMs, 0, DataTypeUInt32, uint32_t);
693  ADD_MAP(m, totalSize, "runTimeUs[0]", task[0].runTimeUs, 0, DataTypeUInt32, uint32_t);
694  ADD_MAP(m, totalSize, "maxRunTimeUs[0]", task[0].maxRunTimeUs, 0, DataTypeUInt32, uint32_t);
695  ADD_MAP(m, totalSize, "averageRunTimeUs[0]", task[0].averageRunTimeUs, 0, DataTypeFloat, float);
696  ADD_MAP(m, totalSize, "gapCount[0]", task[0].gapCount, 0, DataTypeUInt32, uint32_t);
697  ADD_MAP(m, totalSize, "cpuUsage[0]", task[0].cpuUsage, 0, DataTypeFloat, f_t);
698  ADD_MAP(m, totalSize, "handle[0]", task[0].handle, 0, DataTypeUInt32, uint32_t);
699 
700  ADD_MAP(m, totalSize, "name[1]", task[1].name, MAX_TASK_NAME_LEN, DataTypeString, char[MAX_TASK_NAME_LEN]);
701  ADD_MAP(m, totalSize, "priority[1]", task[1].priority, 0, DataTypeUInt32, uint32_t);
702  ADD_MAP(m, totalSize, "stackUnused[1]", task[1].stackUnused, 0, DataTypeUInt32, uint32_t);
703  ADD_MAP(m, totalSize, "periodMs[1]", task[1].periodMs, 0, DataTypeUInt32, uint32_t);
704  ADD_MAP(m, totalSize, "runTimeUs[1]", task[1].runTimeUs, 0, DataTypeUInt32, uint32_t);
705  ADD_MAP(m, totalSize, "maxRunTimeUs[1]", task[1].maxRunTimeUs, 0, DataTypeUInt32, uint32_t);
706  ADD_MAP(m, totalSize, "averageRunTimeUs[1]", task[1].averageRunTimeUs, 0, DataTypeFloat, float);
707  ADD_MAP(m, totalSize, "gapCount[1]", task[1].gapCount, 0, DataTypeUInt32, uint32_t);
708  ADD_MAP(m, totalSize, "cpuUsage[1]", task[1].cpuUsage, 0, DataTypeFloat, f_t);
709  ADD_MAP(m, totalSize, "handle[1]", task[1].handle, 0, DataTypeUInt32, uint32_t);
710 
711  ADD_MAP(m, totalSize, "name[2]", task[2].name, MAX_TASK_NAME_LEN, DataTypeString, char[MAX_TASK_NAME_LEN]);
712  ADD_MAP(m, totalSize, "priority[2]", task[2].priority, 0, DataTypeUInt32, uint32_t);
713  ADD_MAP(m, totalSize, "stackUnused[2]", task[2].stackUnused, 0, DataTypeUInt32, uint32_t);
714  ADD_MAP(m, totalSize, "periodMs[2]", task[2].periodMs, 0, DataTypeUInt32, uint32_t);
715  ADD_MAP(m, totalSize, "runTimeUs[2]", task[2].runTimeUs, 0, DataTypeUInt32, uint32_t);
716  ADD_MAP(m, totalSize, "maxRunTimeUs[2]", task[2].maxRunTimeUs, 0, DataTypeUInt32, uint32_t);
717  ADD_MAP(m, totalSize, "averageRunTimeUs[2]", task[2].averageRunTimeUs, 0, DataTypeFloat, float);
718  ADD_MAP(m, totalSize, "gapCount[2]", task[2].gapCount, 0, DataTypeUInt32, uint32_t);
719  ADD_MAP(m, totalSize, "cpuUsage[2]", task[2].cpuUsage, 0, DataTypeFloat, f_t);
720  ADD_MAP(m, totalSize, "handle[2]", task[2].handle, 0, DataTypeUInt32, uint32_t);
721 
722  ADD_MAP(m, totalSize, "name[3]", task[3].name, MAX_TASK_NAME_LEN, DataTypeString, char[MAX_TASK_NAME_LEN]);
723  ADD_MAP(m, totalSize, "priority[3]", task[3].priority, 0, DataTypeUInt32, uint32_t);
724  ADD_MAP(m, totalSize, "stackUnused[3]", task[3].stackUnused, 0, DataTypeUInt32, uint32_t);
725  ADD_MAP(m, totalSize, "periodMs[3]", task[3].periodMs, 0, DataTypeUInt32, uint32_t);
726  ADD_MAP(m, totalSize, "runTimeUs[3]", task[3].runTimeUs, 0, DataTypeUInt32, uint32_t);
727  ADD_MAP(m, totalSize, "maxRunTimeUs[3]", task[3].maxRunTimeUs, 0, DataTypeUInt32, uint32_t);
728  ADD_MAP(m, totalSize, "averageRunTimeUs[3]", task[3].averageRunTimeUs, 0, DataTypeFloat, float);
729  ADD_MAP(m, totalSize, "gapCount[3]", task[3].gapCount, 0, DataTypeUInt32, uint32_t);
730  ADD_MAP(m, totalSize, "cpuUsage[3]", task[3].cpuUsage, 0, DataTypeFloat, f_t);
731  ADD_MAP(m, totalSize, "handle[3]", task[3].handle, 0, DataTypeUInt32, uint32_t);
732 
733  ADD_MAP(m, totalSize, "name[4]", task[4].name, MAX_TASK_NAME_LEN, DataTypeString, char[MAX_TASK_NAME_LEN]);
734  ADD_MAP(m, totalSize, "priority[4]", task[4].priority, 0, DataTypeUInt32, uint32_t);
735  ADD_MAP(m, totalSize, "stackUnused[4]", task[4].stackUnused, 0, DataTypeUInt32, uint32_t);
736  ADD_MAP(m, totalSize, "periodMs[4]", task[4].periodMs, 0, DataTypeUInt32, uint32_t);
737  ADD_MAP(m, totalSize, "runTimeUs[4]", task[4].runTimeUs, 0, DataTypeUInt32, uint32_t);
738  ADD_MAP(m, totalSize, "maxRunTimeUs[4]", task[4].maxRunTimeUs, 0, DataTypeUInt32, uint32_t);
739  ADD_MAP(m, totalSize, "averageRunTimeUs[4]", task[4].averageRunTimeUs, 0, DataTypeFloat, float);
740  ADD_MAP(m, totalSize, "gapCount[4]", task[4].gapCount, 0, DataTypeUInt32, uint32_t);
741  ADD_MAP(m, totalSize, "cpuUsage[4]", task[4].cpuUsage, 0, DataTypeFloat, f_t);
742  ADD_MAP(m, totalSize, "handle[4]", task[4].handle, 0, DataTypeUInt32, uint32_t);
743 
744  ADD_MAP(m, totalSize, "name[5]", task[5].name, MAX_TASK_NAME_LEN, DataTypeString, char[MAX_TASK_NAME_LEN]);
745  ADD_MAP(m, totalSize, "priority[5]", task[5].priority, 0, DataTypeUInt32, uint32_t);
746  ADD_MAP(m, totalSize, "stackUnused[5]", task[5].stackUnused, 0, DataTypeUInt32, uint32_t);
747  ADD_MAP(m, totalSize, "periodMs[5]", task[5].periodMs, 0, DataTypeUInt32, uint32_t);
748  ADD_MAP(m, totalSize, "runTimeUs[5]", task[5].runTimeUs, 0, DataTypeUInt32, uint32_t);
749  ADD_MAP(m, totalSize, "maxRunTimeUs[5]", task[5].maxRunTimeUs, 0, DataTypeUInt32, uint32_t);
750  ADD_MAP(m, totalSize, "averageRunTimeUs[5]", task[5].averageRunTimeUs, 0, DataTypeFloat, float);
751  ADD_MAP(m, totalSize, "gapCount[5]", task[5].gapCount, 0, DataTypeUInt32, uint32_t);
752  ADD_MAP(m, totalSize, "cpuUsage[5]", task[5].cpuUsage, 0, DataTypeFloat, f_t);
753  ADD_MAP(m, totalSize, "handle[5]", task[5].handle, 0, DataTypeUInt32, uint32_t);
754 
755  ADD_MAP(m, totalSize, "freeHeapSize", freeHeapSize, 0, DataTypeUInt32, uint32_t);
756  ADD_MAP(m, totalSize, "mallocMinusFree", mallocMinusFree, 0, DataTypeUInt32, uint32_t);
757 
758  mappings[DID_RTOS_INFO] = m;
759 
760  ASSERT_SIZE(totalSize);
761 }
762 
763 static void PopulateDiagMsgMappings(map_lookup_name_t& mappings)
764 {
765  typedef diag_msg_t MAP_TYPE;
766  map_name_to_info_t m;
767  uint32_t totalSize = 0;
768  ADD_MAP(m, totalSize, "timeOfWeekMs", timeOfWeekMs, 0, DataTypeUInt32, uint32_t);
769  ADD_MAP(m, totalSize, "messageLength", messageLength, 0, DataTypeUInt32, uint32_t);
770  ADD_MAP(m, totalSize, "message", message, MEMBERSIZE(diag_msg_t, message), DataTypeString, char[MEMBERSIZE(diag_msg_t, message)]);
771  mappings[DID_DIAGNOSTIC_MESSAGE] = m;
772 
773  ASSERT_SIZE(totalSize);
774 }
775 
776 #ifdef USE_IS_INTERNAL
777 
778 static void PopulateSensorsADCMappings(map_lookup_name_t& mappings)
779 {
780  typedef sys_sensors_adc_t MAP_TYPE;
781  map_name_to_info_t m;
782  uint32_t totalSize = 0;
783  ADD_MAP(m, totalSize, "time", time, 0, DataTypeDouble, double);
784  ADD_MAP(m, totalSize, "pqr1[0]", mpu[0].pqr[0], 0, DataTypeFloat, float&);
785  ADD_MAP(m, totalSize, "pqr1[1]", mpu[0].pqr[1], 0, DataTypeFloat, float&);
786  ADD_MAP(m, totalSize, "pqr1[2]", mpu[0].pqr[2], 0, DataTypeFloat, float&);
787  ADD_MAP(m, totalSize, "acc1[0]", mpu[0].acc[0], 0, DataTypeFloat, float&);
788  ADD_MAP(m, totalSize, "acc1[1]", mpu[0].acc[1], 0, DataTypeFloat, float&);
789  ADD_MAP(m, totalSize, "acc1[2]", mpu[0].acc[2], 0, DataTypeFloat, float&);
790  ADD_MAP(m, totalSize, "mag1[0]", mpu[0].mag[0], 0, DataTypeFloat, float&);
791  ADD_MAP(m, totalSize, "mag1[1]", mpu[0].mag[1], 0, DataTypeFloat, float&);
792  ADD_MAP(m, totalSize, "mag1[2]", mpu[0].mag[2], 0, DataTypeFloat, float&);
793  ADD_MAP(m, totalSize, "temp1", mpu[0].temp, 0, DataTypeFloat, float);
794  ADD_MAP(m, totalSize, "pqr2[0]", mpu[1].pqr[0], 0, DataTypeFloat, float&);
795  ADD_MAP(m, totalSize, "pqr2[1]", mpu[1].pqr[1], 0, DataTypeFloat, float&);
796  ADD_MAP(m, totalSize, "pqr2[2]", mpu[1].pqr[2], 0, DataTypeFloat, float&);
797  ADD_MAP(m, totalSize, "acc2[0]", mpu[1].acc[0], 0, DataTypeFloat, float&);
798  ADD_MAP(m, totalSize, "acc2[1]", mpu[1].acc[1], 0, DataTypeFloat, float&);
799  ADD_MAP(m, totalSize, "acc2[2]", mpu[1].acc[2], 0, DataTypeFloat, float&);
800  ADD_MAP(m, totalSize, "mag2[0]", mpu[1].mag[0], 0, DataTypeFloat, float&);
801  ADD_MAP(m, totalSize, "mag2[1]", mpu[1].mag[1], 0, DataTypeFloat, float&);
802  ADD_MAP(m, totalSize, "mag2[2]", mpu[1].mag[2], 0, DataTypeFloat, float&);
803  ADD_MAP(m, totalSize, "temp2", mpu[1].temp, 0, DataTypeFloat, float);
804  ADD_MAP(m, totalSize, "bar", bar, 0, DataTypeFloat, float);
805  ADD_MAP(m, totalSize, "barTemp", barTemp, 0, DataTypeFloat, float);
806  ADD_MAP(m, totalSize, "humidity", humidity, 0, DataTypeFloat, float);
807  ADD_MAP(m, totalSize, "ana[0]", ana[0], 0, DataTypeFloat, float&);
808  ADD_MAP(m, totalSize, "ana[1]", ana[1], 0, DataTypeFloat, float&);
809  ADD_MAP(m, totalSize, "ana[2]", ana[2], 0, DataTypeFloat, float&);
810  ADD_MAP(m, totalSize, "ana[3]", ana[3], 0, DataTypeFloat, float&);
811  mappings[DID_SENSORS_ADC] = m;
812 
813  ASSERT_SIZE(totalSize);
814 }
815 
816 static void PopulateSensorsISMappings(map_lookup_name_t& mappings)
817 {
818  typedef sensors_w_temp_t MAP_TYPE;
819  map_name_to_info_t m;
820  uint32_t totalSize = 0;
821  ADD_MAP(m, totalSize, "pqr1[0]", mpu[0].pqr[0], 0, DataTypeFloat, float&);
822  ADD_MAP(m, totalSize, "pqr1[1]", mpu[0].pqr[1], 0, DataTypeFloat, float&);
823  ADD_MAP(m, totalSize, "pqr1[2]", mpu[0].pqr[2], 0, DataTypeFloat, float&);
824  ADD_MAP(m, totalSize, "acc1[0]", mpu[0].acc[0], 0, DataTypeFloat, float&);
825  ADD_MAP(m, totalSize, "acc1[1]", mpu[0].acc[1], 0, DataTypeFloat, float&);
826  ADD_MAP(m, totalSize, "acc1[2]", mpu[0].acc[2], 0, DataTypeFloat, float&);
827  ADD_MAP(m, totalSize, "mag1[0]", mpu[0].mag[0], 0, DataTypeFloat, float&);
828  ADD_MAP(m, totalSize, "mag1[1]", mpu[0].mag[1], 0, DataTypeFloat, float&);
829  ADD_MAP(m, totalSize, "mag1[2]", mpu[0].mag[2], 0, DataTypeFloat, float&);
830  ADD_MAP(m, totalSize, "temp1", mpu[0].temp, 0, DataTypeFloat, float);
831  ADD_MAP(m, totalSize, "pqr2[0]", mpu[1].pqr[0], 0, DataTypeFloat, float&);
832  ADD_MAP(m, totalSize, "pqr2[1]", mpu[1].pqr[1], 0, DataTypeFloat, float&);
833  ADD_MAP(m, totalSize, "pqr2[2]", mpu[1].pqr[2], 0, DataTypeFloat, float&);
834  ADD_MAP(m, totalSize, "acc2[0]", mpu[1].acc[0], 0, DataTypeFloat, float&);
835  ADD_MAP(m, totalSize, "acc2[1]", mpu[1].acc[1], 0, DataTypeFloat, float&);
836  ADD_MAP(m, totalSize, "acc2[2]", mpu[1].acc[2], 0, DataTypeFloat, float&);
837  ADD_MAP(m, totalSize, "mag2[0]", mpu[1].mag[0], 0, DataTypeFloat, float&);
838  ADD_MAP(m, totalSize, "mag2[1]", mpu[1].mag[1], 0, DataTypeFloat, float&);
839  ADD_MAP(m, totalSize, "mag2[2]", mpu[1].mag[2], 0, DataTypeFloat, float&);
840  ADD_MAP(m, totalSize, "temp2", mpu[1].temp, 0, DataTypeFloat, float);
841  mappings[DID_SENSORS_IS1] = m;
842  mappings[DID_SENSORS_IS2] = m;
843 
844  ASSERT_SIZE(totalSize);
845 
846 }
847 
848 static void PopulateSensorsTCMappings(map_lookup_name_t& mappings)
849 {
850  typedef sensors_t MAP_TYPE;
851  map_name_to_info_t m;
852  uint32_t totalSize = 0;
853  ADD_MAP(m, totalSize, "pqr1[0]", mpu[0].pqr[0], 0, DataTypeFloat, float&);
854  ADD_MAP(m, totalSize, "pqr1[1]", mpu[0].pqr[1], 0, DataTypeFloat, float&);
855  ADD_MAP(m, totalSize, "pqr1[2]", mpu[0].pqr[2], 0, DataTypeFloat, float&);
856  ADD_MAP(m, totalSize, "acc1[0]", mpu[0].acc[0], 0, DataTypeFloat, float&);
857  ADD_MAP(m, totalSize, "acc1[1]", mpu[0].acc[1], 0, DataTypeFloat, float&);
858  ADD_MAP(m, totalSize, "acc1[2]", mpu[0].acc[2], 0, DataTypeFloat, float&);
859  ADD_MAP(m, totalSize, "mag1[0]", mpu[0].mag[0], 0, DataTypeFloat, float&);
860  ADD_MAP(m, totalSize, "mag1[1]", mpu[0].mag[1], 0, DataTypeFloat, float&);
861  ADD_MAP(m, totalSize, "mag1[2]", mpu[0].mag[2], 0, DataTypeFloat, float&);
862  ADD_MAP(m, totalSize, "pqr2[0]", mpu[1].pqr[0], 0, DataTypeFloat, float&);
863  ADD_MAP(m, totalSize, "pqr2[1]", mpu[1].pqr[1], 0, DataTypeFloat, float&);
864  ADD_MAP(m, totalSize, "pqr2[2]", mpu[1].pqr[2], 0, DataTypeFloat, float&);
865  ADD_MAP(m, totalSize, "acc2[0]", mpu[1].acc[0], 0, DataTypeFloat, float&);
866  ADD_MAP(m, totalSize, "acc2[1]", mpu[1].acc[1], 0, DataTypeFloat, float&);
867  ADD_MAP(m, totalSize, "acc2[2]", mpu[1].acc[2], 0, DataTypeFloat, float&);
868  ADD_MAP(m, totalSize, "mag2[0]", mpu[1].mag[0], 0, DataTypeFloat, float&);
869  ADD_MAP(m, totalSize, "mag2[1]", mpu[1].mag[1], 0, DataTypeFloat, float&);
870  ADD_MAP(m, totalSize, "mag2[2]", mpu[1].mag[2], 0, DataTypeFloat, float&);
871  mappings[DID_SENSORS_TC_BIAS] = m;
872 
873  ASSERT_SIZE(totalSize);
874 }
875 
876 static void PopulateSensorsCompMappings(map_lookup_name_t& mappings)
877 {
878  typedef sensor_compensation_t MAP_TYPE;
879  map_name_to_info_t m;
880  uint32_t totalSize = 0;
881  ADD_MAP(m, totalSize, "pqr1[0]", mpu[0].lpfLsb.pqr[0], 0, DataTypeFloat, float&);
882  ADD_MAP(m, totalSize, "pqr1[1]", mpu[0].lpfLsb.pqr[1], 0, DataTypeFloat, float&);
883  ADD_MAP(m, totalSize, "pqr1[2]", mpu[0].lpfLsb.pqr[2], 0, DataTypeFloat, float&);
884  ADD_MAP(m, totalSize, "acc1[0]", mpu[0].lpfLsb.acc[0], 0, DataTypeFloat, float&);
885  ADD_MAP(m, totalSize, "acc1[1]", mpu[0].lpfLsb.acc[1], 0, DataTypeFloat, float&);
886  ADD_MAP(m, totalSize, "acc1[2]", mpu[0].lpfLsb.acc[2], 0, DataTypeFloat, float&);
887  ADD_MAP(m, totalSize, "mag1[0]", mpu[0].lpfLsb.mag[0], 0, DataTypeFloat, float&);
888  ADD_MAP(m, totalSize, "mag1[1]", mpu[0].lpfLsb.mag[1], 0, DataTypeFloat, float&);
889  ADD_MAP(m, totalSize, "mag1[2]", mpu[0].lpfLsb.mag[2], 0, DataTypeFloat, float&);
890  ADD_MAP(m, totalSize, "temp1", mpu[0].lpfLsb.temp, 0, DataTypeFloat, float);
891  ADD_MAP(m, totalSize, "temp2", mpu[0].temp, 0, DataTypeFloat, float);
892  ADD_MAP(m, totalSize, "tempRampRate1", mpu[0].tempRampRate, 0, DataTypeFloat, float);
893  ADD_MAP(m, totalSize, "tci1", mpu[0].tci, 0, DataTypeUInt32, uint32_t);
894  ADD_MAP(m, totalSize, "numTcPts1", mpu[0].numTcPts, 0, DataTypeUInt32, uint32_t);
895  ADD_MAP(m, totalSize, "dtTemp1", mpu[0].dtTemp, 0, DataTypeFloat, float);
896  ADD_MAP(m, totalSize, "pqr2[0]", mpu[1].lpfLsb.pqr[0], 0, DataTypeFloat, float&);
897  ADD_MAP(m, totalSize, "pqr2[1]", mpu[1].lpfLsb.pqr[1], 0, DataTypeFloat, float&);
898  ADD_MAP(m, totalSize, "pqr2[2]", mpu[1].lpfLsb.pqr[2], 0, DataTypeFloat, float&);
899  ADD_MAP(m, totalSize, "acc2[0]", mpu[1].lpfLsb.acc[0], 0, DataTypeFloat, float&);
900  ADD_MAP(m, totalSize, "acc2[1]", mpu[1].lpfLsb.acc[1], 0, DataTypeFloat, float&);
901  ADD_MAP(m, totalSize, "acc2[2]", mpu[1].lpfLsb.acc[2], 0, DataTypeFloat, float&);
902  ADD_MAP(m, totalSize, "mag2[0]", mpu[1].lpfLsb.mag[0], 0, DataTypeFloat, float&);
903  ADD_MAP(m, totalSize, "mag2[1]", mpu[1].lpfLsb.mag[1], 0, DataTypeFloat, float&);
904  ADD_MAP(m, totalSize, "mag2[2]", mpu[1].lpfLsb.mag[2], 0, DataTypeFloat, float&);
905  ADD_MAP(m, totalSize, "temp3", mpu[1].lpfLsb.temp, 0, DataTypeFloat, float);
906  ADD_MAP(m, totalSize, "temp4", mpu[1].temp, 0, DataTypeFloat, float);
907  ADD_MAP(m, totalSize, "tempRampRate2", mpu[1].tempRampRate, 0, DataTypeFloat, float);
908  ADD_MAP(m, totalSize, "tci2", mpu[1].tci, 0, DataTypeUInt32, uint32_t);
909  ADD_MAP(m, totalSize, "numTcPts2", mpu[1].numTcPts, 0, DataTypeUInt32, uint32_t);
910  ADD_MAP(m, totalSize, "dtTemp2", mpu[1].dtTemp, 0, DataTypeFloat, float);
911  ADD_MAP(m, totalSize, "sampleCount", sampleCount, 0, DataTypeUInt32, uint32_t);
912  ADD_MAP(m, totalSize, "calState", calState, 0, DataTypeUInt32, uint32_t);
913  ADD_MAP(m, totalSize, "alignAccel[0]", alignAccel[0], 0, DataTypeFloat, float&);
914  ADD_MAP(m, totalSize, "alignAccel[1]", alignAccel[1], 0, DataTypeFloat, float&);
915  ADD_MAP(m, totalSize, "alignAccel[2]", alignAccel[2], 0, DataTypeFloat, float&);
916  ADD_MAP(m, totalSize, "status", status, 0, DataTypeUInt32, uint32_t);
917  mappings[DID_SCOMP] = m;
918 
919  ASSERT_SIZE(totalSize);
920 }
921 
922 static void PopulateDebugArrayMappings(map_lookup_name_t& mappings)
923 {
924  typedef debug_array_t MAP_TYPE;
925  map_name_to_info_t m;
926  uint32_t totalSize = 0;
927  ADD_MAP(m, totalSize, "i[0]", i[0], 0, DataTypeInt32, int32_t&);
928  ADD_MAP(m, totalSize, "i[1]", i[1], 0, DataTypeInt32, int32_t&);
929  ADD_MAP(m, totalSize, "i[2]", i[2], 0, DataTypeInt32, int32_t&);
930  ADD_MAP(m, totalSize, "i[3]", i[3], 0, DataTypeInt32, int32_t&);
931  ADD_MAP(m, totalSize, "i[4]", i[4], 0, DataTypeInt32, int32_t&);
932  ADD_MAP(m, totalSize, "i[5]", i[5], 0, DataTypeInt32, int32_t&);
933  ADD_MAP(m, totalSize, "i[6]", i[6], 0, DataTypeInt32, int32_t&);
934  ADD_MAP(m, totalSize, "i[7]", i[7], 0, DataTypeInt32, int32_t&);
935  ADD_MAP(m, totalSize, "i[8]", i[8], 0, DataTypeInt32, int32_t&);
936  ADD_MAP(m, totalSize, "f[0]", f[0], 0, DataTypeFloat, float&);
937  ADD_MAP(m, totalSize, "f[1]", f[1], 0, DataTypeFloat, float&);
938  ADD_MAP(m, totalSize, "f[2]", f[2], 0, DataTypeFloat, float&);
939  ADD_MAP(m, totalSize, "f[3]", f[3], 0, DataTypeFloat, float&);
940  ADD_MAP(m, totalSize, "f[4]", f[4], 0, DataTypeFloat, float&);
941  ADD_MAP(m, totalSize, "f[5]", f[5], 0, DataTypeFloat, float&);
942  ADD_MAP(m, totalSize, "f[6]", f[6], 0, DataTypeFloat, float&);
943  ADD_MAP(m, totalSize, "f[7]", f[7], 0, DataTypeFloat, float&);
944  ADD_MAP(m, totalSize, "f[8]", f[8], 0, DataTypeFloat, float&);
945  ADD_MAP(m, totalSize, "lf[0]", lf[0], 0, DataTypeDouble, double&);
946  ADD_MAP(m, totalSize, "lf[1]", lf[1], 0, DataTypeDouble, double&);
947  ADD_MAP(m, totalSize, "lf[2]", lf[2], 0, DataTypeDouble, double&);
948  mappings[DID_DEBUG_ARRAY] = m;
949 
950  ASSERT_SIZE(totalSize);
951 }
952 
953 static void PopulateUserPage0Mappings(map_lookup_name_t& mappings)
954 {
955  typedef nvm_group_0_t MAP_TYPE;
956  map_name_to_info_t m;
957  uint32_t totalSize = 0;
958  ADD_MAP(m, totalSize, "size", size, 0, DataTypeUInt32, uint32_t);
959  ADD_MAP(m, totalSize, "checksum", checksum, 0, DataTypeUInt32, uint32_t);
960  ADD_MAP(m, totalSize, "key", key, 0, DataTypeUInt32, uint32_t);
961  ADD_MAP(m, totalSize, "lockBits", lockBits, 0, DataTypeUInt32, uint32_t);
962  ADD_MAP(m, totalSize, "featureBits", featureBits, 0, DataTypeUInt32, uint32_t);
963  ADD_MAP(m, totalSize, "featureHash1", featureHash1, 0, DataTypeUInt32, uint32_t);
964  ADD_MAP(m, totalSize, "featureHash2", featureHash2, 0, DataTypeUInt32, uint32_t);
965  mappings[DID_NVR_USERPAGE_G0] = m;
966 
967  ASSERT_SIZE(totalSize);
968 }
969 
970 static void PopulateUserPage1Mappings(map_lookup_name_t& mappings)
971 {
972  typedef nvm_group_1_t MAP_TYPE;
973  map_name_to_info_t m;
974  uint32_t totalSize = 0;
975  ADD_MAP(m, totalSize, "size", size, 0, DataTypeUInt32, uint32_t);
976  ADD_MAP(m, totalSize, "checksum", checksum, 0, DataTypeUInt32, uint32_t);
977  ADD_MAP(m, totalSize, "key", key, 0, DataTypeUInt32, uint32_t);
978  ADD_MAP(m, totalSize, "bKpqr", cf.bKpqr, 0, DataTypeFloat, float);
979  ADD_MAP(m, totalSize, "bKuvw", cf.bKuvw, 0, DataTypeFloat, float);
980  ADD_MAP(m, totalSize, "oKat1", cf.oKat1, 0, DataTypeFloat, float);
981  ADD_MAP(m, totalSize, "oKat2", cf.oKat2, 0, DataTypeFloat, float);
982  ADD_MAP(m, totalSize, "oKuvw", cf.oKuvw, 0, DataTypeFloat, float);
983  ADD_MAP(m, totalSize, "oKlla", cf.oKlla, 0, DataTypeFloat, float);
984  ADD_MAP(m, totalSize, "mag.bias_cal[0]", mag.bias_cal[0], 0, DataTypeFloat, float&);
985  ADD_MAP(m, totalSize, "mag.bias_cal[1]", mag.bias_cal[1], 0, DataTypeFloat, float&);
986  ADD_MAP(m, totalSize, "mag.bias_cal[2]", mag.bias_cal[2], 0, DataTypeFloat, float&);
987  ADD_MAP(m, totalSize, "mag.Wcal[0]", mag.Wcal[0], 0, DataTypeFloat, float&);
988  ADD_MAP(m, totalSize, "mag.Wcal[1]", mag.Wcal[1], 0, DataTypeFloat, float&);
989  ADD_MAP(m, totalSize, "mag.Wcal[2]", mag.Wcal[2], 0, DataTypeFloat, float&);
990  ADD_MAP(m, totalSize, "mag.Wcal[3]", mag.Wcal[3], 0, DataTypeFloat, float&);
991  ADD_MAP(m, totalSize, "mag.Wcal[4]", mag.Wcal[4], 0, DataTypeFloat, float&);
992  ADD_MAP(m, totalSize, "mag.Wcal[5]", mag.Wcal[5], 0, DataTypeFloat, float&);
993  ADD_MAP(m, totalSize, "mag.Wcal[6]", mag.Wcal[6], 0, DataTypeFloat, float&);
994  ADD_MAP(m, totalSize, "mag.Wcal[7]", mag.Wcal[7], 0, DataTypeFloat, float&);
995  ADD_MAP(m, totalSize, "mag.Wcal[8]", mag.Wcal[8], 0, DataTypeFloat, float&);
996  ADD_MAP(m, totalSize, "mag.DtD[0]", mag.DtD[0], 0, DataTypeFloat, float&);
997  ADD_MAP(m, totalSize, "mag.DtD[1]", mag.DtD[1], 0, DataTypeFloat, float&);
998  ADD_MAP(m, totalSize, "mag.DtD[2]", mag.DtD[2], 0, DataTypeFloat, float&);
999  ADD_MAP(m, totalSize, "mag.DtD[3]", mag.DtD[3], 0, DataTypeFloat, float&);
1000  ADD_MAP(m, totalSize, "mag.DtD[4]", mag.DtD[4], 0, DataTypeFloat, float&);
1001  ADD_MAP(m, totalSize, "mag.DtD[5]", mag.DtD[5], 0, DataTypeFloat, float&);
1002  ADD_MAP(m, totalSize, "mag.DtD[6]", mag.DtD[6], 0, DataTypeFloat, float&);
1003  ADD_MAP(m, totalSize, "mag.DtD[7]", mag.DtD[7], 0, DataTypeFloat, float&);
1004  ADD_MAP(m, totalSize, "mag.DtD[8]", mag.DtD[8], 0, DataTypeFloat, float&);
1005  ADD_MAP(m, totalSize, "mag.DtD[9]", mag.DtD[9], 0, DataTypeFloat, float&);
1006  ADD_MAP(m, totalSize, "mag.DtD[10]", mag.DtD[10], 0, DataTypeFloat, float&);
1007  ADD_MAP(m, totalSize, "mag.DtD[11]", mag.DtD[11], 0, DataTypeFloat, float&);
1008  ADD_MAP(m, totalSize, "mag.DtD[12]", mag.DtD[12], 0, DataTypeFloat, float&);
1009  ADD_MAP(m, totalSize, "mag.DtD[13]", mag.DtD[13], 0, DataTypeFloat, float&);
1010  ADD_MAP(m, totalSize, "mag.DtD[14]", mag.DtD[14], 0, DataTypeFloat, float&);
1011  ADD_MAP(m, totalSize, "mag.DtD[15]", mag.DtD[15], 0, DataTypeFloat, float&);
1012  ADD_MAP(m, totalSize, "mag.DtD[16]", mag.DtD[16], 0, DataTypeFloat, float&);
1013  ADD_MAP(m, totalSize, "mag.DtD[17]", mag.DtD[17], 0, DataTypeFloat, float&);
1014  ADD_MAP(m, totalSize, "mag.DtD[18]", mag.DtD[18], 0, DataTypeFloat, float&);
1015  ADD_MAP(m, totalSize, "mag.DtD[19]", mag.DtD[19], 0, DataTypeFloat, float&);
1016  ADD_MAP(m, totalSize, "mag.DtD[20]", mag.DtD[20], 0, DataTypeFloat, float&);
1017  ADD_MAP(m, totalSize, "mag.DtD[21]", mag.DtD[21], 0, DataTypeFloat, float&);
1018  ADD_MAP(m, totalSize, "mag.DtD[22]", mag.DtD[22], 0, DataTypeFloat, float&);
1019  ADD_MAP(m, totalSize, "mag.DtD[23]", mag.DtD[23], 0, DataTypeFloat, float&);
1020  ADD_MAP(m, totalSize, "mag.DtD[24]", mag.DtD[24], 0, DataTypeFloat, float&);
1021  ADD_MAP(m, totalSize, "mag.DtD[25]", mag.DtD[25], 0, DataTypeFloat, float&);
1022  ADD_MAP(m, totalSize, "mag.DtD[26]", mag.DtD[26], 0, DataTypeFloat, float&);
1023  ADD_MAP(m, totalSize, "mag.DtD[27]", mag.DtD[27], 0, DataTypeFloat, float&);
1024  ADD_MAP(m, totalSize, "mag.DtD[28]", mag.DtD[28], 0, DataTypeFloat, float&);
1025  ADD_MAP(m, totalSize, "mag.DtD[29]", mag.DtD[29], 0, DataTypeFloat, float&);
1026  ADD_MAP(m, totalSize, "mag.DtD[30]", mag.DtD[30], 0, DataTypeFloat, float&);
1027  ADD_MAP(m, totalSize, "mag.DtD[31]", mag.DtD[31], 0, DataTypeFloat, float&);
1028  ADD_MAP(m, totalSize, "mag.DtD[32]", mag.DtD[32], 0, DataTypeFloat, float&);
1029  ADD_MAP(m, totalSize, "mag.DtD[33]", mag.DtD[33], 0, DataTypeFloat, float&);
1030  ADD_MAP(m, totalSize, "mag.DtD[34]", mag.DtD[34], 0, DataTypeFloat, float&);
1031  ADD_MAP(m, totalSize, "mag.DtD[35]", mag.DtD[35], 0, DataTypeFloat, float&);
1032  ADD_MAP(m, totalSize, "mag.DtD[36]", mag.DtD[36], 0, DataTypeFloat, float&);
1033  ADD_MAP(m, totalSize, "mag.DtD[37]", mag.DtD[37], 0, DataTypeFloat, float&);
1034  ADD_MAP(m, totalSize, "mag.DtD[38]", mag.DtD[38], 0, DataTypeFloat, float&);
1035  ADD_MAP(m, totalSize, "mag.DtD[39]", mag.DtD[39], 0, DataTypeFloat, float&);
1036  ADD_MAP(m, totalSize, "mag.DtD[40]", mag.DtD[40], 0, DataTypeFloat, float&);
1037  ADD_MAP(m, totalSize, "mag.DtD[41]", mag.DtD[41], 0, DataTypeFloat, float&);
1038  ADD_MAP(m, totalSize, "mag.DtD[42]", mag.DtD[42], 0, DataTypeFloat, float&);
1039  ADD_MAP(m, totalSize, "mag.DtD[43]", mag.DtD[43], 0, DataTypeFloat, float&);
1040  ADD_MAP(m, totalSize, "mag.DtD[44]", mag.DtD[44], 0, DataTypeFloat, float&);
1041  ADD_MAP(m, totalSize, "mag.DtD[45]", mag.DtD[45], 0, DataTypeFloat, float&);
1042  ADD_MAP(m, totalSize, "mag.DtD[46]", mag.DtD[46], 0, DataTypeFloat, float&);
1043  ADD_MAP(m, totalSize, "mag.DtD[47]", mag.DtD[47], 0, DataTypeFloat, float&);
1044  ADD_MAP(m, totalSize, "mag.DtD[48]", mag.DtD[48], 0, DataTypeFloat, float&);
1045  ADD_MAP(m, totalSize, "mag.DtD[49]", mag.DtD[49], 0, DataTypeFloat, float&);
1046  ADD_MAP(m, totalSize, "mag.DtD[50]", mag.DtD[50], 0, DataTypeFloat, float&);
1047  ADD_MAP(m, totalSize, "mag.DtD[51]", mag.DtD[51], 0, DataTypeFloat, float&);
1048  ADD_MAP(m, totalSize, "mag.DtD[52]", mag.DtD[52], 0, DataTypeFloat, float&);
1049  ADD_MAP(m, totalSize, "mag.DtD[53]", mag.DtD[53], 0, DataTypeFloat, float&);
1050  ADD_MAP(m, totalSize, "mag.DtD[54]", mag.DtD[54], 0, DataTypeFloat, float&);
1051  ADD_MAP(m, totalSize, "mag.DtD[55]", mag.DtD[55], 0, DataTypeFloat, float&);
1052  ADD_MAP(m, totalSize, "mag.DtD[56]", mag.DtD[56], 0, DataTypeFloat, float&);
1053  ADD_MAP(m, totalSize, "mag.DtD[57]", mag.DtD[57], 0, DataTypeFloat, float&);
1054  ADD_MAP(m, totalSize, "mag.DtD[58]", mag.DtD[58], 0, DataTypeFloat, float&);
1055  ADD_MAP(m, totalSize, "mag.DtD[59]", mag.DtD[59], 0, DataTypeFloat, float&);
1056  ADD_MAP(m, totalSize, "mag.DtD[60]", mag.DtD[60], 0, DataTypeFloat, float&);
1057  ADD_MAP(m, totalSize, "mag.DtD[61]", mag.DtD[61], 0, DataTypeFloat, float&);
1058  ADD_MAP(m, totalSize, "mag.DtD[62]", mag.DtD[62], 0, DataTypeFloat, float&);
1059  ADD_MAP(m, totalSize, "mag.DtD[63]", mag.DtD[63], 0, DataTypeFloat, float&);
1060  ADD_MAP(m, totalSize, "mag.DtD[64]", mag.DtD[64], 0, DataTypeFloat, float&);
1061  ADD_MAP(m, totalSize, "mag.DtD[65]", mag.DtD[65], 0, DataTypeFloat, float&);
1062  ADD_MAP(m, totalSize, "mag.DtD[66]", mag.DtD[66], 0, DataTypeFloat, float&);
1063  ADD_MAP(m, totalSize, "mag.DtD[67]", mag.DtD[67], 0, DataTypeFloat, float&);
1064  ADD_MAP(m, totalSize, "mag.DtD[68]", mag.DtD[68], 0, DataTypeFloat, float&);
1065  ADD_MAP(m, totalSize, "mag.DtD[69]", mag.DtD[69], 0, DataTypeFloat, float&);
1066  ADD_MAP(m, totalSize, "mag.DtD[70]", mag.DtD[70], 0, DataTypeFloat, float&);
1067  ADD_MAP(m, totalSize, "mag.DtD[71]", mag.DtD[71], 0, DataTypeFloat, float&);
1068  ADD_MAP(m, totalSize, "mag.DtD[72]", mag.DtD[72], 0, DataTypeFloat, float&);
1069  ADD_MAP(m, totalSize, "mag.DtD[73]", mag.DtD[73], 0, DataTypeFloat, float&);
1070  ADD_MAP(m, totalSize, "mag.DtD[74]", mag.DtD[74], 0, DataTypeFloat, float&);
1071  ADD_MAP(m, totalSize, "mag.DtD[75]", mag.DtD[75], 0, DataTypeFloat, float&);
1072  ADD_MAP(m, totalSize, "mag.DtD[76]", mag.DtD[76], 0, DataTypeFloat, float&);
1073  ADD_MAP(m, totalSize, "mag.DtD[77]", mag.DtD[77], 0, DataTypeFloat, float&);
1074  ADD_MAP(m, totalSize, "mag.DtD[78]", mag.DtD[78], 0, DataTypeFloat, float&);
1075  ADD_MAP(m, totalSize, "mag.DtD[79]", mag.DtD[79], 0, DataTypeFloat, float&);
1076  ADD_MAP(m, totalSize, "mag.DtD[80]", mag.DtD[80], 0, DataTypeFloat, float&);
1077  ADD_MAP(m, totalSize, "mag.DtD[81]", mag.DtD[81], 0, DataTypeFloat, float&);
1078  ADD_MAP(m, totalSize, "mag.DtD[82]", mag.DtD[82], 0, DataTypeFloat, float&);
1079  ADD_MAP(m, totalSize, "mag.DtD[83]", mag.DtD[83], 0, DataTypeFloat, float&);
1080  ADD_MAP(m, totalSize, "mag.DtD[84]", mag.DtD[84], 0, DataTypeFloat, float&);
1081  ADD_MAP(m, totalSize, "mag.DtD[85]", mag.DtD[85], 0, DataTypeFloat, float&);
1082  ADD_MAP(m, totalSize, "mag.DtD[86]", mag.DtD[86], 0, DataTypeFloat, float&);
1083  ADD_MAP(m, totalSize, "mag.DtD[87]", mag.DtD[87], 0, DataTypeFloat, float&);
1084  ADD_MAP(m, totalSize, "mag.DtD[88]", mag.DtD[88], 0, DataTypeFloat, float&);
1085  ADD_MAP(m, totalSize, "mag.DtD[89]", mag.DtD[89], 0, DataTypeFloat, float&);
1086  ADD_MAP(m, totalSize, "mag.DtD[90]", mag.DtD[90], 0, DataTypeFloat, float&);
1087  ADD_MAP(m, totalSize, "mag.DtD[91]", mag.DtD[91], 0, DataTypeFloat, float&);
1088  ADD_MAP(m, totalSize, "mag.DtD[92]", mag.DtD[92], 0, DataTypeFloat, float&);
1089  ADD_MAP(m, totalSize, "mag.DtD[93]", mag.DtD[93], 0, DataTypeFloat, float&);
1090  ADD_MAP(m, totalSize, "mag.DtD[94]", mag.DtD[94], 0, DataTypeFloat, float&);
1091  ADD_MAP(m, totalSize, "mag.DtD[95]", mag.DtD[95], 0, DataTypeFloat, float&);
1092  ADD_MAP(m, totalSize, "mag.DtD[96]", mag.DtD[96], 0, DataTypeFloat, float&);
1093  ADD_MAP(m, totalSize, "mag.DtD[97]", mag.DtD[97], 0, DataTypeFloat, float&);
1094  ADD_MAP(m, totalSize, "mag.DtD[98]", mag.DtD[98], 0, DataTypeFloat, float&);
1095  ADD_MAP(m, totalSize, "mag.DtD[99]", mag.DtD[99], 0, DataTypeFloat, float&);
1096 
1097  mappings[DID_NVR_USERPAGE_G1] = m;
1098 
1099  ASSERT_SIZE(totalSize);
1100 }
1101 
1102 static void PopulateInl2StatesMappings(map_lookup_name_t& mappings)
1103 {
1104  typedef inl2_states_t MAP_TYPE;
1105  map_name_to_info_t m;
1106  uint32_t totalSize = 0;
1107  ADD_MAP(m, totalSize, "time", time, 0, DataTypeDouble, double);
1108  ADD_MAP(m, totalSize, "qe2b[0]", qe2b[0], 0, DataTypeFloat, float&);
1109  ADD_MAP(m, totalSize, "qe2b[1]", qe2b[1], 0, DataTypeFloat, float&);
1110  ADD_MAP(m, totalSize, "qe2b[2]", qe2b[2], 0, DataTypeFloat, float&);
1111  ADD_MAP(m, totalSize, "qe2b[3]", qe2b[3], 0, DataTypeFloat, float&);
1112  ADD_MAP(m, totalSize, "ve[0]", ve[0], 0, DataTypeFloat, float&);
1113  ADD_MAP(m, totalSize, "ve[1]", ve[1], 0, DataTypeFloat, float&);
1114  ADD_MAP(m, totalSize, "ve[2]", ve[2], 0, DataTypeFloat, float&);
1115  ADD_MAP(m, totalSize, "ecef[0]", ecef[0], 0, DataTypeDouble, double&);
1116  ADD_MAP(m, totalSize, "ecef[1]", ecef[1], 0, DataTypeDouble, double&);
1117  ADD_MAP(m, totalSize, "ecef[2]", ecef[2], 0, DataTypeDouble, double&);
1118  ADD_MAP(m, totalSize, "biasPqr[0]", biasPqr[0], 0, DataTypeFloat, float&);
1119  ADD_MAP(m, totalSize, "biasPqr[1]", biasPqr[1], 0, DataTypeFloat, float&);
1120  ADD_MAP(m, totalSize, "biasPqr[2]", biasPqr[2], 0, DataTypeFloat, float&);
1121  ADD_MAP(m, totalSize, "biasAcc[0]", biasAcc[0], 0, DataTypeFloat, float&);
1122  ADD_MAP(m, totalSize, "biasAcc[1]", biasAcc[1], 0, DataTypeFloat, float&);
1123  ADD_MAP(m, totalSize, "biasAcc[2]", biasAcc[2], 0, DataTypeFloat, float&);
1124  ADD_MAP(m, totalSize, "biasBaro", biasBaro, 0, DataTypeFloat, float);
1125  ADD_MAP(m, totalSize, "magDec", magDec, 0, DataTypeFloat, float);
1126  ADD_MAP(m, totalSize, "magInc", magInc, 0, DataTypeFloat, float);
1127  mappings[DID_INL2_STATES] = m;
1128 
1129  ASSERT_SIZE(totalSize);
1130 }
1131 
1132 #endif
1133 
1134 cISDataMappings::cISDataMappings()
1135 {
1136  PopulateSizeMappings(m_lookupSize);
1137  PopulateDeviceInfoMappings(m_columnMappings);
1138  PopulateIMUMappings(m_columnMappings, DID_DUAL_IMU);
1139  PopulateIMUMappings(m_columnMappings, DID_DUAL_IMU_RAW);
1140  PopulateSysParamsMappings(m_columnMappings);
1141  PopulateSysSensorsMappings(m_columnMappings);
1142  PopulateINS1Mappings(m_columnMappings);
1143  PopulateINS2Mappings(m_columnMappings, DID_INS_2);
1144  PopulateINS2Mappings(m_columnMappings, DID_INS_3);
1145  PopulateINS4Mappings(m_columnMappings);
1146  PopulateGPSNavMappings(m_columnMappings);
1147  //PopulateGPSCNOMappings(m_columnMappings); // too much data, we don't want to log this
1148  PopulateMagnetometerMappings(m_columnMappings);
1149  PopulateBarometerMappings(m_columnMappings);
1150  PopulateIMUDeltaThetaVelocityMappings(m_columnMappings);
1151  PopulateConfigMappings(m_columnMappings);
1152  PopulateFlashConfigMappings(m_columnMappings);
1153  PopulateRtkMiscMappings(m_columnMappings);
1154  PopulateGpsRawMappings(m_columnMappings);
1155  PopulateStrobeInTimeMappings(m_columnMappings);
1156  PopulateRtosInfoMappings(m_columnMappings);
1157  PopulateDiagMsgMappings(m_columnMappings);
1158 
1159 #ifdef USE_IS_INTERNAL
1160 
1161  PopulateSensorsADCMappings(m_columnMappings);
1162  PopulateSensorsISMappings(m_columnMappings);
1163  PopulateSensorsTCMappings(m_columnMappings);
1164  PopulateSensorsCompMappings(m_columnMappings);
1165  PopulateDebugArrayMappings(m_columnMappings);
1166  PopulateUserPage0Mappings(m_columnMappings);
1167  PopulateUserPage1Mappings(m_columnMappings);
1168  PopulateInl2StatesMappings(m_columnMappings);
1169 
1170 #endif
1171 
1172 }
1173 
1174 const char* cISDataMappings::GetDataSetName(uint32_t dataId)
1175 {
1176  static const char* s_dataIdNames[] =
1177  {
1178  "null", // 0: DID_NULL
1179  "devInfo", // 1: DID_DEV_INFO,
1180  "crashInfo", // 2: DID_CRASH_INFO
1181  "preintegratedImu", // 3: DID_PREINTEGRATED_IMU
1182  "ins1", // 4: DID_INS_1
1183  "ins2", // 5: DID_INS_2
1184  "gpsNav", // 6: DID_GPS_NAV
1185  "config", // 7: DID_CONFIG
1186  "ascii_msg", // 8: DID_ASCII_BCAST_PERIOD
1187  "misc", // 9: DID_INS_MISC
1188  "sysParams", // 10: DID_SYS_PARAMS
1189  "sysSensors", // 11: DID_SYS_SENSORS
1190  "flashCfg", // 12: DID_FLASH_CONFIG
1191  "gps1Nav", // 13: DID_GPS1_NAV
1192  "gps2Nav", // 14: DID_GPS2_NAV
1193  "gps1CNO", // 15: DID_GPS1_SAT
1194  "gps2CNO", // 16: DID_GPS2_SAT
1195  "gps1Version", // 17: DID_GPS1_VERSION
1196  "gps2Version", // 18: DID_GPS2_VERSION
1197  "magCal", // 19: DID_MAG_CAL
1198  "diagnosticInfo", // 20: DID_INTERNAL_DIAGNOSTIC
1199  "gpsRtkNav", // 21: DID_GPS_RTK_NAV
1200  "gpsRtkMisc", // 22: DID_GPS_RTK_MISC
1201  "featureBits", // 23: DID_FEATURE_BITS
1202  "sensorIS1", // 24: DID_SENSORS_IS1
1203  "sensorIS2", // 25: DID_SENSORS_IS2
1204  "sensorTCbias", // 26: DID_SENSORS_TC_BIAS
1205  "ioServos", // 27: DID_IO
1206  "sensorLSB", // 28: DID_SENSORS_ADC
1207  "scomp", // 29: DID_SCOMP
1208  "UNUSED_DID_30", // 30:
1209  "UNUSED_DID_31", // 31:
1210  "hdwParams", // 32: DID_HDW_PARAMS
1211  "userPageNvr", // 33: DID_NVR_MANAGE_USERPAGE
1212  "userPageSn", // 34: DID_NVR_USERPAGE_SN
1213  "userpage0", // 35: DID_NVR_USERPAGE_G0
1214  "userpage1", // 36: DID_NVR_USERPAGE_G1
1215  "debugString", // 37: DID_DEBUG_STRING
1216  "rtosInfo", // 38: DID_RTOS_INFO
1217  "debugArray", // 39: DID_DEBUG_ARRAY
1218  "sensorCal1", // 40: DID_SENSORS_CAL1
1219  "sensorCal2", // 41: DID_SENSORS_CAL2
1220  "sensorCalSC", // 42: DID_CAL_SC
1221  "sensorCalSC1", // 43: DID_CAL_SC1
1222  "sensorCalSC2", // 44: DID_CAL_SC2
1223  "sensorSigma", // 45: DID_SYS_SENSORS_SIGMA
1224  "sensorAdcSigma", // 46: DID_SENSORS_ADC_SIGMA
1225  "insDev1", // 47: DID_INS_DEV_1
1226  "inl2States", // 48: DID_INL2_STATES
1227  "inl2CovarianceUD", // 49: DID_INL2_COVARIANCE_UD
1228  "inl2Status", // 50: DID_INL2_STATUS
1229  "inl2Misc", // 51: DID_INL2_MISC
1230  "magnetometer1", // 52: DID_MAGNETOMETER_1
1231  "barometer", // 53: DID_BAROMETER
1232  "imu2", // 54: DID_IMU_2
1233  "magnetometer2", // 55: DID_MAGNETOMETER_2
1234  "commLoopback", // 56: DID_COMMUNICATIONS_LOOPBACK
1235  "imuDualRaw", // 57: DID_DUAL_IMU_RAW
1236  "imuDual", // 58: DID_DUAL_IMU
1237  "inl2MagObs", // 59: DID_INL2_MAG_OBS_INFO
1238  "gpsBaseRaw", // 60: DID_GPS_BASE_RAW
1239  "gpsRtkOptions", // 61: DID_GPS_RTK_OPT
1240  "userPageInternal", // 62: DID_NVR_USERPAGE_INTERNAL
1241  "manufacturingInfo", // 63: DID_MANUFACTURING_INFO
1242  "bit", // 64: DID_BIT
1243  "ins3", // 65: DID_INS_3
1244  "ins4", // 66: DID_INS_4
1245  "inl2Variance", // 67: DID_INL2_VARIANCE
1246  "strobeInTime", // 68: DID_STROBE_IN_TIME
1247  "gps1Raw", // 69: DID_GPS1_RAW
1248  "gps2Raw", // 70: DID_GPS2_RAW
1249  "velocityMeasurement", // 71: DID_VELOCITY_MEASUREMENT
1250  "diagnosticMsg", // 72: DID_DIAGNOSTIC_MESSAGE
1251  "surveyIn" // 73: DID_SURVEY_IN
1252  };
1253 
1254  STATIC_ASSERT(_ARRAY_ELEMENT_COUNT(s_dataIdNames) == DID_COUNT);
1255 
1256  if (dataId < DID_COUNT)
1257  {
1258  return s_dataIdNames[dataId];
1259  }
1260  return "unknown";
1261 }
1262 
1263 
1264 const map_lookup_name_t& cISDataMappings::GetMap()
1265 {
1266  return s_map.m_columnMappings;
1267 }
1268 
1269 
1270 uint32_t cISDataMappings::GetSize(uint32_t dataId)
1271 {
1272  return s_map.m_lookupSize[dataId];
1273 }
1274 
1275 
1276 bool cISDataMappings::StringToData(const char* stringBuffer, int stringLength, const p_data_hdr_t* hdr, uint8_t* dataBuffer, const data_info_t& info, int radix)
1277 {
1278  const uint8_t* ptr;
1279  if (!CanGetFieldData(info, hdr, dataBuffer, ptr))
1280  {
1281  return false;
1282  }
1283 
1284  switch (info.dataType)
1285  {
1286  case DataTypeInt8:
1287  *(int8_t*)ptr = (int8_t)strtol(stringBuffer, NULL, radix);
1288  break;
1289 
1290  case DataTypeUInt8:
1291  *(uint8_t*)ptr = (uint8_t)strtoul(stringBuffer, NULL, radix);
1292  break;
1293 
1294  case DataTypeInt16:
1295  *(int16_t*)ptr = (int16_t)strtol(stringBuffer, NULL, radix);
1296  break;
1297 
1298  case DataTypeUInt16:
1299  *(uint16_t*)ptr = (uint16_t)strtoul(stringBuffer, NULL, radix);
1300  break;
1301 
1302  case DataTypeInt32:
1303  *(int32_t*)ptr = (int32_t)strtol(stringBuffer, NULL, radix);
1304  break;
1305 
1306  case DataTypeUInt32:
1307  *(uint32_t*)ptr = (uint32_t)strtoul(stringBuffer, NULL, radix);
1308  break;
1309 
1310  case DataTypeInt64:
1311  *(int64_t*)ptr = (int64_t)strtoll(stringBuffer, NULL, radix);
1312  break;
1313 
1314  case DataTypeUInt64:
1315  *(uint64_t*)ptr = (uint64_t)strtoull(stringBuffer, NULL, radix);
1316  break;
1317 
1318  case DataTypeFloat:
1319  *(float*)ptr = strtof(stringBuffer, NULL);
1320  break;
1321 
1322  case DataTypeDouble:
1323  *(double*)ptr = strtod(stringBuffer, NULL);
1324  break;
1325 
1326  case DataTypeString:
1327  {
1328  string s2(stringBuffer);
1329  s2.erase(std::remove(s2.begin(), s2.end(), '"'), s2.end());
1330  // ensure string fits with null terminator
1331  s2.resize(info.dataSize - 1);
1332  memcpy((void*)ptr, s2.data(), s2.length());
1333  memset((uint8_t*)ptr + s2.length(), 0, info.dataSize - s2.length());
1334  } break;
1335 
1336  case DataTypeBinary:
1337  {
1338  // convert hex data back to binary
1339  size_t len = _MIN(1020, stringLength);
1340  len -= (len % 2);
1341  uint8_t* ptr2 = (uint8_t*)ptr;
1342  for (size_t i = 0; i != len; i += 2)
1343  {
1344  *ptr2 = (getHexValue(stringBuffer[i + 1]) << 4) | getHexValue(stringBuffer[i + 2]);
1345  }
1346  } break;
1347 
1348  default:
1349  return false;
1350  }
1351 
1352  return true;
1353 }
1354 
1355 
1356 bool cISDataMappings::DataToString(const data_info_t& info, const p_data_hdr_t* hdr, const uint8_t* dataBuffer, data_mapping_string_t stringBuffer)
1357 {
1358  const uint8_t* ptr;
1359  if (!CanGetFieldData(info, hdr, dataBuffer, ptr))
1360  {
1361  // pick a default string
1362  if (info.dataType == DataTypeString)
1363  {
1364  stringBuffer[0] = '"';
1365  stringBuffer[1] = '"';
1366  stringBuffer[2] = '\0';
1367  }
1368  else if (info.dataType == DataTypeBinary)
1369  {
1370  stringBuffer[0] = '\0';
1371  }
1372  else
1373  {
1374  stringBuffer[0] = '0';
1375  stringBuffer[1] = '\0';
1376  }
1377  return false;
1378  }
1379 
1380  switch (info.dataType)
1381  {
1382  case DataTypeInt8:
1383  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%d", (int)*(int8_t*)ptr);
1384  break;
1385 
1386  case DataTypeUInt8:
1387  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%u", (unsigned int)*(uint8_t*)ptr);
1388  break;
1389 
1390  case DataTypeInt16:
1391  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%d", (int)*(int16_t*)ptr);
1392  break;
1393 
1394  case DataTypeUInt16:
1395  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%u", (unsigned int)*(uint16_t*)ptr);
1396  break;
1397 
1398  case DataTypeInt32:
1399  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%d", (int)*(int32_t*)ptr);
1400  break;
1401 
1402  case DataTypeUInt32:
1403  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%u", (unsigned int)*(uint32_t*)ptr);
1404  break;
1405 
1406  case DataTypeInt64:
1407  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%lld", (long long)*(int64_t*)ptr);
1408  break;
1409 
1410  case DataTypeUInt64:
1411  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%llu", (unsigned long long)*(uint64_t*)ptr);
1412  break;
1413 
1414  case DataTypeFloat:
1415  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%.9g", *(float*)ptr);
1416  break;
1417 
1418  case DataTypeDouble:
1419  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%.17g", *(double*)ptr);
1420  break;
1421 
1422  case DataTypeString:
1423  {
1424  stringBuffer[0] = '"';
1425  int tempIndex = 1;
1426  char* bufPtr2 = (char*)(dataBuffer + info.dataOffset);
1427  char* bufPtrEnd = bufPtr2 + _MIN(IS_DATA_MAPPING_MAX_STRING_LENGTH, info.dataSize) - 3;
1428  for (; bufPtr2 < bufPtrEnd && *bufPtr2 != '\0'; bufPtr2++)
1429  {
1430  stringBuffer[tempIndex++] = *bufPtr2;
1431  }
1432  stringBuffer[tempIndex++] = '"';
1433  stringBuffer[tempIndex] = '\0';
1434  } break;
1435 
1436  case DataTypeBinary:
1437  {
1438  // convert to hex
1439  const unsigned char* hexTable = getHexLookupTable();
1440  size_t hexIndex = 0;
1441  for (size_t i = 0; i < info.dataSize; i++)
1442  {
1443  stringBuffer[hexIndex++] = hexTable[0x0F & (dataBuffer[i] >> 4)];
1444  stringBuffer[hexIndex++] = hexTable[0x0F & dataBuffer[i]];
1445  }
1446  stringBuffer[hexIndex] = '\0';
1447  } break;
1448 
1449  default:
1450  stringBuffer[0] = '\0';
1451  return false;
1452  }
1453  return true;
1454 }
1455 
1456 
1457 double cISDataMappings::GetTimestamp(const p_data_hdr_t* hdr, const uint8_t* buf)
1458 {
1459  if (hdr == NULL || buf == NULL || hdr->id == 0 || hdr->id >= DID_COUNT || hdr->size == 0)
1460  {
1461  return 0.0;
1462  }
1463 
1464  static const string timestampFields[] = { "time", "timeOfWeek", "timeOfWeekMs", "seconds" };
1465 
1466  map_lookup_name_t::const_iterator offsetMap = cISDataMappings::GetMap().find(hdr->id);
1467  if (offsetMap == cISDataMappings::GetMap().end())
1468  {
1469  return 0.0;
1470  }
1471  const map_name_to_info_t& dataMap = offsetMap->second;
1472  for (size_t i = 0; i < _ARRAY_ELEMENT_COUNT(timestampFields); i++)
1473  {
1474  map_name_to_info_t::const_iterator timeStampField = dataMap.find(timestampFields[i]);
1475  if (timeStampField != dataMap.end())
1476  {
1477  const uint8_t* ptr;
1478  if (CanGetFieldData(timeStampField->second, hdr, (uint8_t*)buf, ptr))
1479  {
1480  if (timeStampField->second.dataType == DataTypeDouble)
1481  {
1482  // field is seconds, use as is
1483  return *(double*)ptr;
1484  }
1485  else if (timeStampField->second.dataType == DataTypeUInt32)
1486  {
1487  // field is milliseconds, convert to seconds
1488  return 0.001 * (*(uint32_t*)ptr);
1489  }
1490  }
1491  break;
1492  }
1493  }
1494  return 0.0;
1495 }
1496 
1497 bool cISDataMappings::CanGetFieldData(const data_info_t& info, const p_data_hdr_t* hdr, const uint8_t* buf, const uint8_t*& ptr)
1498 {
1499  if (buf == NULL)
1500  {
1501  return false;
1502  }
1503  else if (hdr == NULL)
1504  {
1505  // assume buf is large enough for the full data structure
1506  ptr = buf + info.dataOffset;
1507  return true;
1508  }
1509  int32_t fullSize = (hdr->size == 0 ? GetSize(hdr->id) : hdr->size);
1510  int32_t offset = (int32_t)info.dataOffset - (int32_t)hdr->offset;
1511  if (offset >= 0 && offset <= fullSize - (int32_t)info.dataSize)
1512  {
1513  ptr = (buf + offset);
1514  return true;
1515  }
1516  ptr = NULL;
1517  return false;
1518 }
DID_GPS_RTK_MISC
#define DID_GPS_RTK_MISC
Definition: data_sets.h:56
-
DID_DUAL_IMU
#define DID_DUAL_IMU
Definition: data_sets.h:92
-
cISDataMappings::GetSize
static uint32_t GetSize(uint32_t dataId)
Definition: ISDataMappings.cpp:1270
-
MEMBERSIZE
#define MEMBERSIZE(type, member)
Definition: ISConstants.h:305
-
f_t
float f_t
Definition: ISConstants.h:722
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <map>
14 #include <vector>
15 #include <set>
16 #include <algorithm>
17 #include <stdlib.h>
18 #include <stddef.h>
19 #include <inttypes.h>
20 #include <stdio.h>
21 #include <assert.h>
22 #include <string.h>
23 
24 #include "ISDataMappings.h"
25 #include "DataJSON.h"
26 #include "ISUtilities.h"
27 #include "ISConstants.h"
28 #include "data_sets.h"
29 
30 #ifdef USE_IS_INTERNAL
31 #include "../../libs/IS_internal.h"
32 #endif
33 
34 
35 cISDataMappings cISDataMappings::s_map;
36 
37 CONST_EXPRESSION uint32_t s_eDataTypeSizes[DataTypeCount] =
38 {
39  (uint32_t)sizeof(int8_t),
40  (uint32_t)sizeof(uint8_t),
41  (uint32_t)sizeof(int16_t),
42  (uint32_t)sizeof(uint16_t),
43  (uint32_t)sizeof(int32_t),
44  (uint32_t)sizeof(uint32_t),
45  (uint32_t)sizeof(int64_t),
46  (uint32_t)sizeof(uint64_t),
47  (uint32_t)sizeof(float),
48  (uint32_t)sizeof(double),
49  (uint32_t)0, // string, must be set to actual size by caller
50  (uint32_t)0 // binary, must be set to actual size by caller
51 };
52 
53 inline uint32_t GetDataTypeSize(eDataType dataType)
54 {
55  if (dataType >= 0 && dataType < DataTypeCount)
56  {
57  return s_eDataTypeSizes[dataType];
58  }
59  return 0;
60 }
61 
62 #if C11_IS_ENABLED
63 
64 // dataSize can be 0 for default size, must be set for string type
65 #define ADD_MAP_NO_VALIDATION(map, totalSize, name, member, dataSize, dataType, memberType) map[name] = { (uint32_t)offsetof(MAP_TYPE, member), (uint32_t)(dataSize == 0 ? sizeof(memberType) : dataSize), dataType, name }; totalSize += sizeof(memberType);
66 
67 // note when passing member type for arrays, it must be a reference, i.e. float&
68 #define ADD_MAP(map, totalSize, name, member, dataSize, dataType, memberType) \
69  ADD_MAP_NO_VALIDATION(map, totalSize, name, member, dataSize, dataType, memberType); \
70  static_assert(is_same<decltype(MAP_TYPE::member), memberType>::value, "Member type is an unexpected type"); \
71  static_assert((uint32_t)(dataSize == 0 ? sizeof(memberType) : dataSize) == sizeof(memberType), "Member type is an unexpected size"); \
72  static_assert((uint32_t)(dataSize == 0 ? sizeof(memberType) : dataSize) == sizeof(MAP_TYPE::member), "Member type is an unexpected size"); \
73  static_assert(s_eDataTypeSizes[dataType] == 0 || (uint32_t)(dataSize == 0 ? sizeof(memberType) : dataSize) == s_eDataTypeSizes[dataType], "Data type size does not match member size");
74 #define ASSERT_SIZE(s) assert(s == sizeof(MAP_TYPE))
75 
76 #else
77 
78 #define ADD_MAP_NO_VALIDATION(map, totalSize, name, member, dataSize, dataType, memberType) map[name] = { (uint32_t)offsetof(MAP_TYPE, member), (uint32_t)(dataSize == 0 ? sizeof(memberType) : dataSize), dataType, name }; totalSize += sizeof(memberType);
79 #define ADD_MAP(map, totalSize, name, member, dataSize, dataType, memberType) ADD_MAP_NO_VALIDATION(map, totalSize, name, member, dataSize, dataType, memberType)
80 #define ASSERT_SIZE(s) // not supported on VS < 2015
81 
82 #endif
83 
84 static void PopulateSizeMappings(map<uint32_t, uint32_t>& sizeMap)
85 {
86  sizeMap[DID_DEV_INFO] = sizeof(dev_info_t);
87  sizeMap[DID_MAGNETOMETER_1] = sizeof(magnetometer_t);
88  sizeMap[DID_MAGNETOMETER_2] = sizeof(magnetometer_t);
89  sizeMap[DID_BAROMETER] = sizeof(barometer_t);
90  sizeMap[DID_PREINTEGRATED_IMU] = sizeof(preintegrated_imu_t);
91  sizeMap[DID_CONFIG] = sizeof(config_t);
92  sizeMap[DID_INS_1] = sizeof(ins_1_t);
93  sizeMap[DID_INS_2] = sizeof(ins_2_t);
94  sizeMap[DID_INS_3] = sizeof(ins_3_t);
95  sizeMap[DID_INS_4] = sizeof(ins_4_t);
96  sizeMap[DID_GPS1_POS] = sizeof(gps_pos_t);
97  sizeMap[DID_GPS1_UBX_POS] = sizeof(gps_pos_t);
98  sizeMap[DID_GPS2_POS] = sizeof(gps_pos_t);
99  sizeMap[DID_GPS1_SAT] = sizeof(gps_sat_t);
100  sizeMap[DID_GPS2_SAT] = sizeof(gps_sat_t);
101  sizeMap[DID_GPS1_VERSION] = sizeof(gps_version_t);
102  sizeMap[DID_GPS2_VERSION] = sizeof(gps_version_t);
103  sizeMap[DID_GPS1_RTK_REL] = sizeof(gps_rtk_rel_t);
104  sizeMap[DID_GPS1_RTK_MISC] = sizeof(gps_rtk_misc_t);
105  sizeMap[DID_SYS_PARAMS] = sizeof(sys_params_t);
106  sizeMap[DID_SYS_SENSORS] = sizeof(sys_sensors_t);
107  sizeMap[DID_FLASH_CONFIG] = sizeof(nvm_flash_cfg_t);
108  sizeMap[DID_DUAL_IMU] = sizeof(dual_imu_t);
109  sizeMap[DID_DUAL_IMU_RAW] = sizeof(dual_imu_t);
110  sizeMap[DID_GPS_BASE_RAW] = sizeof(gps_raw_t);
111  sizeMap[DID_STROBE_IN_TIME] = sizeof(strobe_in_time_t);
112  sizeMap[DID_RTOS_INFO] = sizeof(rtos_info_t);
113 
114 #ifdef USE_IS_INTERNAL
115 
116  sizeMap[DID_SENSORS_ADC] = sizeof(sys_sensors_adc_t);
117  sizeMap[DID_SENSORS_IS1] = sizeof(sensors_w_temp_t);
118  sizeMap[DID_SENSORS_IS2] = sizeof(sensors_w_temp_t);
119  sizeMap[DID_SENSORS_TC_BIAS] = sizeof(sensors_t);
120  sizeMap[DID_SCOMP] = sizeof(sensor_compensation_t);
121  sizeMap[DID_DEBUG_ARRAY] = sizeof(debug_array_t);
122  sizeMap[DID_NVR_USERPAGE_G0] = sizeof(nvm_group_0_t);
123  sizeMap[DID_NVR_USERPAGE_G1] = sizeof(nvm_group_1_t);
124  sizeMap[DID_INL2_STATES] = sizeof(inl2_states_t);
125  sizeMap[DID_INL2_STATUS] = sizeof(inl2_status_t);
126  sizeMap[DID_INL2_MISC] = sizeof(inl2_misc_t);
127 
128 #endif
129 
130 }
131 
132 static void PopulateDeviceInfoMappings(map_lookup_name_t& mappings)
133 {
134  typedef dev_info_t MAP_TYPE;
135  map_name_to_info_t m;
136  uint32_t totalSize = 0;
137  ADD_MAP(m, totalSize, "reserved", reserved, 0, DataTypeUInt32, uint32_t);
138  ADD_MAP(m, totalSize, "serialNumber", serialNumber, 0, DataTypeUInt32, uint32_t);
139  ADD_MAP(m, totalSize, "hardwareVer[0]", hardwareVer[0], 0, DataTypeUInt8, uint8_t&);
140  ADD_MAP(m, totalSize, "hardwareVer[1]", hardwareVer[1], 0, DataTypeUInt8, uint8_t&);
141  ADD_MAP(m, totalSize, "hardwareVer[2]", hardwareVer[2], 0, DataTypeUInt8, uint8_t&);
142  ADD_MAP(m, totalSize, "hardwareVer[3]", hardwareVer[3], 0, DataTypeUInt8, uint8_t&);
143  ADD_MAP(m, totalSize, "firmwareVer[0]", firmwareVer[0], 0, DataTypeUInt8, uint8_t&);
144  ADD_MAP(m, totalSize, "firmwareVer[1]", firmwareVer[1], 0, DataTypeUInt8, uint8_t&);
145  ADD_MAP(m, totalSize, "firmwareVer[2]", firmwareVer[2], 0, DataTypeUInt8, uint8_t&);
146  ADD_MAP(m, totalSize, "firmwareVer[3]", firmwareVer[3], 0, DataTypeUInt8, uint8_t&);
147  ADD_MAP(m, totalSize, "buildNumber", buildNumber, 0, DataTypeUInt32, uint32_t);
148  ADD_MAP(m, totalSize, "protocolVer[0]", protocolVer[0], 0, DataTypeUInt8, uint8_t&);
149  ADD_MAP(m, totalSize, "protocolVer[1]", protocolVer[1], 0, DataTypeUInt8, uint8_t&);
150  ADD_MAP(m, totalSize, "protocolVer[2]", protocolVer[2], 0, DataTypeUInt8, uint8_t&);
151  ADD_MAP(m, totalSize, "protocolVer[3]", protocolVer[3], 0, DataTypeUInt8, uint8_t&);
152  ADD_MAP(m, totalSize, "repoRevision", repoRevision, 0, DataTypeUInt32, uint32_t);
153  ADD_MAP(m, totalSize, "manufacturer", manufacturer, DEVINFO_MANUFACTURER_STRLEN, DataTypeString, char[DEVINFO_MANUFACTURER_STRLEN]);
154  ADD_MAP(m, totalSize, "buildDate[0]", buildDate[0], 0, DataTypeUInt8, uint8_t&);
155  ADD_MAP(m, totalSize, "buildDate[1]", buildDate[1], 0, DataTypeUInt8, uint8_t&);
156  ADD_MAP(m, totalSize, "buildDate[2]", buildDate[2], 0, DataTypeUInt8, uint8_t&);
157  ADD_MAP(m, totalSize, "buildDate[3]", buildDate[3], 0, DataTypeUInt8, uint8_t&);
158  ADD_MAP(m, totalSize, "buildTime[0]", buildTime[0], 0, DataTypeUInt8, uint8_t&);
159  ADD_MAP(m, totalSize, "buildTime[1]", buildTime[1], 0, DataTypeUInt8, uint8_t&);
160  ADD_MAP(m, totalSize, "buildTime[2]", buildTime[2], 0, DataTypeUInt8, uint8_t&);
161  ADD_MAP(m, totalSize, "buildTime[3]", buildTime[3], 0, DataTypeUInt8, uint8_t&);
162  ADD_MAP(m, totalSize, "addInfo", addInfo, DEVINFO_ADDINFO_STRLEN, DataTypeString, char[DEVINFO_ADDINFO_STRLEN]);
163  mappings[DID_DEV_INFO] = m;
164 
165  ASSERT_SIZE(totalSize);
166 }
167 
168 static void PopulateIMUMappings(map_lookup_name_t& mappings, uint32_t dataId)
169 {
170  typedef dual_imu_t MAP_TYPE;
171  map_name_to_info_t m;
172  uint32_t totalSize = 0;
173  ADD_MAP(m, totalSize, "time", time, 0, DataTypeDouble, double);
174  ADD_MAP(m, totalSize, "pqr1[0]", I[0].pqr[0], 0, DataTypeFloat, float&);
175  ADD_MAP(m, totalSize, "pqr1[1]", I[0].pqr[1], 0, DataTypeFloat, float&);
176  ADD_MAP(m, totalSize, "pqr1[2]", I[0].pqr[2], 0, DataTypeFloat, float&);
177  ADD_MAP(m, totalSize, "acc1[0]", I[0].acc[0], 0, DataTypeFloat, float&);
178  ADD_MAP(m, totalSize, "acc1[1]", I[0].acc[1], 0, DataTypeFloat, float&);
179  ADD_MAP(m, totalSize, "acc1[2]", I[0].acc[2], 0, DataTypeFloat, float&);
180  ADD_MAP(m, totalSize, "pqr2[0]", I[1].pqr[0], 0, DataTypeFloat, float&);
181  ADD_MAP(m, totalSize, "pqr2[1]", I[1].pqr[1], 0, DataTypeFloat, float&);
182  ADD_MAP(m, totalSize, "pqr2[2]", I[1].pqr[2], 0, DataTypeFloat, float&);
183  ADD_MAP(m, totalSize, "acc2[0]", I[1].acc[0], 0, DataTypeFloat, float&);
184  ADD_MAP(m, totalSize, "acc2[1]", I[1].acc[1], 0, DataTypeFloat, float&);
185  ADD_MAP(m, totalSize, "acc2[2]", I[1].acc[2], 0, DataTypeFloat, float&);
186  mappings[dataId] = m;
187 
188  ASSERT_SIZE(totalSize);
189 }
190 
191 static void PopulateSysParamsMappings(map_lookup_name_t& mappings)
192 {
193  typedef sys_params_t MAP_TYPE;
194  map_name_to_info_t m;
195  uint32_t totalSize = 0;
196  ADD_MAP(m, totalSize, "timeOfWeekMs", timeOfWeekMs, 0, DataTypeUInt32, uint32_t);
197  ADD_MAP(m, totalSize, "insStatus", insStatus, 0, DataTypeUInt32, uint32_t);
198  ADD_MAP(m, totalSize, "hdwStatus", hdwStatus, 0, DataTypeUInt32, uint32_t);
199  ADD_MAP(m, totalSize, "imuTemp", imuTemp, 0, DataTypeFloat, float);
200  ADD_MAP(m, totalSize, "baroTemp", baroTemp, 0, DataTypeFloat, float);
201  ADD_MAP(m, totalSize, "mcuTemp", mcuTemp, 0, DataTypeFloat, float);
202  ADD_MAP(m, totalSize, "reserved1", reserved1, 0, DataTypeFloat, float);
203  ADD_MAP(m, totalSize, "imuPeriodMs", imuPeriodMs, 0, DataTypeUInt32, uint32_t);
204  ADD_MAP(m, totalSize, "navPeriodMs", navPeriodMs, 0, DataTypeUInt32, uint32_t);
205  ADD_MAP(m, totalSize, "reserved2[0]", reserved2[0], 0, DataTypeFloat, float&);
206  ADD_MAP(m, totalSize, "reserved2[1]", reserved2[1], 0, DataTypeFloat, float&);
207  ADD_MAP(m, totalSize, "reserved2[2]", reserved2[2], 0, DataTypeFloat, float&);
208  ADD_MAP(m, totalSize, "reserved2[3]", reserved2[3], 0, DataTypeFloat, float&);
209  ADD_MAP(m, totalSize, "genFaultCode", genFaultCode, 0, DataTypeUInt32, uint32_t);
210  mappings[DID_SYS_PARAMS] = m;
211 
212  ASSERT_SIZE(totalSize);
213 }
214 
215 static void PopulateSysSensorsMappings(map_lookup_name_t& mappings)
216 {
217  typedef sys_sensors_t MAP_TYPE;
218  map_name_to_info_t m;
219  uint32_t totalSize = 0;
220  ADD_MAP(m, totalSize, "time", time, 0, DataTypeDouble, double);
221  ADD_MAP(m, totalSize, "temp", temp, 0, DataTypeFloat, float);
222  ADD_MAP(m, totalSize, "pqr[0]", pqr[0], 0, DataTypeFloat, float&);
223  ADD_MAP(m, totalSize, "pqr[1]", pqr[1], 0, DataTypeFloat, float&);
224  ADD_MAP(m, totalSize, "pqr[2]", pqr[2], 0, DataTypeFloat, float&);
225  ADD_MAP(m, totalSize, "acc[0]", acc[0], 0, DataTypeFloat, float&);
226  ADD_MAP(m, totalSize, "acc[1]", acc[1], 0, DataTypeFloat, float&);
227  ADD_MAP(m, totalSize, "acc[2]", acc[2], 0, DataTypeFloat, float&);
228  ADD_MAP(m, totalSize, "mag[0]", mag[0], 0, DataTypeFloat, float&);
229  ADD_MAP(m, totalSize, "mag[1]", mag[1], 0, DataTypeFloat, float&);
230  ADD_MAP(m, totalSize, "mag[2]", mag[2], 0, DataTypeFloat, float&);
231  ADD_MAP(m, totalSize, "bar", bar, 0, DataTypeFloat, float);
232  ADD_MAP(m, totalSize, "barTemp", barTemp, 0, DataTypeFloat, float);
233  ADD_MAP(m, totalSize, "mslBar", mslBar, 0, DataTypeFloat, float);
234  ADD_MAP(m, totalSize, "humidity", humidity, 0, DataTypeFloat, float);
235  ADD_MAP(m, totalSize, "vin", vin, 0, DataTypeFloat, float);
236  ADD_MAP(m, totalSize, "ana1", ana1, 0, DataTypeFloat, float);
237  ADD_MAP(m, totalSize, "ana3", ana1, 0, DataTypeFloat, float);
238  ADD_MAP(m, totalSize, "ana4", ana1, 0, DataTypeFloat, float);
239  mappings[DID_SYS_SENSORS] = m;
240 
241  ASSERT_SIZE(totalSize);
242 }
243 
244 static void PopulateINS1Mappings(map_lookup_name_t& mappings)
245 {
246  typedef ins_1_t MAP_TYPE;
247  map_name_to_info_t m;
248  uint32_t totalSize = 0;
249  ADD_MAP(m, totalSize, "week", week, 0, DataTypeUInt32, uint32_t);
250  ADD_MAP(m, totalSize, "timeOfWeek", timeOfWeek, 0, DataTypeDouble, double);
251  ADD_MAP(m, totalSize, "insStatus", insStatus, 0, DataTypeUInt32, uint32_t);
252  ADD_MAP(m, totalSize, "hdwStatus", hdwStatus, 0, DataTypeUInt32, uint32_t);
253  ADD_MAP(m, totalSize, "theta[0]", theta[0], 0, DataTypeFloat, float&);
254  ADD_MAP(m, totalSize, "theta[1]", theta[1], 0, DataTypeFloat, float&);
255  ADD_MAP(m, totalSize, "theta[2]", theta[2], 0, DataTypeFloat, float&);
256  ADD_MAP(m, totalSize, "uvw[0]", uvw[0], 0, DataTypeFloat, float&);
257  ADD_MAP(m, totalSize, "uvw[1]", uvw[1], 0, DataTypeFloat, float&);
258  ADD_MAP(m, totalSize, "uvw[2]", uvw[2], 0, DataTypeFloat, float&);
259  ADD_MAP(m, totalSize, "lla[0]", lla[0], 0, DataTypeDouble, double&);
260  ADD_MAP(m, totalSize, "lla[1]", lla[1], 0, DataTypeDouble, double&);
261  ADD_MAP(m, totalSize, "lla[2]", lla[2], 0, DataTypeDouble, double&);
262  ADD_MAP(m, totalSize, "ned[0]", ned[0], 0, DataTypeFloat, float&);
263  ADD_MAP(m, totalSize, "ned[1]", ned[1], 0, DataTypeFloat, float&);
264  ADD_MAP(m, totalSize, "ned[2]", ned[2], 0, DataTypeFloat, float&);
265  mappings[DID_INS_1] = m;
266 
267  ASSERT_SIZE(totalSize);
268 }
269 
270 static void PopulateINS2Mappings(map_lookup_name_t& mappings, uint32_t did)
271 {
272  typedef ins_2_t MAP_TYPE;
273  map_name_to_info_t m;
274  uint32_t totalSize = 0;
275  ADD_MAP(m, totalSize, "week", week, 0, DataTypeUInt32, uint32_t);
276  ADD_MAP(m, totalSize, "timeOfWeek", timeOfWeek, 0, DataTypeDouble, double);
277  ADD_MAP(m, totalSize, "insStatus", insStatus, 0, DataTypeUInt32, uint32_t);
278  ADD_MAP(m, totalSize, "hdwStatus", hdwStatus, 0, DataTypeUInt32, uint32_t);
279  ADD_MAP(m, totalSize, "qn2b[0]", qn2b[0], 0, DataTypeFloat, float&);
280  ADD_MAP(m, totalSize, "qn2b[1]", qn2b[1], 0, DataTypeFloat, float&);
281  ADD_MAP(m, totalSize, "qn2b[2]", qn2b[2], 0, DataTypeFloat, float&);
282  ADD_MAP(m, totalSize, "qn2b[3]", qn2b[3], 0, DataTypeFloat, float&);
283  ADD_MAP(m, totalSize, "uvw[0]", uvw[0], 0, DataTypeFloat, float&);
284  ADD_MAP(m, totalSize, "uvw[1]", uvw[1], 0, DataTypeFloat, float&);
285  ADD_MAP(m, totalSize, "uvw[2]", uvw[2], 0, DataTypeFloat, float&);
286  ADD_MAP(m, totalSize, "lla[0]", lla[0], 0, DataTypeDouble, double&);
287  ADD_MAP(m, totalSize, "lla[1]", lla[1], 0, DataTypeDouble, double&);
288  ADD_MAP(m, totalSize, "lla[2]", lla[2], 0, DataTypeDouble, double&);
289  mappings[did] = m;
290 
291  ASSERT_SIZE(totalSize);
292 }
293 
294 static void PopulateINS4Mappings(map_lookup_name_t& mappings)
295 {
296  typedef ins_4_t MAP_TYPE;
297  map_name_to_info_t m;
298  uint32_t totalSize = 0;
299  ADD_MAP(m, totalSize, "week", week, 0, DataTypeUInt32, uint32_t);
300  ADD_MAP(m, totalSize, "timeOfWeek", timeOfWeek, 0, DataTypeDouble, double);
301  ADD_MAP(m, totalSize, "insStatus", insStatus, 0, DataTypeUInt32, uint32_t);
302  ADD_MAP(m, totalSize, "hdwStatus", hdwStatus, 0, DataTypeUInt32, uint32_t);
303  ADD_MAP(m, totalSize, "qe2b[0]", qe2b[0], 0, DataTypeFloat, float&);
304  ADD_MAP(m, totalSize, "qe2b[1]", qe2b[1], 0, DataTypeFloat, float&);
305  ADD_MAP(m, totalSize, "qe2b[2]", qe2b[2], 0, DataTypeFloat, float&);
306  ADD_MAP(m, totalSize, "qe2b[3]", qe2b[3], 0, DataTypeFloat, float&);
307  ADD_MAP(m, totalSize, "ve[0]", ve[0], 0, DataTypeFloat, float&);
308  ADD_MAP(m, totalSize, "ve[1]", ve[1], 0, DataTypeFloat, float&);
309  ADD_MAP(m, totalSize, "ve[2]", ve[2], 0, DataTypeFloat, float&);
310  ADD_MAP(m, totalSize, "ecef[0]", ecef[0], 0, DataTypeDouble, double&);
311  ADD_MAP(m, totalSize, "ecef[1]", ecef[1], 0, DataTypeDouble, double&);
312  ADD_MAP(m, totalSize, "ecef[2]", ecef[2], 0, DataTypeDouble, double&);
313  mappings[DID_INS_4] = m;
314 
315  ASSERT_SIZE(totalSize);
316 }
317 
318 static void PopulateGpsPosMappings(map_lookup_name_t& mappings)
319 {
320  typedef gps_pos_t MAP_TYPE;
321  map_name_to_info_t m;
322  uint32_t totalSize = 0;
323  ADD_MAP(m, totalSize, "week", week, 0, DataTypeUInt32, uint32_t);
324  ADD_MAP(m, totalSize, "timeOfWeekMs", timeOfWeekMs, 0, DataTypeUInt32, uint32_t);
325  ADD_MAP(m, totalSize, "status", status, 0, DataTypeUInt32, uint32_t);
326  ADD_MAP(m, totalSize, "ecef[0]", ecef[0], 0, DataTypeDouble, double&);
327  ADD_MAP(m, totalSize, "ecef[1]", ecef[1], 0, DataTypeDouble, double&);
328  ADD_MAP(m, totalSize, "ecef[2]", ecef[2], 0, DataTypeDouble, double&);
329  ADD_MAP(m, totalSize, "lla[0]", lla[0], 0, DataTypeDouble, double&);
330  ADD_MAP(m, totalSize, "lla[1]", lla[1], 0, DataTypeDouble, double&);
331  ADD_MAP(m, totalSize, "lla[2]", lla[2], 0, DataTypeDouble, double&);
332  ADD_MAP(m, totalSize, "hMSL", hMSL, 0, DataTypeFloat, float);
333  ADD_MAP(m, totalSize, "hAcc", hAcc, 0, DataTypeFloat, float);
334  ADD_MAP(m, totalSize, "vAcc", vAcc, 0, DataTypeFloat, float);
335  ADD_MAP(m, totalSize, "pDop", pDop, 0, DataTypeFloat, float);
336  ADD_MAP(m, totalSize, "cnoMean", cnoMean, 0, DataTypeFloat, float);
337  ADD_MAP(m, totalSize, "towOffset", towOffset, 0, DataTypeDouble, double);
338  mappings[DID_GPS1_POS] = m;
339  mappings[DID_GPS1_UBX_POS] = m;
340  mappings[DID_GPS2_POS] = m;
341  mappings[DID_GPS1_RTK_POS] = m;
342 
343  ASSERT_SIZE(totalSize);
344 }
345 
346 static void PopulateGpsVelMappings(map_lookup_name_t& mappings)
347 {
348  typedef gps_vel_t MAP_TYPE;
349  map_name_to_info_t m;
350  uint32_t totalSize = 0;
351  ADD_MAP(m, totalSize, "timeOfWeekMs", timeOfWeekMs, 0, DataTypeUInt32, uint32_t);
352  ADD_MAP(m, totalSize, "velEcef[0]", velEcef[0], 0, DataTypeFloat, float&);
353  ADD_MAP(m, totalSize, "velEcef[1]", velEcef[1], 0, DataTypeFloat, float&);
354  ADD_MAP(m, totalSize, "velEcef[2]", velEcef[2], 0, DataTypeFloat, float&);
355  ADD_MAP(m, totalSize, "sAcc", sAcc, 0, DataTypeFloat, float);
356  mappings[DID_GPS1_VEL] = m;
357  mappings[DID_GPS2_VEL] = m;
358 
359  ASSERT_SIZE(totalSize);
360 }
361 
362 #if 0
363 
364 static void PopulateGPSCNOMappings(map_lookup_name_t& mappings)
365 {
366  typedef gps_sat_t MAP_TYPE;
367  map_name_to_info_t m;
368  uint32_t totalSize = 0;
369  ADD_MAP(m, totalSize, "timeOfWeekMs", timeOfWeekMs, 0, DataTypeUInt32, uint32_t);
370  ADD_MAP(m, totalSize, "numSats", numSats, 0, DataTypeUInt32, uint32_t);
371  ADD_MAP(m, totalSize, "svId[0]", sat[0].svId, 0, DataTypeUInt8, uint8_t);
372  ADD_MAP(m, totalSize, "svId[1]", sat[1].svId, 0, DataTypeUInt8, uint8_t);
373  ADD_MAP(m, totalSize, "svId[2]", sat[2].svId, 0, DataTypeUInt8, uint8_t);
374  ADD_MAP(m, totalSize, "svId[3]", sat[3].svId, 0, DataTypeUInt8, uint8_t);
375  ADD_MAP(m, totalSize, "svId[4]", sat[4].svId, 0, DataTypeUInt8, uint8_t);
376  ADD_MAP(m, totalSize, "svId[5]", sat[5].svId, 0, DataTypeUInt8, uint8_t);
377  ADD_MAP(m, totalSize, "svId[6]", sat[6].svId, 0, DataTypeUInt8, uint8_t);
378  ADD_MAP(m, totalSize, "svId[7]", sat[7].svId, 0, DataTypeUInt8, uint8_t);
379  ADD_MAP(m, totalSize, "svId[8]", sat[8].svId, 0, DataTypeUInt8, uint8_t);
380  ADD_MAP(m, totalSize, "svId[9]", sat[9].svId, 0, DataTypeUInt8, uint8_t);
381  ADD_MAP(m, totalSize, "svId[10]", sat[10].svId, 0, DataTypeUInt8, uint8_t);
382  ADD_MAP(m, totalSize, "svId[11]", sat[11].svId, 0, DataTypeUInt8, uint8_t);
383  ADD_MAP(m, totalSize, "svId[12]", sat[12].svId, 0, DataTypeUInt8, uint8_t);
384  ADD_MAP(m, totalSize, "svId[13]", sat[13].svId, 0, DataTypeUInt8, uint8_t);
385  ADD_MAP(m, totalSize, "svId[14]", sat[14].svId, 0, DataTypeUInt8, uint8_t);
386  ADD_MAP(m, totalSize, "svId[15]", sat[15].svId, 0, DataTypeUInt8, uint8_t);
387  ADD_MAP(m, totalSize, "svId[16]", sat[16].svId, 0, DataTypeUInt8, uint8_t);
388  ADD_MAP(m, totalSize, "svId[17]", sat[17].svId, 0, DataTypeUInt8, uint8_t);
389  ADD_MAP(m, totalSize, "svId[18]", sat[18].svId, 0, DataTypeUInt8, uint8_t);
390  ADD_MAP(m, totalSize, "svId[19]", sat[19].svId, 0, DataTypeUInt8, uint8_t);
391  ADD_MAP(m, totalSize, "svId[20]", sat[20].svId, 0, DataTypeUInt8, uint8_t);
392  ADD_MAP(m, totalSize, "svId[21]", sat[21].svId, 0, DataTypeUInt8, uint8_t);
393  ADD_MAP(m, totalSize, "svId[22]", sat[22].svId, 0, DataTypeUInt8, uint8_t);
394  ADD_MAP(m, totalSize, "svId[23]", sat[23].svId, 0, DataTypeUInt8, uint8_t);
395  ADD_MAP(m, totalSize, "svId[24]", sat[24].svId, 0, DataTypeUInt8, uint8_t);
396  ADD_MAP(m, totalSize, "svId[25]", sat[25].svId, 0, DataTypeUInt8, uint8_t);
397  ADD_MAP(m, totalSize, "svId[26]", sat[26].svId, 0, DataTypeUInt8, uint8_t);
398  ADD_MAP(m, totalSize, "svId[27]", sat[27].svId, 0, DataTypeUInt8, uint8_t);
399  ADD_MAP(m, totalSize, "svId[28]", sat[28].svId, 0, DataTypeUInt8, uint8_t);
400  ADD_MAP(m, totalSize, "svId[29]", sat[29].svId, 0, DataTypeUInt8, uint8_t);
401  ADD_MAP(m, totalSize, "svId[30]", sat[30].svId, 0, DataTypeUInt8, uint8_t);
402  ADD_MAP(m, totalSize, "svId[31]", sat[31].svId, 0, DataTypeUInt8, uint8_t);
403  ADD_MAP(m, totalSize, "svId[32]", sat[32].svId, 0, DataTypeUInt8, uint8_t);
404  ADD_MAP(m, totalSize, "svId[33]", sat[33].svId, 0, DataTypeUInt8, uint8_t);
405  ADD_MAP(m, totalSize, "svId[34]", sat[34].svId, 0, DataTypeUInt8, uint8_t);
406  ADD_MAP(m, totalSize, "svId[35]", sat[35].svId, 0, DataTypeUInt8, uint8_t);
407  ADD_MAP(m, totalSize, "svId[36]", sat[36].svId, 0, DataTypeUInt8, uint8_t);
408  ADD_MAP(m, totalSize, "svId[37]", sat[37].svId, 0, DataTypeUInt8, uint8_t);
409  ADD_MAP(m, totalSize, "svId[38]", sat[38].svId, 0, DataTypeUInt8, uint8_t);
410  ADD_MAP(m, totalSize, "svId[39]", sat[39].svId, 0, DataTypeUInt8, uint8_t);
411  ADD_MAP(m, totalSize, "svId[40]", sat[40].svId, 0, DataTypeUInt8, uint8_t);
412  ADD_MAP(m, totalSize, "svId[41]", sat[41].svId, 0, DataTypeUInt8, uint8_t);
413  ADD_MAP(m, totalSize, "svId[42]", sat[42].svId, 0, DataTypeUInt8, uint8_t);
414  ADD_MAP(m, totalSize, "svId[43]", sat[43].svId, 0, DataTypeUInt8, uint8_t);
415  ADD_MAP(m, totalSize, "svId[44]", sat[44].svId, 0, DataTypeUInt8, uint8_t);
416  ADD_MAP(m, totalSize, "svId[45]", sat[45].svId, 0, DataTypeUInt8, uint8_t);
417  ADD_MAP(m, totalSize, "svId[46]", sat[46].svId, 0, DataTypeUInt8, uint8_t);
418  ADD_MAP(m, totalSize, "svId[47]", sat[47].svId, 0, DataTypeUInt8, uint8_t);
419  ADD_MAP(m, totalSize, "svId[48]", sat[48].svId, 0, DataTypeUInt8, uint8_t);
420  ADD_MAP(m, totalSize, "svId[49]", sat[49].svId, 0, DataTypeUInt8, uint8_t);
421  ADD_MAP(m, totalSize, "cno[0]", sat[0].cno, 0, DataTypeUInt8, uint8_t);
422  ADD_MAP(m, totalSize, "cno[1]", sat[1].cno, 0, DataTypeUInt8, uint8_t);
423  ADD_MAP(m, totalSize, "cno[2]", sat[2].cno, 0, DataTypeUInt8, uint8_t);
424  ADD_MAP(m, totalSize, "cno[3]", sat[3].cno, 0, DataTypeUInt8, uint8_t);
425  ADD_MAP(m, totalSize, "cno[4]", sat[4].cno, 0, DataTypeUInt8, uint8_t);
426  ADD_MAP(m, totalSize, "cno[5]", sat[5].cno, 0, DataTypeUInt8, uint8_t);
427  ADD_MAP(m, totalSize, "cno[6]", sat[6].cno, 0, DataTypeUInt8, uint8_t);
428  ADD_MAP(m, totalSize, "cno[7]", sat[7].cno, 0, DataTypeUInt8, uint8_t);
429  ADD_MAP(m, totalSize, "cno[8]", sat[8].cno, 0, DataTypeUInt8, uint8_t);
430  ADD_MAP(m, totalSize, "cno[9]", sat[9].cno, 0, DataTypeUInt8, uint8_t);
431  ADD_MAP(m, totalSize, "cno[10]", sat[10].cno, 0, DataTypeUInt8, uint8_t);
432  ADD_MAP(m, totalSize, "cno[11]", sat[11].cno, 0, DataTypeUInt8, uint8_t);
433  ADD_MAP(m, totalSize, "cno[12]", sat[12].cno, 0, DataTypeUInt8, uint8_t);
434  ADD_MAP(m, totalSize, "cno[13]", sat[13].cno, 0, DataTypeUInt8, uint8_t);
435  ADD_MAP(m, totalSize, "cno[14]", sat[14].cno, 0, DataTypeUInt8, uint8_t);
436  ADD_MAP(m, totalSize, "cno[15]", sat[15].cno, 0, DataTypeUInt8, uint8_t);
437  ADD_MAP(m, totalSize, "cno[16]", sat[16].cno, 0, DataTypeUInt8, uint8_t);
438  ADD_MAP(m, totalSize, "cno[17]", sat[17].cno, 0, DataTypeUInt8, uint8_t);
439  ADD_MAP(m, totalSize, "cno[18]", sat[18].cno, 0, DataTypeUInt8, uint8_t);
440  ADD_MAP(m, totalSize, "cno[19]", sat[19].cno, 0, DataTypeUInt8, uint8_t);
441  ADD_MAP(m, totalSize, "cno[20]", sat[20].cno, 0, DataTypeUInt8, uint8_t);
442  ADD_MAP(m, totalSize, "cno[21]", sat[21].cno, 0, DataTypeUInt8, uint8_t);
443  ADD_MAP(m, totalSize, "cno[22]", sat[22].cno, 0, DataTypeUInt8, uint8_t);
444  ADD_MAP(m, totalSize, "cno[23]", sat[23].cno, 0, DataTypeUInt8, uint8_t);
445  ADD_MAP(m, totalSize, "cno[24]", sat[24].cno, 0, DataTypeUInt8, uint8_t);
446  ADD_MAP(m, totalSize, "cno[25]", sat[25].cno, 0, DataTypeUInt8, uint8_t);
447  ADD_MAP(m, totalSize, "cno[26]", sat[26].cno, 0, DataTypeUInt8, uint8_t);
448  ADD_MAP(m, totalSize, "cno[27]", sat[27].cno, 0, DataTypeUInt8, uint8_t);
449  ADD_MAP(m, totalSize, "cno[28]", sat[28].cno, 0, DataTypeUInt8, uint8_t);
450  ADD_MAP(m, totalSize, "cno[29]", sat[29].cno, 0, DataTypeUInt8, uint8_t);
451  ADD_MAP(m, totalSize, "cno[30]", sat[30].cno, 0, DataTypeUInt8, uint8_t);
452  ADD_MAP(m, totalSize, "cno[31]", sat[31].cno, 0, DataTypeUInt8, uint8_t);
453  ADD_MAP(m, totalSize, "cno[32]", sat[32].cno, 0, DataTypeUInt8, uint8_t);
454  ADD_MAP(m, totalSize, "cno[33]", sat[33].cno, 0, DataTypeUInt8, uint8_t);
455  ADD_MAP(m, totalSize, "cno[34]", sat[34].cno, 0, DataTypeUInt8, uint8_t);
456  ADD_MAP(m, totalSize, "cno[35]", sat[35].cno, 0, DataTypeUInt8, uint8_t);
457  ADD_MAP(m, totalSize, "cno[36]", sat[36].cno, 0, DataTypeUInt8, uint8_t);
458  ADD_MAP(m, totalSize, "cno[37]", sat[37].cno, 0, DataTypeUInt8, uint8_t);
459  ADD_MAP(m, totalSize, "cno[38]", sat[38].cno, 0, DataTypeUInt8, uint8_t);
460  ADD_MAP(m, totalSize, "cno[39]", sat[39].cno, 0, DataTypeUInt8, uint8_t);
461  ADD_MAP(m, totalSize, "cno[40]", sat[40].cno, 0, DataTypeUInt8, uint8_t);
462  ADD_MAP(m, totalSize, "cno[41]", sat[41].cno, 0, DataTypeUInt8, uint8_t);
463  ADD_MAP(m, totalSize, "cno[42]", sat[42].cno, 0, DataTypeUInt8, uint8_t);
464  ADD_MAP(m, totalSize, "cno[43]", sat[43].cno, 0, DataTypeUInt8, uint8_t);
465  ADD_MAP(m, totalSize, "cno[44]", sat[44].cno, 0, DataTypeUInt8, uint8_t);
466  ADD_MAP(m, totalSize, "cno[45]", sat[45].cno, 0, DataTypeUInt8, uint8_t);
467  ADD_MAP(m, totalSize, "cno[46]", sat[46].cno, 0, DataTypeUInt8, uint8_t);
468  ADD_MAP(m, totalSize, "cno[47]", sat[47].cno, 0, DataTypeUInt8, uint8_t);
469  ADD_MAP(m, totalSize, "cno[48]", sat[48].cno, 0, DataTypeUInt8, uint8_t);
470  ADD_MAP(m, totalSize, "cno[49]", sat[49].cno, 0, DataTypeUInt8, uint8_t);
471  mappings[DID_GPS1_SAT] = m;
472  mappings[DID_GPS2_SAT] = m;
473 
474  ASSERT_SIZE(totalSize);
475 }
476 
477 #endif
478 
479 static void PopulateMagnetometerMappings(map_lookup_name_t& mappings)
480 {
481  typedef magnetometer_t MAP_TYPE;
482  map_name_to_info_t m;
483  uint32_t totalSize = 0;
484  ADD_MAP(m, totalSize, "time", time, 0, DataTypeDouble, double);
485  ADD_MAP(m, totalSize, "mag[0]", mag[0], 0, DataTypeFloat, float&);
486  ADD_MAP(m, totalSize, "mag[1]", mag[1], 0, DataTypeFloat, float&);
487  ADD_MAP(m, totalSize, "mag[2]", mag[2], 0, DataTypeFloat, float&);
488  mappings[DID_MAGNETOMETER_1] = m;
489  mappings[DID_MAGNETOMETER_2] = m;
490 
491  ASSERT_SIZE(totalSize);
492 }
493 
494 static void PopulateBarometerMappings(map_lookup_name_t& mappings)
495 {
496  typedef barometer_t MAP_TYPE;
497  map_name_to_info_t m;
498  uint32_t totalSize = 0;
499  ADD_MAP(m, totalSize, "time", time, 0, DataTypeDouble, double);
500  ADD_MAP(m, totalSize, "bar", bar, 0, DataTypeFloat, float);
501  ADD_MAP(m, totalSize, "mslBar", mslBar, 0, DataTypeFloat, float);
502  ADD_MAP(m, totalSize, "barTemp", barTemp, 0, DataTypeFloat, float);
503  ADD_MAP(m, totalSize, "humidity", humidity, 0, DataTypeFloat, float);
504  mappings[DID_BAROMETER] = m;
505 
506  ASSERT_SIZE(totalSize);
507 }
508 
509 static void PopulateIMUDeltaThetaVelocityMappings(map_lookup_name_t& mappings)
510 {
511  typedef preintegrated_imu_t MAP_TYPE;
512  map_name_to_info_t m;
513  uint32_t totalSize = 0;
514  ADD_MAP(m, totalSize, "time", time, 0, DataTypeDouble, double);
515  ADD_MAP(m, totalSize, "theta1[0]", theta1[0], 0, DataTypeFloat, float&);
516  ADD_MAP(m, totalSize, "theta1[1]", theta1[1], 0, DataTypeFloat, float&);
517  ADD_MAP(m, totalSize, "theta1[2]", theta1[2], 0, DataTypeFloat, float&);
518  ADD_MAP(m, totalSize, "vel1[0]", vel1[0], 0, DataTypeFloat, float&);
519  ADD_MAP(m, totalSize, "vel1[1]", vel1[1], 0, DataTypeFloat, float&);
520  ADD_MAP(m, totalSize, "vel1[2]", vel1[2], 0, DataTypeFloat, float&);
521  ADD_MAP(m, totalSize, "theta2[0]", theta2[0], 0, DataTypeFloat, float&);
522  ADD_MAP(m, totalSize, "theta2[1]", theta2[1], 0, DataTypeFloat, float&);
523  ADD_MAP(m, totalSize, "theta2[2]", theta2[2], 0, DataTypeFloat, float&);
524  ADD_MAP(m, totalSize, "vel2[0]", vel2[0], 0, DataTypeFloat, float&);
525  ADD_MAP(m, totalSize, "vel2[1]", vel2[1], 0, DataTypeFloat, float&);
526  ADD_MAP(m, totalSize, "vel2[2]", vel2[2], 0, DataTypeFloat, float&);
527  ADD_MAP(m, totalSize, "dt", dt, 0, DataTypeFloat, float);
528  mappings[DID_PREINTEGRATED_IMU] = m;
529 
530  ASSERT_SIZE(totalSize);
531 }
532 
533 static void PopulateConfigMappings(map_lookup_name_t& mappings)
534 {
535  typedef config_t MAP_TYPE;
536  map_name_to_info_t m;
537  uint32_t totalSize = 0;
538  ADD_MAP(m, totalSize, "enBootloader", enBootloader, 0, DataTypeUInt32, uint32_t);
539  ADD_MAP(m, totalSize, "enSensorStats", enSensorStats, 0, DataTypeUInt32, uint32_t);
540  ADD_MAP(m, totalSize, "enRTOSStats", enBootloader, 0, DataTypeUInt32, uint32_t);
541  ADD_MAP(m, totalSize, "gpsStatus", gpsStatus, 0, DataTypeUInt32, uint32_t);
542  ADD_MAP(m, totalSize, "system", system, 0, DataTypeUInt32, uint32_t);
543  mappings[DID_CONFIG] = m;
544 
545  ASSERT_SIZE(totalSize);
546 }
547 
548 static void PopulateFlashConfigMappings(map_lookup_name_t& mappings)
549 {
550  typedef nvm_flash_cfg_t MAP_TYPE;
551  map_name_to_info_t m;
552  uint32_t totalSize = 0;
553  ADD_MAP(m, totalSize, "size", size, 0, DataTypeUInt32, uint32_t);
554  ADD_MAP(m, totalSize, "checksum", checksum, 0, DataTypeUInt32, uint32_t);
555  ADD_MAP(m, totalSize, "key", key, 0, DataTypeUInt32, uint32_t);
556  ADD_MAP(m, totalSize, "startupImuDtMs", startupImuDtMs, 0, DataTypeUInt32, uint32_t);
557  ADD_MAP(m, totalSize, "startupNavDtMs", startupNavDtMs, 0, DataTypeUInt32, uint32_t);
558  ADD_MAP(m, totalSize, "ser0BaudRate", ser0BaudRate, 0, DataTypeUInt32, uint32_t);
559  ADD_MAP(m, totalSize, "ser1BaudRate", ser1BaudRate, 0, DataTypeUInt32, uint32_t);
560  ADD_MAP(m, totalSize, "insRotation[0]", insRotation[0], 0, DataTypeFloat, float&);
561  ADD_MAP(m, totalSize, "insRotation[1]", insRotation[1], 0, DataTypeFloat, float&);
562  ADD_MAP(m, totalSize, "insRotation[2]", insRotation[2], 0, DataTypeFloat, float&);
563  ADD_MAP(m, totalSize, "insOffset[0]", insOffset[0], 0, DataTypeFloat, float&);
564  ADD_MAP(m, totalSize, "insOffset[1]", insOffset[1], 0, DataTypeFloat, float&);
565  ADD_MAP(m, totalSize, "insOffset[2]", insOffset[2], 0, DataTypeFloat, float&);
566  ADD_MAP(m, totalSize, "gps1AntOffset[0]", gps1AntOffset[0], 0, DataTypeFloat, float&);
567  ADD_MAP(m, totalSize, "gps1AntOffset[1]", gps1AntOffset[1], 0, DataTypeFloat, float&);
568  ADD_MAP(m, totalSize, "gps1AntOffset[2]", gps1AntOffset[2], 0, DataTypeFloat, float&);
569  ADD_MAP(m, totalSize, "insDynModel", insDynModel, 0, DataTypeUInt32, uint32_t);
570  ADD_MAP(m, totalSize, "sysCfgBits", sysCfgBits, 0, DataTypeUInt32, uint32_t);
571  ADD_MAP(m, totalSize, "refLla[0]", refLla[0], 0, DataTypeDouble, double&);
572  ADD_MAP(m, totalSize, "refLla[1]", refLla[1], 0, DataTypeDouble, double&);
573  ADD_MAP(m, totalSize, "refLla[2]", refLla[2], 0, DataTypeDouble, double&);
574  ADD_MAP(m, totalSize, "lastLla[0]", lastLla[0], 0, DataTypeDouble, double&);
575  ADD_MAP(m, totalSize, "lastLla[1]", lastLla[1], 0, DataTypeDouble, double&);
576  ADD_MAP(m, totalSize, "lastLla[2]", lastLla[2], 0, DataTypeDouble, double&);
577  ADD_MAP(m, totalSize, "lastLlaTimeOfWeekMs", lastLlaTimeOfWeekMs, 0, DataTypeUInt32, uint32_t);
578  ADD_MAP(m, totalSize, "lastLlaWeek", lastLlaWeek, 0, DataTypeUInt32, uint32_t);
579  ADD_MAP(m, totalSize, "lastLlaUpdateDistance", lastLlaUpdateDistance, 0, DataTypeFloat, float);
580  ADD_MAP(m, totalSize, "ioConfig", ioConfig, 0, DataTypeUInt32, uint32_t);
581  ADD_MAP(m, totalSize, "cBrdConfig", cBrdConfig, 0, DataTypeUInt32, uint32_t);
582  ADD_MAP(m, totalSize, "magInclination", magInclination, 0, DataTypeFloat, float);
583  ADD_MAP(m, totalSize, "magDeclination", magDeclination, 0, DataTypeFloat, float);
584  ADD_MAP(m, totalSize, "gps2AntOffset[0]", gps2AntOffset[0], 0, DataTypeFloat, float&);
585  ADD_MAP(m, totalSize, "gps2AntOffset[1]", gps2AntOffset[1], 0, DataTypeFloat, float&);
586  ADD_MAP(m, totalSize, "gps2AntOffset[2]", gps2AntOffset[2], 0, DataTypeFloat, float&);
587  ADD_MAP(m, totalSize, "zeroVelRotation[0]", zeroVelRotation[0], 0, DataTypeFloat, float&);
588  ADD_MAP(m, totalSize, "zeroVelRotation[1]", zeroVelRotation[1], 0, DataTypeFloat, float&);
589  ADD_MAP(m, totalSize, "zeroVelRotation[2]", zeroVelRotation[2], 0, DataTypeFloat, float&);
590  ADD_MAP(m, totalSize, "zeroVelOffset[0]", zeroVelOffset[0], 0, DataTypeFloat, float&);
591  ADD_MAP(m, totalSize, "zeroVelOffset[1]", zeroVelOffset[1], 0, DataTypeFloat, float&);
592  ADD_MAP(m, totalSize, "zeroVelOffset[2]", zeroVelOffset[2], 0, DataTypeFloat, float&);
593  ADD_MAP(m, totalSize, "gpsTimeSyncPeriodMs", gpsTimeSyncPeriodMs, 0, DataTypeUInt32, uint32_t);
594  ADD_MAP(m, totalSize, "startupGPSDtMs", startupGPSDtMs, 0, DataTypeUInt32, uint32_t);
595  ADD_MAP(m, totalSize, "RTKCfgBits", RTKCfgBits, 0, DataTypeUInt32, uint32_t);
596  ADD_MAP(m, totalSize, "sensorConfig", sensorConfig, 0, DataTypeUInt32, uint32_t);
597  mappings[DID_FLASH_CONFIG] = m;
598 
599  ASSERT_SIZE(totalSize);
600 }
601 
602 static void PopulateRtkRelMappings(map_lookup_name_t& mappings)
603 {
604  typedef gps_rtk_rel_t MAP_TYPE;
605  map_name_to_info_t m;
606  uint32_t totalSize = 0;
607  ADD_MAP(m, totalSize, "timeOfWeekMs", timeOfWeekMs, 0, DataTypeUInt32, uint32_t);
608  ADD_MAP(m, totalSize, "vectorToBase[0]", vectorToBase[0], 0, DataTypeFloat, float&);
609  ADD_MAP(m, totalSize, "vectorToBase[1]", vectorToBase[1], 0, DataTypeFloat, float&);
610  ADD_MAP(m, totalSize, "vectorToBase[2]", vectorToBase[2], 0, DataTypeFloat, float&);
611  ADD_MAP(m, totalSize, "differentialAge", differentialAge, 0, DataTypeFloat, float);
612  ADD_MAP(m, totalSize, "arRatio", arRatio, 0, DataTypeFloat, float);
613  ADD_MAP(m, totalSize, "distanceToBase", distanceToBase, 0, DataTypeFloat, float);
614  ADD_MAP(m, totalSize, "headingToBase", headingToBase, 0, DataTypeFloat, float);
615  mappings[DID_GPS1_RTK_REL] = m;
616 
617  ASSERT_SIZE(totalSize);
618 }
619 
620 static void PopulateRtkMiscMappings(map_lookup_name_t& mappings)
621 {
622  typedef gps_rtk_misc_t MAP_TYPE;
623  map_name_to_info_t m;
624  uint32_t totalSize = 0;
625  ADD_MAP(m, totalSize, "timeOfWeekMs", timeOfWeekMs, 0, DataTypeUInt32, uint32_t);
626  ADD_MAP(m, totalSize, "accuracyPos[0]", accuracyPos[0], 0, DataTypeFloat, float&);
627  ADD_MAP(m, totalSize, "accuracyPos[1]", accuracyPos[1], 0, DataTypeFloat, float&);
628  ADD_MAP(m, totalSize, "accuracyPos[2]", accuracyPos[2], 0, DataTypeFloat, float&);
629  ADD_MAP(m, totalSize, "accuracyCov[0]", accuracyCov[0], 0, DataTypeFloat, float&);
630  ADD_MAP(m, totalSize, "accuracyCov[1]", accuracyCov[1], 0, DataTypeFloat, float&);
631  ADD_MAP(m, totalSize, "accuracyCov[2]", accuracyCov[2], 0, DataTypeFloat, float&);
632  ADD_MAP(m, totalSize, "arThreshold", arThreshold, 0, DataTypeFloat, float);
633  ADD_MAP(m, totalSize, "gDop", gDop, 0, DataTypeFloat, float);
634  ADD_MAP(m, totalSize, "hDop", hDop, 0, DataTypeFloat, float);
635  ADD_MAP(m, totalSize, "vDop", vDop, 0, DataTypeFloat, float);
636  ADD_MAP(m, totalSize, "baseLla[0]", baseLla[0], 0, DataTypeDouble, double&);
637  ADD_MAP(m, totalSize, "baseLla[1]", baseLla[1], 0, DataTypeDouble, double&);
638  ADD_MAP(m, totalSize, "baseLla[2]", baseLla[2], 0, DataTypeDouble, double&);
639  ADD_MAP(m, totalSize, "cycleSlipCount", cycleSlipCount, 0, DataTypeUInt32, uint32_t);
640  ADD_MAP(m, totalSize, "roverGpsObservationCount", roverGpsObservationCount, 0, DataTypeUInt32, uint32_t);
641  ADD_MAP(m, totalSize, "baseGpsObservationCount", baseGpsObservationCount, 0, DataTypeUInt32, uint32_t);
642  ADD_MAP(m, totalSize, "roverGlonassObservationCount", roverGlonassObservationCount, 0, DataTypeUInt32, uint32_t);
643  ADD_MAP(m, totalSize, "baseGlonassObservationCount", baseGlonassObservationCount, 0, DataTypeUInt32, uint32_t);
644  ADD_MAP(m, totalSize, "roverGalileoObservationCount", roverGalileoObservationCount, 0, DataTypeUInt32, uint32_t);
645  ADD_MAP(m, totalSize, "baseGalileoObservationCount", baseGalileoObservationCount, 0, DataTypeUInt32, uint32_t);
646  ADD_MAP(m, totalSize, "roverBeidouObservationCount", roverBeidouObservationCount, 0, DataTypeUInt32, uint32_t);
647  ADD_MAP(m, totalSize, "baseBeidouObservationCount", baseBeidouObservationCount, 0, DataTypeUInt32, uint32_t);
648  ADD_MAP(m, totalSize, "roverQzsObservationCount", roverQzsObservationCount, 0, DataTypeUInt32, uint32_t);
649  ADD_MAP(m, totalSize, "baseQzsObservationCount", baseQzsObservationCount, 0, DataTypeUInt32, uint32_t);
650  ADD_MAP(m, totalSize, "roverGpsEphemerisCount", roverGpsEphemerisCount, 0, DataTypeUInt32, uint32_t);
651  ADD_MAP(m, totalSize, "baseGpsEphemerisCount", baseGpsEphemerisCount, 0, DataTypeUInt32, uint32_t);
652  ADD_MAP(m, totalSize, "roverGlonassEphemerisCount", roverGlonassEphemerisCount, 0, DataTypeUInt32, uint32_t);
653  ADD_MAP(m, totalSize, "baseGlonassEphemerisCount", baseGlonassEphemerisCount, 0, DataTypeUInt32, uint32_t);
654  ADD_MAP(m, totalSize, "roverGalileoEphemerisCount", roverGalileoEphemerisCount, 0, DataTypeUInt32, uint32_t);
655  ADD_MAP(m, totalSize, "baseGalileoEphemerisCount", baseGalileoEphemerisCount, 0, DataTypeUInt32, uint32_t);
656  ADD_MAP(m, totalSize, "roverBeidouEphemerisCount", roverBeidouEphemerisCount, 0, DataTypeUInt32, uint32_t);
657  ADD_MAP(m, totalSize, "baseBeidouEphemerisCount", baseBeidouEphemerisCount, 0, DataTypeUInt32, uint32_t);
658  ADD_MAP(m, totalSize, "roverQzsEphemerisCount", roverQzsEphemerisCount, 0, DataTypeUInt32, uint32_t);
659  ADD_MAP(m, totalSize, "baseQzsEphemerisCount", baseQzsEphemerisCount, 0, DataTypeUInt32, uint32_t);
660  ADD_MAP(m, totalSize, "roverSbasCount", roverSbasCount, 0, DataTypeUInt32, uint32_t);
661  ADD_MAP(m, totalSize, "baseSbasCount", baseSbasCount, 0, DataTypeUInt32, uint32_t);
662  ADD_MAP(m, totalSize, "baseAntennaCount", baseAntennaCount, 0, DataTypeUInt32, uint32_t);
663  ADD_MAP(m, totalSize, "ionUtcAlmCount", ionUtcAlmCount, 0, DataTypeUInt32, uint32_t);
664  mappings[DID_GPS1_RTK_MISC] = m;
665 
666  ASSERT_SIZE(totalSize);
667 }
668 
669 static void PopulateGpsRawMappings(map_lookup_name_t& mappings)
670 {
671  typedef gps_raw_t MAP_TYPE;
672  map_name_to_info_t m;
673  uint32_t totalSize = 0;
674 
675  ADD_MAP(m, totalSize, "receiveIndex", receiverIndex, 0, DataTypeUInt8, uint8_t);
676  ADD_MAP(m, totalSize, "dataType", dataType, 0, DataTypeUInt8, uint8_t);
677  ADD_MAP(m, totalSize, "obsCount", obsCount, 0, DataTypeUInt8, uint8_t);
678  ADD_MAP(m, totalSize, "reserved", reserved, 0, DataTypeUInt8, uint8_t);
679  ADD_MAP(m, totalSize, "dataBuf", data.buf, 0, DataTypeBinary, uint8_t[MEMBERSIZE(MAP_TYPE, data.buf)]);
680  mappings[DID_GPS1_RAW] = m;
681  mappings[DID_GPS2_RAW] = m;
682  mappings[DID_GPS_BASE_RAW] = m;
683 
684  ASSERT_SIZE(totalSize);
685 }
686 
687 static void PopulateStrobeInTimeMappings(map_lookup_name_t& mappings)
688 {
689  typedef strobe_in_time_t MAP_TYPE;
690  map_name_to_info_t m;
691  uint32_t totalSize = 0;
692 
693  ADD_MAP(m, totalSize, "week", week, 0, DataTypeUInt32, uint32_t);
694  ADD_MAP(m, totalSize, "timeOfWeekMs", timeOfWeekMs, 0, DataTypeUInt32, uint32_t);
695  ADD_MAP(m, totalSize, "pin", pin, 0, DataTypeUInt32, uint32_t);
696  ADD_MAP(m, totalSize, "count", count, 0, DataTypeUInt32, uint32_t);
697  mappings[DID_STROBE_IN_TIME] = m;
698 
699  ASSERT_SIZE(totalSize);
700 }
701 
702 static void PopulateRtosInfoMappings(map_lookup_name_t& mappings)
703 {
704  typedef rtos_info_t MAP_TYPE;
705  map_name_to_info_t m;
706  uint32_t totalSize = 0;
707 
708  ADD_MAP(m, totalSize, "name[0]", task[0].name, MAX_TASK_NAME_LEN, DataTypeString, char[MAX_TASK_NAME_LEN]);
709  ADD_MAP(m, totalSize, "priority[0]", task[0].priority, 0, DataTypeUInt32, uint32_t);
710  ADD_MAP(m, totalSize, "stackUnused[0]", task[0].stackUnused, 0, DataTypeUInt32, uint32_t);
711  ADD_MAP(m, totalSize, "periodMs[0]", task[0].periodMs, 0, DataTypeUInt32, uint32_t);
712  ADD_MAP(m, totalSize, "runTimeUs[0]", task[0].runTimeUs, 0, DataTypeUInt32, uint32_t);
713  ADD_MAP(m, totalSize, "maxRunTimeUs[0]", task[0].maxRunTimeUs, 0, DataTypeUInt32, uint32_t);
714  ADD_MAP(m, totalSize, "averageRunTimeUs[0]", task[0].averageRunTimeUs, 0, DataTypeFloat, float);
715  ADD_MAP(m, totalSize, "gapCount[0]", task[0].gapCount, 0, DataTypeUInt32, uint32_t);
716  ADD_MAP(m, totalSize, "cpuUsage[0]", task[0].cpuUsage, 0, DataTypeFloat, f_t);
717  ADD_MAP(m, totalSize, "handle[0]", task[0].handle, 0, DataTypeUInt32, uint32_t);
718 
719  ADD_MAP(m, totalSize, "name[1]", task[1].name, MAX_TASK_NAME_LEN, DataTypeString, char[MAX_TASK_NAME_LEN]);
720  ADD_MAP(m, totalSize, "priority[1]", task[1].priority, 0, DataTypeUInt32, uint32_t);
721  ADD_MAP(m, totalSize, "stackUnused[1]", task[1].stackUnused, 0, DataTypeUInt32, uint32_t);
722  ADD_MAP(m, totalSize, "periodMs[1]", task[1].periodMs, 0, DataTypeUInt32, uint32_t);
723  ADD_MAP(m, totalSize, "runTimeUs[1]", task[1].runTimeUs, 0, DataTypeUInt32, uint32_t);
724  ADD_MAP(m, totalSize, "maxRunTimeUs[1]", task[1].maxRunTimeUs, 0, DataTypeUInt32, uint32_t);
725  ADD_MAP(m, totalSize, "averageRunTimeUs[1]", task[1].averageRunTimeUs, 0, DataTypeFloat, float);
726  ADD_MAP(m, totalSize, "gapCount[1]", task[1].gapCount, 0, DataTypeUInt32, uint32_t);
727  ADD_MAP(m, totalSize, "cpuUsage[1]", task[1].cpuUsage, 0, DataTypeFloat, f_t);
728  ADD_MAP(m, totalSize, "handle[1]", task[1].handle, 0, DataTypeUInt32, uint32_t);
729 
730  ADD_MAP(m, totalSize, "name[2]", task[2].name, MAX_TASK_NAME_LEN, DataTypeString, char[MAX_TASK_NAME_LEN]);
731  ADD_MAP(m, totalSize, "priority[2]", task[2].priority, 0, DataTypeUInt32, uint32_t);
732  ADD_MAP(m, totalSize, "stackUnused[2]", task[2].stackUnused, 0, DataTypeUInt32, uint32_t);
733  ADD_MAP(m, totalSize, "periodMs[2]", task[2].periodMs, 0, DataTypeUInt32, uint32_t);
734  ADD_MAP(m, totalSize, "runTimeUs[2]", task[2].runTimeUs, 0, DataTypeUInt32, uint32_t);
735  ADD_MAP(m, totalSize, "maxRunTimeUs[2]", task[2].maxRunTimeUs, 0, DataTypeUInt32, uint32_t);
736  ADD_MAP(m, totalSize, "averageRunTimeUs[2]", task[2].averageRunTimeUs, 0, DataTypeFloat, float);
737  ADD_MAP(m, totalSize, "gapCount[2]", task[2].gapCount, 0, DataTypeUInt32, uint32_t);
738  ADD_MAP(m, totalSize, "cpuUsage[2]", task[2].cpuUsage, 0, DataTypeFloat, f_t);
739  ADD_MAP(m, totalSize, "handle[2]", task[2].handle, 0, DataTypeUInt32, uint32_t);
740 
741  ADD_MAP(m, totalSize, "name[3]", task[3].name, MAX_TASK_NAME_LEN, DataTypeString, char[MAX_TASK_NAME_LEN]);
742  ADD_MAP(m, totalSize, "priority[3]", task[3].priority, 0, DataTypeUInt32, uint32_t);
743  ADD_MAP(m, totalSize, "stackUnused[3]", task[3].stackUnused, 0, DataTypeUInt32, uint32_t);
744  ADD_MAP(m, totalSize, "periodMs[3]", task[3].periodMs, 0, DataTypeUInt32, uint32_t);
745  ADD_MAP(m, totalSize, "runTimeUs[3]", task[3].runTimeUs, 0, DataTypeUInt32, uint32_t);
746  ADD_MAP(m, totalSize, "maxRunTimeUs[3]", task[3].maxRunTimeUs, 0, DataTypeUInt32, uint32_t);
747  ADD_MAP(m, totalSize, "averageRunTimeUs[3]", task[3].averageRunTimeUs, 0, DataTypeFloat, float);
748  ADD_MAP(m, totalSize, "gapCount[3]", task[3].gapCount, 0, DataTypeUInt32, uint32_t);
749  ADD_MAP(m, totalSize, "cpuUsage[3]", task[3].cpuUsage, 0, DataTypeFloat, f_t);
750  ADD_MAP(m, totalSize, "handle[3]", task[3].handle, 0, DataTypeUInt32, uint32_t);
751 
752  ADD_MAP(m, totalSize, "name[4]", task[4].name, MAX_TASK_NAME_LEN, DataTypeString, char[MAX_TASK_NAME_LEN]);
753  ADD_MAP(m, totalSize, "priority[4]", task[4].priority, 0, DataTypeUInt32, uint32_t);
754  ADD_MAP(m, totalSize, "stackUnused[4]", task[4].stackUnused, 0, DataTypeUInt32, uint32_t);
755  ADD_MAP(m, totalSize, "periodMs[4]", task[4].periodMs, 0, DataTypeUInt32, uint32_t);
756  ADD_MAP(m, totalSize, "runTimeUs[4]", task[4].runTimeUs, 0, DataTypeUInt32, uint32_t);
757  ADD_MAP(m, totalSize, "maxRunTimeUs[4]", task[4].maxRunTimeUs, 0, DataTypeUInt32, uint32_t);
758  ADD_MAP(m, totalSize, "averageRunTimeUs[4]", task[4].averageRunTimeUs, 0, DataTypeFloat, float);
759  ADD_MAP(m, totalSize, "gapCount[4]", task[4].gapCount, 0, DataTypeUInt32, uint32_t);
760  ADD_MAP(m, totalSize, "cpuUsage[4]", task[4].cpuUsage, 0, DataTypeFloat, f_t);
761  ADD_MAP(m, totalSize, "handle[4]", task[4].handle, 0, DataTypeUInt32, uint32_t);
762 
763  ADD_MAP(m, totalSize, "name[5]", task[5].name, MAX_TASK_NAME_LEN, DataTypeString, char[MAX_TASK_NAME_LEN]);
764  ADD_MAP(m, totalSize, "priority[5]", task[5].priority, 0, DataTypeUInt32, uint32_t);
765  ADD_MAP(m, totalSize, "stackUnused[5]", task[5].stackUnused, 0, DataTypeUInt32, uint32_t);
766  ADD_MAP(m, totalSize, "periodMs[5]", task[5].periodMs, 0, DataTypeUInt32, uint32_t);
767  ADD_MAP(m, totalSize, "runTimeUs[5]", task[5].runTimeUs, 0, DataTypeUInt32, uint32_t);
768  ADD_MAP(m, totalSize, "maxRunTimeUs[5]", task[5].maxRunTimeUs, 0, DataTypeUInt32, uint32_t);
769  ADD_MAP(m, totalSize, "averageRunTimeUs[5]", task[5].averageRunTimeUs, 0, DataTypeFloat, float);
770  ADD_MAP(m, totalSize, "gapCount[5]", task[5].gapCount, 0, DataTypeUInt32, uint32_t);
771  ADD_MAP(m, totalSize, "cpuUsage[5]", task[5].cpuUsage, 0, DataTypeFloat, f_t);
772  ADD_MAP(m, totalSize, "handle[5]", task[5].handle, 0, DataTypeUInt32, uint32_t);
773 
774  ADD_MAP(m, totalSize, "freeHeapSize", freeHeapSize, 0, DataTypeUInt32, uint32_t);
775  ADD_MAP(m, totalSize, "mallocMinusFree", mallocMinusFree, 0, DataTypeUInt32, uint32_t);
776 
777  mappings[DID_RTOS_INFO] = m;
778 
779  ASSERT_SIZE(totalSize);
780 }
781 
782 static void PopulateDiagMsgMappings(map_lookup_name_t& mappings)
783 {
784  typedef diag_msg_t MAP_TYPE;
785  map_name_to_info_t m;
786  uint32_t totalSize = 0;
787  ADD_MAP(m, totalSize, "timeOfWeekMs", timeOfWeekMs, 0, DataTypeUInt32, uint32_t);
788  ADD_MAP(m, totalSize, "messageLength", messageLength, 0, DataTypeUInt32, uint32_t);
789  ADD_MAP(m, totalSize, "message", message, MEMBERSIZE(diag_msg_t, message), DataTypeString, char[MEMBERSIZE(diag_msg_t, message)]);
790  mappings[DID_DIAGNOSTIC_MESSAGE] = m;
791 
792  ASSERT_SIZE(totalSize);
793 }
794 
795 #ifdef USE_IS_INTERNAL
796 
797 static void PopulateSensorsADCMappings(map_lookup_name_t& mappings)
798 {
799  typedef sys_sensors_adc_t MAP_TYPE;
800  map_name_to_info_t m;
801  uint32_t totalSize = 0;
802  ADD_MAP(m, totalSize, "time", time, 0, DataTypeDouble, double);
803  ADD_MAP(m, totalSize, "pqr1[0]", mpu[0].pqr[0], 0, DataTypeFloat, float&);
804  ADD_MAP(m, totalSize, "pqr1[1]", mpu[0].pqr[1], 0, DataTypeFloat, float&);
805  ADD_MAP(m, totalSize, "pqr1[2]", mpu[0].pqr[2], 0, DataTypeFloat, float&);
806  ADD_MAP(m, totalSize, "acc1[0]", mpu[0].acc[0], 0, DataTypeFloat, float&);
807  ADD_MAP(m, totalSize, "acc1[1]", mpu[0].acc[1], 0, DataTypeFloat, float&);
808  ADD_MAP(m, totalSize, "acc1[2]", mpu[0].acc[2], 0, DataTypeFloat, float&);
809  ADD_MAP(m, totalSize, "mag1[0]", mpu[0].mag[0], 0, DataTypeFloat, float&);
810  ADD_MAP(m, totalSize, "mag1[1]", mpu[0].mag[1], 0, DataTypeFloat, float&);
811  ADD_MAP(m, totalSize, "mag1[2]", mpu[0].mag[2], 0, DataTypeFloat, float&);
812  ADD_MAP(m, totalSize, "temp1", mpu[0].temp, 0, DataTypeFloat, float);
813  ADD_MAP(m, totalSize, "pqr2[0]", mpu[1].pqr[0], 0, DataTypeFloat, float&);
814  ADD_MAP(m, totalSize, "pqr2[1]", mpu[1].pqr[1], 0, DataTypeFloat, float&);
815  ADD_MAP(m, totalSize, "pqr2[2]", mpu[1].pqr[2], 0, DataTypeFloat, float&);
816  ADD_MAP(m, totalSize, "acc2[0]", mpu[1].acc[0], 0, DataTypeFloat, float&);
817  ADD_MAP(m, totalSize, "acc2[1]", mpu[1].acc[1], 0, DataTypeFloat, float&);
818  ADD_MAP(m, totalSize, "acc2[2]", mpu[1].acc[2], 0, DataTypeFloat, float&);
819  ADD_MAP(m, totalSize, "mag2[0]", mpu[1].mag[0], 0, DataTypeFloat, float&);
820  ADD_MAP(m, totalSize, "mag2[1]", mpu[1].mag[1], 0, DataTypeFloat, float&);
821  ADD_MAP(m, totalSize, "mag2[2]", mpu[1].mag[2], 0, DataTypeFloat, float&);
822  ADD_MAP(m, totalSize, "temp2", mpu[1].temp, 0, DataTypeFloat, float);
823  ADD_MAP(m, totalSize, "bar", bar, 0, DataTypeFloat, float);
824  ADD_MAP(m, totalSize, "barTemp", barTemp, 0, DataTypeFloat, float);
825  ADD_MAP(m, totalSize, "humidity", humidity, 0, DataTypeFloat, float);
826  ADD_MAP(m, totalSize, "ana[0]", ana[0], 0, DataTypeFloat, float&);
827  ADD_MAP(m, totalSize, "ana[1]", ana[1], 0, DataTypeFloat, float&);
828  ADD_MAP(m, totalSize, "ana[2]", ana[2], 0, DataTypeFloat, float&);
829  ADD_MAP(m, totalSize, "ana[3]", ana[3], 0, DataTypeFloat, float&);
830  mappings[DID_SENSORS_ADC] = m;
831 
832  ASSERT_SIZE(totalSize);
833 }
834 
835 static void PopulateSensorsISMappings(map_lookup_name_t& mappings)
836 {
837  typedef sensors_w_temp_t MAP_TYPE;
838  map_name_to_info_t m;
839  uint32_t totalSize = 0;
840  ADD_MAP(m, totalSize, "pqr1[0]", mpu[0].pqr[0], 0, DataTypeFloat, float&);
841  ADD_MAP(m, totalSize, "pqr1[1]", mpu[0].pqr[1], 0, DataTypeFloat, float&);
842  ADD_MAP(m, totalSize, "pqr1[2]", mpu[0].pqr[2], 0, DataTypeFloat, float&);
843  ADD_MAP(m, totalSize, "acc1[0]", mpu[0].acc[0], 0, DataTypeFloat, float&);
844  ADD_MAP(m, totalSize, "acc1[1]", mpu[0].acc[1], 0, DataTypeFloat, float&);
845  ADD_MAP(m, totalSize, "acc1[2]", mpu[0].acc[2], 0, DataTypeFloat, float&);
846  ADD_MAP(m, totalSize, "mag1[0]", mpu[0].mag[0], 0, DataTypeFloat, float&);
847  ADD_MAP(m, totalSize, "mag1[1]", mpu[0].mag[1], 0, DataTypeFloat, float&);
848  ADD_MAP(m, totalSize, "mag1[2]", mpu[0].mag[2], 0, DataTypeFloat, float&);
849  ADD_MAP(m, totalSize, "temp1", mpu[0].temp, 0, DataTypeFloat, float);
850  ADD_MAP(m, totalSize, "pqr2[0]", mpu[1].pqr[0], 0, DataTypeFloat, float&);
851  ADD_MAP(m, totalSize, "pqr2[1]", mpu[1].pqr[1], 0, DataTypeFloat, float&);
852  ADD_MAP(m, totalSize, "pqr2[2]", mpu[1].pqr[2], 0, DataTypeFloat, float&);
853  ADD_MAP(m, totalSize, "acc2[0]", mpu[1].acc[0], 0, DataTypeFloat, float&);
854  ADD_MAP(m, totalSize, "acc2[1]", mpu[1].acc[1], 0, DataTypeFloat, float&);
855  ADD_MAP(m, totalSize, "acc2[2]", mpu[1].acc[2], 0, DataTypeFloat, float&);
856  ADD_MAP(m, totalSize, "mag2[0]", mpu[1].mag[0], 0, DataTypeFloat, float&);
857  ADD_MAP(m, totalSize, "mag2[1]", mpu[1].mag[1], 0, DataTypeFloat, float&);
858  ADD_MAP(m, totalSize, "mag2[2]", mpu[1].mag[2], 0, DataTypeFloat, float&);
859  ADD_MAP(m, totalSize, "temp2", mpu[1].temp, 0, DataTypeFloat, float);
860  mappings[DID_SENSORS_IS1] = m;
861  mappings[DID_SENSORS_IS2] = m;
862 
863  ASSERT_SIZE(totalSize);
864 
865 }
866 
867 static void PopulateSensorsTCMappings(map_lookup_name_t& mappings)
868 {
869  typedef sensors_t MAP_TYPE;
870  map_name_to_info_t m;
871  uint32_t totalSize = 0;
872  ADD_MAP(m, totalSize, "pqr1[0]", mpu[0].pqr[0], 0, DataTypeFloat, float&);
873  ADD_MAP(m, totalSize, "pqr1[1]", mpu[0].pqr[1], 0, DataTypeFloat, float&);
874  ADD_MAP(m, totalSize, "pqr1[2]", mpu[0].pqr[2], 0, DataTypeFloat, float&);
875  ADD_MAP(m, totalSize, "acc1[0]", mpu[0].acc[0], 0, DataTypeFloat, float&);
876  ADD_MAP(m, totalSize, "acc1[1]", mpu[0].acc[1], 0, DataTypeFloat, float&);
877  ADD_MAP(m, totalSize, "acc1[2]", mpu[0].acc[2], 0, DataTypeFloat, float&);
878  ADD_MAP(m, totalSize, "mag1[0]", mpu[0].mag[0], 0, DataTypeFloat, float&);
879  ADD_MAP(m, totalSize, "mag1[1]", mpu[0].mag[1], 0, DataTypeFloat, float&);
880  ADD_MAP(m, totalSize, "mag1[2]", mpu[0].mag[2], 0, DataTypeFloat, float&);
881  ADD_MAP(m, totalSize, "pqr2[0]", mpu[1].pqr[0], 0, DataTypeFloat, float&);
882  ADD_MAP(m, totalSize, "pqr2[1]", mpu[1].pqr[1], 0, DataTypeFloat, float&);
883  ADD_MAP(m, totalSize, "pqr2[2]", mpu[1].pqr[2], 0, DataTypeFloat, float&);
884  ADD_MAP(m, totalSize, "acc2[0]", mpu[1].acc[0], 0, DataTypeFloat, float&);
885  ADD_MAP(m, totalSize, "acc2[1]", mpu[1].acc[1], 0, DataTypeFloat, float&);
886  ADD_MAP(m, totalSize, "acc2[2]", mpu[1].acc[2], 0, DataTypeFloat, float&);
887  ADD_MAP(m, totalSize, "mag2[0]", mpu[1].mag[0], 0, DataTypeFloat, float&);
888  ADD_MAP(m, totalSize, "mag2[1]", mpu[1].mag[1], 0, DataTypeFloat, float&);
889  ADD_MAP(m, totalSize, "mag2[2]", mpu[1].mag[2], 0, DataTypeFloat, float&);
890  mappings[DID_SENSORS_TC_BIAS] = m;
891 
892  ASSERT_SIZE(totalSize);
893 }
894 
895 static void PopulateSensorsCompMappings(map_lookup_name_t& mappings)
896 {
897  typedef sensor_compensation_t MAP_TYPE;
898  map_name_to_info_t m;
899  uint32_t totalSize = 0;
900  ADD_MAP(m, totalSize, "pqr1[0]", mpu[0].lpfLsb.pqr[0], 0, DataTypeFloat, float&);
901  ADD_MAP(m, totalSize, "pqr1[1]", mpu[0].lpfLsb.pqr[1], 0, DataTypeFloat, float&);
902  ADD_MAP(m, totalSize, "pqr1[2]", mpu[0].lpfLsb.pqr[2], 0, DataTypeFloat, float&);
903  ADD_MAP(m, totalSize, "acc1[0]", mpu[0].lpfLsb.acc[0], 0, DataTypeFloat, float&);
904  ADD_MAP(m, totalSize, "acc1[1]", mpu[0].lpfLsb.acc[1], 0, DataTypeFloat, float&);
905  ADD_MAP(m, totalSize, "acc1[2]", mpu[0].lpfLsb.acc[2], 0, DataTypeFloat, float&);
906  ADD_MAP(m, totalSize, "mag1[0]", mpu[0].lpfLsb.mag[0], 0, DataTypeFloat, float&);
907  ADD_MAP(m, totalSize, "mag1[1]", mpu[0].lpfLsb.mag[1], 0, DataTypeFloat, float&);
908  ADD_MAP(m, totalSize, "mag1[2]", mpu[0].lpfLsb.mag[2], 0, DataTypeFloat, float&);
909  ADD_MAP(m, totalSize, "temp1", mpu[0].lpfLsb.temp, 0, DataTypeFloat, float);
910  ADD_MAP(m, totalSize, "temp2", mpu[0].temp, 0, DataTypeFloat, float);
911  ADD_MAP(m, totalSize, "tempRampRate1", mpu[0].tempRampRate, 0, DataTypeFloat, float);
912  ADD_MAP(m, totalSize, "tci1", mpu[0].tci, 0, DataTypeUInt32, uint32_t);
913  ADD_MAP(m, totalSize, "numTcPts1", mpu[0].numTcPts, 0, DataTypeUInt32, uint32_t);
914  ADD_MAP(m, totalSize, "dtTemp1", mpu[0].dtTemp, 0, DataTypeFloat, float);
915  ADD_MAP(m, totalSize, "pqr2[0]", mpu[1].lpfLsb.pqr[0], 0, DataTypeFloat, float&);
916  ADD_MAP(m, totalSize, "pqr2[1]", mpu[1].lpfLsb.pqr[1], 0, DataTypeFloat, float&);
917  ADD_MAP(m, totalSize, "pqr2[2]", mpu[1].lpfLsb.pqr[2], 0, DataTypeFloat, float&);
918  ADD_MAP(m, totalSize, "acc2[0]", mpu[1].lpfLsb.acc[0], 0, DataTypeFloat, float&);
919  ADD_MAP(m, totalSize, "acc2[1]", mpu[1].lpfLsb.acc[1], 0, DataTypeFloat, float&);
920  ADD_MAP(m, totalSize, "acc2[2]", mpu[1].lpfLsb.acc[2], 0, DataTypeFloat, float&);
921  ADD_MAP(m, totalSize, "mag2[0]", mpu[1].lpfLsb.mag[0], 0, DataTypeFloat, float&);
922  ADD_MAP(m, totalSize, "mag2[1]", mpu[1].lpfLsb.mag[1], 0, DataTypeFloat, float&);
923  ADD_MAP(m, totalSize, "mag2[2]", mpu[1].lpfLsb.mag[2], 0, DataTypeFloat, float&);
924  ADD_MAP(m, totalSize, "temp3", mpu[1].lpfLsb.temp, 0, DataTypeFloat, float);
925  ADD_MAP(m, totalSize, "temp4", mpu[1].temp, 0, DataTypeFloat, float);
926  ADD_MAP(m, totalSize, "tempRampRate2", mpu[1].tempRampRate, 0, DataTypeFloat, float);
927  ADD_MAP(m, totalSize, "tci2", mpu[1].tci, 0, DataTypeUInt32, uint32_t);
928  ADD_MAP(m, totalSize, "numTcPts2", mpu[1].numTcPts, 0, DataTypeUInt32, uint32_t);
929  ADD_MAP(m, totalSize, "dtTemp2", mpu[1].dtTemp, 0, DataTypeFloat, float);
930  ADD_MAP(m, totalSize, "sampleCount", sampleCount, 0, DataTypeUInt32, uint32_t);
931  ADD_MAP(m, totalSize, "calState", calState, 0, DataTypeUInt32, uint32_t);
932  ADD_MAP(m, totalSize, "alignAccel[0]", alignAccel[0], 0, DataTypeFloat, float&);
933  ADD_MAP(m, totalSize, "alignAccel[1]", alignAccel[1], 0, DataTypeFloat, float&);
934  ADD_MAP(m, totalSize, "alignAccel[2]", alignAccel[2], 0, DataTypeFloat, float&);
935  ADD_MAP(m, totalSize, "status", status, 0, DataTypeUInt32, uint32_t);
936  mappings[DID_SCOMP] = m;
937 
938  ASSERT_SIZE(totalSize);
939 }
940 
941 static void PopulateDebugArrayMappings(map_lookup_name_t& mappings)
942 {
943  typedef debug_array_t MAP_TYPE;
944  map_name_to_info_t m;
945  uint32_t totalSize = 0;
946  ADD_MAP(m, totalSize, "i[0]", i[0], 0, DataTypeInt32, int32_t&);
947  ADD_MAP(m, totalSize, "i[1]", i[1], 0, DataTypeInt32, int32_t&);
948  ADD_MAP(m, totalSize, "i[2]", i[2], 0, DataTypeInt32, int32_t&);
949  ADD_MAP(m, totalSize, "i[3]", i[3], 0, DataTypeInt32, int32_t&);
950  ADD_MAP(m, totalSize, "i[4]", i[4], 0, DataTypeInt32, int32_t&);
951  ADD_MAP(m, totalSize, "i[5]", i[5], 0, DataTypeInt32, int32_t&);
952  ADD_MAP(m, totalSize, "i[6]", i[6], 0, DataTypeInt32, int32_t&);
953  ADD_MAP(m, totalSize, "i[7]", i[7], 0, DataTypeInt32, int32_t&);
954  ADD_MAP(m, totalSize, "i[8]", i[8], 0, DataTypeInt32, int32_t&);
955  ADD_MAP(m, totalSize, "f[0]", f[0], 0, DataTypeFloat, float&);
956  ADD_MAP(m, totalSize, "f[1]", f[1], 0, DataTypeFloat, float&);
957  ADD_MAP(m, totalSize, "f[2]", f[2], 0, DataTypeFloat, float&);
958  ADD_MAP(m, totalSize, "f[3]", f[3], 0, DataTypeFloat, float&);
959  ADD_MAP(m, totalSize, "f[4]", f[4], 0, DataTypeFloat, float&);
960  ADD_MAP(m, totalSize, "f[5]", f[5], 0, DataTypeFloat, float&);
961  ADD_MAP(m, totalSize, "f[6]", f[6], 0, DataTypeFloat, float&);
962  ADD_MAP(m, totalSize, "f[7]", f[7], 0, DataTypeFloat, float&);
963  ADD_MAP(m, totalSize, "f[8]", f[8], 0, DataTypeFloat, float&);
964  ADD_MAP(m, totalSize, "lf[0]", lf[0], 0, DataTypeDouble, double&);
965  ADD_MAP(m, totalSize, "lf[1]", lf[1], 0, DataTypeDouble, double&);
966  ADD_MAP(m, totalSize, "lf[2]", lf[2], 0, DataTypeDouble, double&);
967  mappings[DID_DEBUG_ARRAY] = m;
968 
969  ASSERT_SIZE(totalSize);
970 }
971 
972 static void PopulateUserPage0Mappings(map_lookup_name_t& mappings)
973 {
974  typedef nvm_group_0_t MAP_TYPE;
975  map_name_to_info_t m;
976  uint32_t totalSize = 0;
977  ADD_MAP(m, totalSize, "size", size, 0, DataTypeUInt32, uint32_t);
978  ADD_MAP(m, totalSize, "checksum", checksum, 0, DataTypeUInt32, uint32_t);
979  ADD_MAP(m, totalSize, "key", key, 0, DataTypeUInt32, uint32_t);
980  ADD_MAP(m, totalSize, "lockBits", lockBits, 0, DataTypeUInt32, uint32_t);
981  ADD_MAP(m, totalSize, "featureBits", featureBits, 0, DataTypeUInt32, uint32_t);
982  ADD_MAP(m, totalSize, "featureHash1", featureHash1, 0, DataTypeUInt32, uint32_t);
983  ADD_MAP(m, totalSize, "featureHash2", featureHash2, 0, DataTypeUInt32, uint32_t);
984  mappings[DID_NVR_USERPAGE_G0] = m;
985 
986  ASSERT_SIZE(totalSize);
987 }
988 
989 static void PopulateUserPage1Mappings(map_lookup_name_t& mappings)
990 {
991  typedef nvm_group_1_t MAP_TYPE;
992  map_name_to_info_t m;
993  uint32_t totalSize = 0;
994  ADD_MAP(m, totalSize, "size", size, 0, DataTypeUInt32, uint32_t);
995  ADD_MAP(m, totalSize, "checksum", checksum, 0, DataTypeUInt32, uint32_t);
996  ADD_MAP(m, totalSize, "key", key, 0, DataTypeUInt32, uint32_t);
997  ADD_MAP(m, totalSize, "bKpqr", cf.bKpqr, 0, DataTypeFloat, float);
998  ADD_MAP(m, totalSize, "bKuvw", cf.bKuvw, 0, DataTypeFloat, float);
999  ADD_MAP(m, totalSize, "oKat1", cf.oKat1, 0, DataTypeFloat, float);
1000  ADD_MAP(m, totalSize, "oKat2", cf.oKat2, 0, DataTypeFloat, float);
1001  ADD_MAP(m, totalSize, "oKuvw", cf.oKuvw, 0, DataTypeFloat, float);
1002  ADD_MAP(m, totalSize, "oKlla", cf.oKlla, 0, DataTypeFloat, float);
1003  ADD_MAP(m, totalSize, "mag.bias_cal[0]", mag.bias_cal[0], 0, DataTypeFloat, float&);
1004  ADD_MAP(m, totalSize, "mag.bias_cal[1]", mag.bias_cal[1], 0, DataTypeFloat, float&);
1005  ADD_MAP(m, totalSize, "mag.bias_cal[2]", mag.bias_cal[2], 0, DataTypeFloat, float&);
1006  ADD_MAP(m, totalSize, "mag.Wcal[0]", mag.Wcal[0], 0, DataTypeFloat, float&);
1007  ADD_MAP(m, totalSize, "mag.Wcal[1]", mag.Wcal[1], 0, DataTypeFloat, float&);
1008  ADD_MAP(m, totalSize, "mag.Wcal[2]", mag.Wcal[2], 0, DataTypeFloat, float&);
1009  ADD_MAP(m, totalSize, "mag.Wcal[3]", mag.Wcal[3], 0, DataTypeFloat, float&);
1010  ADD_MAP(m, totalSize, "mag.Wcal[4]", mag.Wcal[4], 0, DataTypeFloat, float&);
1011  ADD_MAP(m, totalSize, "mag.Wcal[5]", mag.Wcal[5], 0, DataTypeFloat, float&);
1012  ADD_MAP(m, totalSize, "mag.Wcal[6]", mag.Wcal[6], 0, DataTypeFloat, float&);
1013  ADD_MAP(m, totalSize, "mag.Wcal[7]", mag.Wcal[7], 0, DataTypeFloat, float&);
1014  ADD_MAP(m, totalSize, "mag.Wcal[8]", mag.Wcal[8], 0, DataTypeFloat, float&);
1015  ADD_MAP(m, totalSize, "mag.DtD[0]", mag.DtD[0], 0, DataTypeFloat, float&);
1016  ADD_MAP(m, totalSize, "mag.DtD[1]", mag.DtD[1], 0, DataTypeFloat, float&);
1017  ADD_MAP(m, totalSize, "mag.DtD[2]", mag.DtD[2], 0, DataTypeFloat, float&);
1018  ADD_MAP(m, totalSize, "mag.DtD[3]", mag.DtD[3], 0, DataTypeFloat, float&);
1019  ADD_MAP(m, totalSize, "mag.DtD[4]", mag.DtD[4], 0, DataTypeFloat, float&);
1020  ADD_MAP(m, totalSize, "mag.DtD[5]", mag.DtD[5], 0, DataTypeFloat, float&);
1021  ADD_MAP(m, totalSize, "mag.DtD[6]", mag.DtD[6], 0, DataTypeFloat, float&);
1022  ADD_MAP(m, totalSize, "mag.DtD[7]", mag.DtD[7], 0, DataTypeFloat, float&);
1023  ADD_MAP(m, totalSize, "mag.DtD[8]", mag.DtD[8], 0, DataTypeFloat, float&);
1024  ADD_MAP(m, totalSize, "mag.DtD[9]", mag.DtD[9], 0, DataTypeFloat, float&);
1025  ADD_MAP(m, totalSize, "mag.DtD[10]", mag.DtD[10], 0, DataTypeFloat, float&);
1026  ADD_MAP(m, totalSize, "mag.DtD[11]", mag.DtD[11], 0, DataTypeFloat, float&);
1027  ADD_MAP(m, totalSize, "mag.DtD[12]", mag.DtD[12], 0, DataTypeFloat, float&);
1028  ADD_MAP(m, totalSize, "mag.DtD[13]", mag.DtD[13], 0, DataTypeFloat, float&);
1029  ADD_MAP(m, totalSize, "mag.DtD[14]", mag.DtD[14], 0, DataTypeFloat, float&);
1030  ADD_MAP(m, totalSize, "mag.DtD[15]", mag.DtD[15], 0, DataTypeFloat, float&);
1031  ADD_MAP(m, totalSize, "mag.DtD[16]", mag.DtD[16], 0, DataTypeFloat, float&);
1032  ADD_MAP(m, totalSize, "mag.DtD[17]", mag.DtD[17], 0, DataTypeFloat, float&);
1033  ADD_MAP(m, totalSize, "mag.DtD[18]", mag.DtD[18], 0, DataTypeFloat, float&);
1034  ADD_MAP(m, totalSize, "mag.DtD[19]", mag.DtD[19], 0, DataTypeFloat, float&);
1035  ADD_MAP(m, totalSize, "mag.DtD[20]", mag.DtD[20], 0, DataTypeFloat, float&);
1036  ADD_MAP(m, totalSize, "mag.DtD[21]", mag.DtD[21], 0, DataTypeFloat, float&);
1037  ADD_MAP(m, totalSize, "mag.DtD[22]", mag.DtD[22], 0, DataTypeFloat, float&);
1038  ADD_MAP(m, totalSize, "mag.DtD[23]", mag.DtD[23], 0, DataTypeFloat, float&);
1039  ADD_MAP(m, totalSize, "mag.DtD[24]", mag.DtD[24], 0, DataTypeFloat, float&);
1040  ADD_MAP(m, totalSize, "mag.DtD[25]", mag.DtD[25], 0, DataTypeFloat, float&);
1041  ADD_MAP(m, totalSize, "mag.DtD[26]", mag.DtD[26], 0, DataTypeFloat, float&);
1042  ADD_MAP(m, totalSize, "mag.DtD[27]", mag.DtD[27], 0, DataTypeFloat, float&);
1043  ADD_MAP(m, totalSize, "mag.DtD[28]", mag.DtD[28], 0, DataTypeFloat, float&);
1044  ADD_MAP(m, totalSize, "mag.DtD[29]", mag.DtD[29], 0, DataTypeFloat, float&);
1045  ADD_MAP(m, totalSize, "mag.DtD[30]", mag.DtD[30], 0, DataTypeFloat, float&);
1046  ADD_MAP(m, totalSize, "mag.DtD[31]", mag.DtD[31], 0, DataTypeFloat, float&);
1047  ADD_MAP(m, totalSize, "mag.DtD[32]", mag.DtD[32], 0, DataTypeFloat, float&);
1048  ADD_MAP(m, totalSize, "mag.DtD[33]", mag.DtD[33], 0, DataTypeFloat, float&);
1049  ADD_MAP(m, totalSize, "mag.DtD[34]", mag.DtD[34], 0, DataTypeFloat, float&);
1050  ADD_MAP(m, totalSize, "mag.DtD[35]", mag.DtD[35], 0, DataTypeFloat, float&);
1051  ADD_MAP(m, totalSize, "mag.DtD[36]", mag.DtD[36], 0, DataTypeFloat, float&);
1052  ADD_MAP(m, totalSize, "mag.DtD[37]", mag.DtD[37], 0, DataTypeFloat, float&);
1053  ADD_MAP(m, totalSize, "mag.DtD[38]", mag.DtD[38], 0, DataTypeFloat, float&);
1054  ADD_MAP(m, totalSize, "mag.DtD[39]", mag.DtD[39], 0, DataTypeFloat, float&);
1055  ADD_MAP(m, totalSize, "mag.DtD[40]", mag.DtD[40], 0, DataTypeFloat, float&);
1056  ADD_MAP(m, totalSize, "mag.DtD[41]", mag.DtD[41], 0, DataTypeFloat, float&);
1057  ADD_MAP(m, totalSize, "mag.DtD[42]", mag.DtD[42], 0, DataTypeFloat, float&);
1058  ADD_MAP(m, totalSize, "mag.DtD[43]", mag.DtD[43], 0, DataTypeFloat, float&);
1059  ADD_MAP(m, totalSize, "mag.DtD[44]", mag.DtD[44], 0, DataTypeFloat, float&);
1060  ADD_MAP(m, totalSize, "mag.DtD[45]", mag.DtD[45], 0, DataTypeFloat, float&);
1061  ADD_MAP(m, totalSize, "mag.DtD[46]", mag.DtD[46], 0, DataTypeFloat, float&);
1062  ADD_MAP(m, totalSize, "mag.DtD[47]", mag.DtD[47], 0, DataTypeFloat, float&);
1063  ADD_MAP(m, totalSize, "mag.DtD[48]", mag.DtD[48], 0, DataTypeFloat, float&);
1064  ADD_MAP(m, totalSize, "mag.DtD[49]", mag.DtD[49], 0, DataTypeFloat, float&);
1065  ADD_MAP(m, totalSize, "mag.DtD[50]", mag.DtD[50], 0, DataTypeFloat, float&);
1066  ADD_MAP(m, totalSize, "mag.DtD[51]", mag.DtD[51], 0, DataTypeFloat, float&);
1067  ADD_MAP(m, totalSize, "mag.DtD[52]", mag.DtD[52], 0, DataTypeFloat, float&);
1068  ADD_MAP(m, totalSize, "mag.DtD[53]", mag.DtD[53], 0, DataTypeFloat, float&);
1069  ADD_MAP(m, totalSize, "mag.DtD[54]", mag.DtD[54], 0, DataTypeFloat, float&);
1070  ADD_MAP(m, totalSize, "mag.DtD[55]", mag.DtD[55], 0, DataTypeFloat, float&);
1071  ADD_MAP(m, totalSize, "mag.DtD[56]", mag.DtD[56], 0, DataTypeFloat, float&);
1072  ADD_MAP(m, totalSize, "mag.DtD[57]", mag.DtD[57], 0, DataTypeFloat, float&);
1073  ADD_MAP(m, totalSize, "mag.DtD[58]", mag.DtD[58], 0, DataTypeFloat, float&);
1074  ADD_MAP(m, totalSize, "mag.DtD[59]", mag.DtD[59], 0, DataTypeFloat, float&);
1075  ADD_MAP(m, totalSize, "mag.DtD[60]", mag.DtD[60], 0, DataTypeFloat, float&);
1076  ADD_MAP(m, totalSize, "mag.DtD[61]", mag.DtD[61], 0, DataTypeFloat, float&);
1077  ADD_MAP(m, totalSize, "mag.DtD[62]", mag.DtD[62], 0, DataTypeFloat, float&);
1078  ADD_MAP(m, totalSize, "mag.DtD[63]", mag.DtD[63], 0, DataTypeFloat, float&);
1079  ADD_MAP(m, totalSize, "mag.DtD[64]", mag.DtD[64], 0, DataTypeFloat, float&);
1080  ADD_MAP(m, totalSize, "mag.DtD[65]", mag.DtD[65], 0, DataTypeFloat, float&);
1081  ADD_MAP(m, totalSize, "mag.DtD[66]", mag.DtD[66], 0, DataTypeFloat, float&);
1082  ADD_MAP(m, totalSize, "mag.DtD[67]", mag.DtD[67], 0, DataTypeFloat, float&);
1083  ADD_MAP(m, totalSize, "mag.DtD[68]", mag.DtD[68], 0, DataTypeFloat, float&);
1084  ADD_MAP(m, totalSize, "mag.DtD[69]", mag.DtD[69], 0, DataTypeFloat, float&);
1085  ADD_MAP(m, totalSize, "mag.DtD[70]", mag.DtD[70], 0, DataTypeFloat, float&);
1086  ADD_MAP(m, totalSize, "mag.DtD[71]", mag.DtD[71], 0, DataTypeFloat, float&);
1087  ADD_MAP(m, totalSize, "mag.DtD[72]", mag.DtD[72], 0, DataTypeFloat, float&);
1088  ADD_MAP(m, totalSize, "mag.DtD[73]", mag.DtD[73], 0, DataTypeFloat, float&);
1089  ADD_MAP(m, totalSize, "mag.DtD[74]", mag.DtD[74], 0, DataTypeFloat, float&);
1090  ADD_MAP(m, totalSize, "mag.DtD[75]", mag.DtD[75], 0, DataTypeFloat, float&);
1091  ADD_MAP(m, totalSize, "mag.DtD[76]", mag.DtD[76], 0, DataTypeFloat, float&);
1092  ADD_MAP(m, totalSize, "mag.DtD[77]", mag.DtD[77], 0, DataTypeFloat, float&);
1093  ADD_MAP(m, totalSize, "mag.DtD[78]", mag.DtD[78], 0, DataTypeFloat, float&);
1094  ADD_MAP(m, totalSize, "mag.DtD[79]", mag.DtD[79], 0, DataTypeFloat, float&);
1095  ADD_MAP(m, totalSize, "mag.DtD[80]", mag.DtD[80], 0, DataTypeFloat, float&);
1096  ADD_MAP(m, totalSize, "mag.DtD[81]", mag.DtD[81], 0, DataTypeFloat, float&);
1097  ADD_MAP(m, totalSize, "mag.DtD[82]", mag.DtD[82], 0, DataTypeFloat, float&);
1098  ADD_MAP(m, totalSize, "mag.DtD[83]", mag.DtD[83], 0, DataTypeFloat, float&);
1099  ADD_MAP(m, totalSize, "mag.DtD[84]", mag.DtD[84], 0, DataTypeFloat, float&);
1100  ADD_MAP(m, totalSize, "mag.DtD[85]", mag.DtD[85], 0, DataTypeFloat, float&);
1101  ADD_MAP(m, totalSize, "mag.DtD[86]", mag.DtD[86], 0, DataTypeFloat, float&);
1102  ADD_MAP(m, totalSize, "mag.DtD[87]", mag.DtD[87], 0, DataTypeFloat, float&);
1103  ADD_MAP(m, totalSize, "mag.DtD[88]", mag.DtD[88], 0, DataTypeFloat, float&);
1104  ADD_MAP(m, totalSize, "mag.DtD[89]", mag.DtD[89], 0, DataTypeFloat, float&);
1105  ADD_MAP(m, totalSize, "mag.DtD[90]", mag.DtD[90], 0, DataTypeFloat, float&);
1106  ADD_MAP(m, totalSize, "mag.DtD[91]", mag.DtD[91], 0, DataTypeFloat, float&);
1107  ADD_MAP(m, totalSize, "mag.DtD[92]", mag.DtD[92], 0, DataTypeFloat, float&);
1108  ADD_MAP(m, totalSize, "mag.DtD[93]", mag.DtD[93], 0, DataTypeFloat, float&);
1109  ADD_MAP(m, totalSize, "mag.DtD[94]", mag.DtD[94], 0, DataTypeFloat, float&);
1110  ADD_MAP(m, totalSize, "mag.DtD[95]", mag.DtD[95], 0, DataTypeFloat, float&);
1111  ADD_MAP(m, totalSize, "mag.DtD[96]", mag.DtD[96], 0, DataTypeFloat, float&);
1112  ADD_MAP(m, totalSize, "mag.DtD[97]", mag.DtD[97], 0, DataTypeFloat, float&);
1113  ADD_MAP(m, totalSize, "mag.DtD[98]", mag.DtD[98], 0, DataTypeFloat, float&);
1114  ADD_MAP(m, totalSize, "mag.DtD[99]", mag.DtD[99], 0, DataTypeFloat, float&);
1115 
1116  mappings[DID_NVR_USERPAGE_G1] = m;
1117 
1118  ASSERT_SIZE(totalSize);
1119 }
1120 
1121 static void PopulateInl2StatesMappings(map_lookup_name_t& mappings)
1122 {
1123  typedef inl2_states_t MAP_TYPE;
1124  map_name_to_info_t m;
1125  uint32_t totalSize = 0;
1126  ADD_MAP(m, totalSize, "time", time, 0, DataTypeDouble, double);
1127  ADD_MAP(m, totalSize, "qe2b[0]", qe2b[0], 0, DataTypeFloat, float&);
1128  ADD_MAP(m, totalSize, "qe2b[1]", qe2b[1], 0, DataTypeFloat, float&);
1129  ADD_MAP(m, totalSize, "qe2b[2]", qe2b[2], 0, DataTypeFloat, float&);
1130  ADD_MAP(m, totalSize, "qe2b[3]", qe2b[3], 0, DataTypeFloat, float&);
1131  ADD_MAP(m, totalSize, "ve[0]", ve[0], 0, DataTypeFloat, float&);
1132  ADD_MAP(m, totalSize, "ve[1]", ve[1], 0, DataTypeFloat, float&);
1133  ADD_MAP(m, totalSize, "ve[2]", ve[2], 0, DataTypeFloat, float&);
1134  ADD_MAP(m, totalSize, "ecef[0]", ecef[0], 0, DataTypeDouble, double&);
1135  ADD_MAP(m, totalSize, "ecef[1]", ecef[1], 0, DataTypeDouble, double&);
1136  ADD_MAP(m, totalSize, "ecef[2]", ecef[2], 0, DataTypeDouble, double&);
1137  ADD_MAP(m, totalSize, "biasPqr[0]", biasPqr[0], 0, DataTypeFloat, float&);
1138  ADD_MAP(m, totalSize, "biasPqr[1]", biasPqr[1], 0, DataTypeFloat, float&);
1139  ADD_MAP(m, totalSize, "biasPqr[2]", biasPqr[2], 0, DataTypeFloat, float&);
1140  ADD_MAP(m, totalSize, "biasAcc[0]", biasAcc[0], 0, DataTypeFloat, float&);
1141  ADD_MAP(m, totalSize, "biasAcc[1]", biasAcc[1], 0, DataTypeFloat, float&);
1142  ADD_MAP(m, totalSize, "biasAcc[2]", biasAcc[2], 0, DataTypeFloat, float&);
1143  ADD_MAP(m, totalSize, "biasBaro", biasBaro, 0, DataTypeFloat, float);
1144  ADD_MAP(m, totalSize, "magDec", magDec, 0, DataTypeFloat, float);
1145  ADD_MAP(m, totalSize, "magInc", magInc, 0, DataTypeFloat, float);
1146  mappings[DID_INL2_STATES] = m;
1147 
1148  ASSERT_SIZE(totalSize);
1149 }
1150 
1151 #endif
1152 
1153 cISDataMappings::cISDataMappings()
1154 {
1155  PopulateSizeMappings(m_lookupSize);
1156  PopulateDeviceInfoMappings(m_columnMappings);
1157  PopulateIMUMappings(m_columnMappings, DID_DUAL_IMU);
1158  PopulateIMUMappings(m_columnMappings, DID_DUAL_IMU_RAW);
1159  PopulateSysParamsMappings(m_columnMappings);
1160  PopulateSysSensorsMappings(m_columnMappings);
1161  PopulateINS1Mappings(m_columnMappings);
1162  PopulateINS2Mappings(m_columnMappings, DID_INS_2);
1163  PopulateINS2Mappings(m_columnMappings, DID_INS_3);
1164  PopulateINS4Mappings(m_columnMappings);
1165  PopulateGpsPosMappings(m_columnMappings);
1166  PopulateGpsVelMappings(m_columnMappings);
1167  //PopulateGPSCNOMappings(m_columnMappings); // too much data, we don't want to log this
1168  PopulateMagnetometerMappings(m_columnMappings);
1169  PopulateBarometerMappings(m_columnMappings);
1170  PopulateIMUDeltaThetaVelocityMappings(m_columnMappings);
1171  PopulateConfigMappings(m_columnMappings);
1172  PopulateFlashConfigMappings(m_columnMappings);
1173  PopulateRtkRelMappings(m_columnMappings);
1174  PopulateRtkMiscMappings(m_columnMappings);
1175  PopulateGpsRawMappings(m_columnMappings);
1176  PopulateStrobeInTimeMappings(m_columnMappings);
1177  PopulateRtosInfoMappings(m_columnMappings);
1178  PopulateDiagMsgMappings(m_columnMappings);
1179 
1180 #ifdef USE_IS_INTERNAL
1181 
1182  PopulateSensorsADCMappings(m_columnMappings);
1183  PopulateSensorsISMappings(m_columnMappings);
1184  PopulateSensorsTCMappings(m_columnMappings);
1185  PopulateSensorsCompMappings(m_columnMappings);
1186  PopulateDebugArrayMappings(m_columnMappings);
1187  PopulateUserPage0Mappings(m_columnMappings);
1188  PopulateUserPage1Mappings(m_columnMappings);
1189  PopulateInl2StatesMappings(m_columnMappings);
1190 
1191 #endif
1192 
1193 }
1194 
1195 const char* cISDataMappings::GetDataSetName(uint32_t dataId)
1196 {
1197  static const char* s_dataIdNames[] =
1198  {
1199  "null", // 0: DID_NULL
1200  "devInfo", // 1: DID_DEV_INFO,
1201  "crashInfo", // 2: DID_CRASH_INFO
1202  "preintegratedImu", // 3: DID_PREINTEGRATED_IMU
1203  "ins1", // 4: DID_INS_1
1204  "ins2", // 5: DID_INS_2
1205  "gpsPos", // 6: DID_GPS1_POS
1206  "config", // 7: DID_CONFIG
1207  "ascii_msg", // 8: DID_ASCII_BCAST_PERIOD
1208  "misc", // 9: DID_INS_MISC
1209  "sysParams", // 10: DID_SYS_PARAMS
1210  "sysSensors", // 11: DID_SYS_SENSORS
1211  "flashCfg", // 12: DID_FLASH_CONFIG
1212  "gps1Pos", // 13: DID_GPS1_UBX_POS
1213  "gps2Pos", // 14: DID_GPS2_POS
1214  "gps1CNO", // 15: DID_GPS1_SAT
1215  "gps2CNO", // 16: DID_GPS2_SAT
1216  "gps1Version", // 17: DID_GPS1_VERSION
1217  "gps2Version", // 18: DID_GPS2_VERSION
1218  "magCal", // 19: DID_MAG_CAL
1219  "diagnosticInfo", // 20: DID_INTERNAL_DIAGNOSTIC
1220  "gpsRtkRel", // 21: DID_GPS1_RTK_REL
1221  "gpsRtkMisc", // 22: DID_GPS1_RTK_MISC
1222  "featureBits", // 23: DID_FEATURE_BITS
1223  "sensorIS1", // 24: DID_SENSORS_IS1
1224  "sensorIS2", // 25: DID_SENSORS_IS2
1225  "sensorTCbias", // 26: DID_SENSORS_TC_BIAS
1226  "ioServos", // 27: DID_IO
1227  "sensorLSB", // 28: DID_SENSORS_ADC
1228  "scomp", // 29: DID_SCOMP
1229  "gps1Vel", // 30: DID_GPS1_VEL
1230  "gps2Vel", // 31: DID_GPS2_VEL
1231  "hdwParams", // 32: DID_HDW_PARAMS
1232  "userPageNvr", // 33: DID_NVR_MANAGE_USERPAGE
1233  "userPageSn", // 34: DID_NVR_USERPAGE_SN
1234  "userpage0", // 35: DID_NVR_USERPAGE_G0
1235  "userpage1", // 36: DID_NVR_USERPAGE_G1
1236  "debugString", // 37: DID_DEBUG_STRING
1237  "rtosInfo", // 38: DID_RTOS_INFO
1238  "debugArray", // 39: DID_DEBUG_ARRAY
1239  "sensorCal1", // 40: DID_SENSORS_CAL1
1240  "sensorCal2", // 41: DID_SENSORS_CAL2
1241  "sensorCalSC", // 42: DID_CAL_SC
1242  "sensorCalSC1", // 43: DID_CAL_SC1
1243  "sensorCalSC2", // 44: DID_CAL_SC2
1244  "sensorSigma", // 45: DID_SYS_SENSORS_SIGMA
1245  "sensorAdcSigma", // 46: DID_SENSORS_ADC_SIGMA
1246  "insDev1", // 47: DID_INS_DEV_1
1247  "inl2States", // 48: DID_INL2_STATES
1248  "inl2CovarianceUD", // 49: DID_INL2_COVARIANCE_UD
1249  "inl2Status", // 50: DID_INL2_STATUS
1250  "inl2Misc", // 51: DID_INL2_MISC
1251  "magnetometer1", // 52: DID_MAGNETOMETER_1
1252  "barometer", // 53: DID_BAROMETER
1253  "gpsRtkPos", // 54: DID_GPS1_RTK_POS
1254  "magnetometer2", // 55: DID_MAGNETOMETER_2
1255  "commLoopback", // 56: DID_COMMUNICATIONS_LOOPBACK
1256  "imuDualRaw", // 57: DID_DUAL_IMU_RAW
1257  "imuDual", // 58: DID_DUAL_IMU
1258  "inl2MagObs", // 59: DID_INL2_MAG_OBS_INFO
1259  "gpsBaseRaw", // 60: DID_GPS_BASE_RAW
1260  "gpsRtkOptions", // 61: DID_GPS_RTK_OPT
1261  "userPageInternal", // 62: DID_NVR_USERPAGE_INTERNAL
1262  "manufacturingInfo", // 63: DID_MANUFACTURING_INFO
1263  "bit", // 64: DID_BIT
1264  "ins3", // 65: DID_INS_3
1265  "ins4", // 66: DID_INS_4
1266  "inl2Variance", // 67: DID_INL2_VARIANCE
1267  "strobeInTime", // 68: DID_STROBE_IN_TIME
1268  "gps1Raw", // 69: DID_GPS1_RAW
1269  "gps2Raw", // 70: DID_GPS2_RAW
1270  "velocityMeasurement", // 71: DID_VELOCITY_MEASUREMENT
1271  "diagnosticMsg", // 72: DID_DIAGNOSTIC_MESSAGE
1272  "surveyIn" // 73: DID_SURVEY_IN
1273  };
1274 
1275  STATIC_ASSERT(_ARRAY_ELEMENT_COUNT(s_dataIdNames) == DID_COUNT);
1276 
1277  if (dataId < DID_COUNT)
1278  {
1279  return s_dataIdNames[dataId];
1280  }
1281  return "unknown";
1282 }
1283 
1284 
1285 const map_lookup_name_t& cISDataMappings::GetMap()
1286 {
1287  return s_map.m_columnMappings;
1288 }
1289 
1290 
1291 uint32_t cISDataMappings::GetSize(uint32_t dataId)
1292 {
1293  return s_map.m_lookupSize[dataId];
1294 }
1295 
1296 
1297 bool cISDataMappings::StringToData(const char* stringBuffer, int stringLength, const p_data_hdr_t* hdr, uint8_t* dataBuffer, const data_info_t& info, int radix, bool json)
1298 {
1299  const uint8_t* ptr;
1300  if (!CanGetFieldData(info, hdr, dataBuffer, ptr))
1301  {
1302  return false;
1303  }
1304 
1305  switch (info.dataType)
1306  {
1307  case DataTypeInt8:
1308  *(int8_t*)ptr = (int8_t)strtol(stringBuffer, NULL, radix);
1309  break;
1310 
1311  case DataTypeUInt8:
1312  *(uint8_t*)ptr = (uint8_t)strtoul(stringBuffer, NULL, radix);
1313  break;
1314 
1315  case DataTypeInt16:
1316  *(int16_t*)ptr = (int16_t)strtol(stringBuffer, NULL, radix);
1317  break;
1318 
1319  case DataTypeUInt16:
1320  *(uint16_t*)ptr = (uint16_t)strtoul(stringBuffer, NULL, radix);
1321  break;
1322 
1323  case DataTypeInt32:
1324  *(int32_t*)ptr = (int32_t)strtol(stringBuffer, NULL, radix);
1325  break;
1326 
1327  case DataTypeUInt32:
1328  *(uint32_t*)ptr = (uint32_t)strtoul(stringBuffer, NULL, radix);
1329  break;
1330 
1331  case DataTypeInt64:
1332  *(int64_t*)ptr = (int64_t)strtoll(stringBuffer, NULL, radix);
1333  break;
1334 
1335  case DataTypeUInt64:
1336  *(uint64_t*)ptr = (uint64_t)strtoull(stringBuffer, NULL, radix);
1337  break;
1338 
1339  case DataTypeFloat:
1340  *(float*)ptr = strtof(stringBuffer, NULL);
1341  break;
1342 
1343  case DataTypeDouble:
1344  *(double*)ptr = strtod(stringBuffer, NULL);
1345  break;
1346 
1347  case DataTypeString:
1348  {
1349  string s2(stringBuffer);
1350  if (json)
1351  {
1352  char c;
1353  bool escaped = false;
1354  for (size_t i = 0; i < s2.size(); i++)
1355  {
1356  c = s2[i];
1357  if (c == '\\')
1358  {
1359  if (!escaped)
1360  {
1361  escaped = true;
1362  s2.erase(i);
1363  continue;
1364  }
1365  }
1366  escaped = false;
1367  }
1368  s2 = stringBuffer;
1369  }
1370  else
1371  {
1372  s2.erase(std::remove(s2.begin(), s2.end(), '"'), s2.end());
1373  }
1374  // ensure string fits with null terminator
1375  s2.resize(info.dataSize - 1);
1376  memcpy((void*)ptr, s2.data(), s2.length());
1377  memset((uint8_t*)ptr + s2.length(), 0, info.dataSize - s2.length());
1378  } break;
1379 
1380  case DataTypeBinary:
1381  {
1382  // convert hex data back to binary
1383  size_t len = _MIN(1020, stringLength);
1384  len -= (len % 2);
1385  uint8_t* ptr2 = (uint8_t*)ptr;
1386  for (size_t i = 0; i != len; i += 2)
1387  {
1388  *ptr2 = (getHexValue(stringBuffer[i + 1]) << 4) | getHexValue(stringBuffer[i + 2]);
1389  }
1390  } break;
1391 
1392  default:
1393  return false;
1394  }
1395 
1396  return true;
1397 }
1398 
1399 
1400 bool cISDataMappings::DataToString(const data_info_t& info, const p_data_hdr_t* hdr, const uint8_t* dataBuffer, data_mapping_string_t stringBuffer, bool json)
1401 {
1402  const uint8_t* ptr;
1403  if (!CanGetFieldData(info, hdr, dataBuffer, ptr))
1404  {
1405  // pick a default string
1406  if (info.dataType == DataTypeString)
1407  {
1408  stringBuffer[0] = '"';
1409  stringBuffer[1] = '"';
1410  stringBuffer[2] = '\0';
1411  }
1412  else if (info.dataType == DataTypeBinary)
1413  {
1414  if (json)
1415  {
1416  stringBuffer[0] = '"';
1417  stringBuffer[1] = '"';
1418  stringBuffer[2] = '\0';
1419  }
1420  else
1421  {
1422  stringBuffer[0] = '\0';
1423  }
1424  }
1425  else
1426  {
1427  stringBuffer[0] = '0';
1428  stringBuffer[1] = '\0';
1429  }
1430  return false;
1431  }
1432 
1433  switch (info.dataType)
1434  {
1435  case DataTypeInt8:
1436  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%d", (int)*(int8_t*)ptr);
1437  break;
1438 
1439  case DataTypeUInt8:
1440  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%u", (unsigned int)*(uint8_t*)ptr);
1441  break;
1442 
1443  case DataTypeInt16:
1444  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%d", (int)*(int16_t*)ptr);
1445  break;
1446 
1447  case DataTypeUInt16:
1448  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%u", (unsigned int)*(uint16_t*)ptr);
1449  break;
1450 
1451  case DataTypeInt32:
1452  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%d", (int)*(int32_t*)ptr);
1453  break;
1454 
1455  case DataTypeUInt32:
1456  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%u", (unsigned int)*(uint32_t*)ptr);
1457  break;
1458 
1459  case DataTypeInt64:
1460  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%lld", (long long)*(int64_t*)ptr);
1461  break;
1462 
1463  case DataTypeUInt64:
1464  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%llu", (unsigned long long)*(uint64_t*)ptr);
1465  break;
1466 
1467  case DataTypeFloat:
1468  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%.9g", *(float*)ptr);
1469  break;
1470 
1471  case DataTypeDouble:
1472  SNPRINTF(stringBuffer, IS_DATA_MAPPING_MAX_STRING_LENGTH, "%.17g", *(double*)ptr);
1473  break;
1474 
1475  case DataTypeString:
1476  {
1477  stringBuffer[0] = '"';
1478  int tempIndex = 1;
1479  char* bufPtr2 = (char*)(dataBuffer + info.dataOffset);
1480  char* bufPtrEnd = bufPtr2 + _MIN(IS_DATA_MAPPING_MAX_STRING_LENGTH, info.dataSize) - 3;
1481  for (; bufPtr2 < bufPtrEnd && *bufPtr2 != '\0'; bufPtr2++)
1482  {
1483  if (json)
1484  {
1485  if (IS_JSON_ESCAPE_CHAR(*bufPtr2))
1486  {
1487  if (bufPtr2 < bufPtrEnd - 1)
1488  {
1489  stringBuffer[tempIndex++] = '\\';
1490  }
1491  else
1492  {
1493  break;
1494  }
1495  }
1496  }
1497  stringBuffer[tempIndex++] = *bufPtr2;
1498  }
1499  stringBuffer[tempIndex++] = '"';
1500  stringBuffer[tempIndex] = '\0';
1501  } break;
1502 
1503  case DataTypeBinary:
1504  {
1505  size_t hexIndex = 1;
1506  if (json)
1507  {
1508  stringBuffer[0] = '"';
1509  }
1510  // convert to hex
1511  const unsigned char* hexTable = getHexLookupTable();
1512  for (size_t i = 0; i < info.dataSize; i++)
1513  {
1514  stringBuffer[hexIndex++] = hexTable[0x0F & (dataBuffer[i] >> 4)];
1515  stringBuffer[hexIndex++] = hexTable[0x0F & dataBuffer[i]];
1516  }
1517  if (json)
1518  {
1519  stringBuffer[hexIndex++] = '"';
1520  }
1521  stringBuffer[hexIndex] = '\0';
1522  } break;
1523 
1524  default:
1525  stringBuffer[0] = '\0';
1526  return false;
1527  }
1528  return true;
1529 }
1530 
1531 
1532 double cISDataMappings::GetTimestamp(const p_data_hdr_t* hdr, const uint8_t* buf)
1533 {
1534  if (hdr == NULL || buf == NULL || hdr->id == 0 || hdr->id >= DID_COUNT || hdr->size == 0)
1535  {
1536  return 0.0;
1537  }
1538 
1539  static const string timestampFields[] = { "time", "timeOfWeek", "timeOfWeekMs", "seconds" };
1540 
1541  map_lookup_name_t::const_iterator offsetMap = cISDataMappings::GetMap().find(hdr->id);
1542  if (offsetMap == cISDataMappings::GetMap().end())
1543  {
1544  return 0.0;
1545  }
1546  const map_name_to_info_t& dataMap = offsetMap->second;
1547  for (size_t i = 0; i < _ARRAY_ELEMENT_COUNT(timestampFields); i++)
1548  {
1549  map_name_to_info_t::const_iterator timeStampField = dataMap.find(timestampFields[i]);
1550  if (timeStampField != dataMap.end())
1551  {
1552  const uint8_t* ptr;
1553  if (CanGetFieldData(timeStampField->second, hdr, (uint8_t*)buf, ptr))
1554  {
1555  if (timeStampField->second.dataType == DataTypeDouble)
1556  {
1557  // field is seconds, use as is
1558  return *(double*)ptr;
1559  }
1560  else if (timeStampField->second.dataType == DataTypeUInt32)
1561  {
1562  // field is milliseconds, convert to seconds
1563  return 0.001 * (*(uint32_t*)ptr);
1564  }
1565  }
1566  break;
1567  }
1568  }
1569  return 0.0;
1570 }
1571 
1572 bool cISDataMappings::CanGetFieldData(const data_info_t& info, const p_data_hdr_t* hdr, const uint8_t* buf, const uint8_t*& ptr)
1573 {
1574  if (buf == NULL)
1575  {
1576  return false;
1577  }
1578  else if (hdr == NULL)
1579  {
1580  // assume buf is large enough for the full data structure
1581  ptr = buf + info.dataOffset;
1582  return true;
1583  }
1584  int32_t fullSize = (hdr->size == 0 ? GetSize(hdr->id) : hdr->size);
1585  int32_t offset = (int32_t)info.dataOffset - (int32_t)hdr->offset;
1586  if (offset >= 0 && offset <= fullSize - (int32_t)info.dataSize)
1587  {
1588  ptr = (buf + offset);
1589  return true;
1590  }
1591  ptr = NULL;
1592  return false;
1593 }
DID_DUAL_IMU
#define DID_DUAL_IMU
Definition: data_sets.h:92
+
cISDataMappings::GetSize
static uint32_t GetSize(uint32_t dataId)
Definition: ISDataMappings.cpp:1291
+
MEMBERSIZE
#define MEMBERSIZE(type, member)
Definition: ISConstants.h:302
+
f_t
float f_t
Definition: ISConstants.h:719
config_t
struct PACKED config_t
+
gps_pos_t
struct PACKED gps_pos_t
IS_DATA_MAPPING_MAX_STRING_LENGTH
#define IS_DATA_MAPPING_MAX_STRING_LENGTH
Definition: ISDataMappings.h:23
-
s_eDataTypeSizes
CONST_EXPRESSION uint32_t s_eDataTypeSizes[DataTypeCount]
Definition: ISDataMappings.cpp:36
+
s_eDataTypeSizes
CONST_EXPRESSION uint32_t s_eDataTypeSizes[DataTypeCount]
Definition: ISDataMappings.cpp:37
gps_sat_t
struct PACKED gps_sat_t
DataTypeUInt8
Definition: ISDataMappings.h:28
-
_MIN
#define _MIN(a, b)
Definition: ISConstants.h:269
-
DID_GPS_RTK_NAV
#define DID_GPS_RTK_NAV
Definition: data_sets.h:55
-
STATIC_ASSERT
#define STATIC_ASSERT(exp)
Definition: ISConstants.h:371
+
_MIN
#define _MIN(a, b)
Definition: ISConstants.h:266
+
STATIC_ASSERT
#define STATIC_ASSERT(exp)
Definition: ISConstants.h:368
DEVINFO_MANUFACTURER_STRLEN
#define DEVINFO_MANUFACTURER_STRLEN
Definition: data_sets.h:128
eDataType
eDataType
Definition: ISDataMappings.h:25
dev_info_t
PUSH_PACK_1 struct PACKED dev_info_t
data_mapping_string_t
char data_mapping_string_t[IS_DATA_MAPPING_MAX_STRING_LENGTH]
Definition: ISDataMappings.h:69
DataTypeInt64
Definition: ISDataMappings.h:33
+
DID_GPS1_VEL
#define DID_GPS1_VEL
Definition: data_sets.h:64
data_info_t::dataSize
uint32_t dataSize
Definition: ISDataMappings.h:56
ISDataMappings.h
p_data_hdr_t::id
uint32_t id
Definition: ISComm.h:481
@@ -99,17 +99,17 @@
DEVINFO_ADDINFO_STRLEN
#define DEVINFO_ADDINFO_STRLEN
Definition: data_sets.h:129
DID_SENSORS_IS2
#define DID_SENSORS_IS2
Definition: data_sets.h:59
data_info_t::dataOffset
uint32_t dataOffset
Definition: ISDataMappings.h:55
-
cISDataMappings::GetTimestamp
static double GetTimestamp(const p_data_hdr_t *hdr, const uint8_t *buf)
Definition: ISDataMappings.cpp:1457
+
cISDataMappings::GetTimestamp
static double GetTimestamp(const p_data_hdr_t *hdr, const uint8_t *buf)
Definition: ISDataMappings.cpp:1532
DataTypeInt16
Definition: ISDataMappings.h:29
-
cISDataMappings::GetDataSetName
static const char * GetDataSetName(uint32_t dataId)
Definition: ISDataMappings.cpp:1174
+
cISDataMappings::GetDataSetName
static const char * GetDataSetName(uint32_t dataId)
Definition: ISDataMappings.cpp:1195
+
DID_GPS1_UBX_POS
#define DID_GPS1_UBX_POS
Definition: data_sets.h:40
map_lookup_name_t
map< uint32_t, map_name_to_info_t > map_lookup_name_t
Definition: ISDataMappings.h:67
DID_SCOMP
#define DID_SCOMP
Definition: data_sets.h:63
-
CONST_EXPRESSION
#define CONST_EXPRESSION
Definition: ISConstants.h:368
+
CONST_EXPRESSION
#define CONST_EXPRESSION
Definition: ISConstants.h:365
ins_1_t
struct PACKED ins_1_t
DID_COUNT
#define DID_COUNT
Definition: data_sets.h:117
sys_params_t
struct PACKED sys_params_t
DID_DEV_INFO
#define DID_DEV_INFO
Definition: data_sets.h:35
-
DID_GPS2_NAV
#define DID_GPS2_NAV
Definition: data_sets.h:48
DID_INS_2
#define DID_INS_2
Definition: data_sets.h:39
rtos_info_t
struct PACKED rtos_info_t
DID_GPS2_VERSION
#define DID_GPS2_VERSION
Definition: data_sets.h:52
@@ -121,74 +121,79 @@
ISUtilities.h
gps_rtk_misc_t
struct PACKED gps_rtk_misc_t
DID_SENSORS_TC_BIAS
#define DID_SENSORS_TC_BIAS
Definition: data_sets.h:60
-
diag_msg_t
Definition: data_sets.h:2160
+
diag_msg_t
Definition: data_sets.h:2190
DID_GPS_BASE_RAW
#define DID_GPS_BASE_RAW
Definition: data_sets.h:94
DataTypeUInt64
Definition: ISDataMappings.h:34
strobe_in_time_t
struct PACKED strobe_in_time_t
DID_MAGNETOMETER_2
#define DID_MAGNETOMETER_2
Definition: data_sets.h:89
data_info_t
Definition: ISDataMappings.h:53
DID_GPS1_VERSION
#define DID_GPS1_VERSION
Definition: data_sets.h:51
-
gps_nav_t
struct PACKED gps_nav_t
DID_GPS1_SAT
#define DID_GPS1_SAT
Definition: data_sets.h:49
inl2_states_t
struct PACKED inl2_states_t
DID_GPS2_RAW
#define DID_GPS2_RAW
Definition: data_sets.h:104
-
GetDataTypeSize
uint32_t GetDataTypeSize(eDataType dataType)
Definition: ISDataMappings.cpp:52
+
GetDataTypeSize
uint32_t GetDataTypeSize(eDataType dataType)
Definition: ISDataMappings.cpp:53
+
DataJSON.h
DID_NVR_USERPAGE_G1
#define DID_NVR_USERPAGE_G1
Definition: data_sets.h:70
DID_SENSORS_IS1
#define DID_SENSORS_IS1
Definition: data_sets.h:58
ins_3_t
struct PACKED ins_3_t
-
DID_GPS_NAV
#define DID_GPS_NAV
Definition: data_sets.h:40
DID_GPS1_RAW
#define DID_GPS1_RAW
Definition: data_sets.h:103
DID_FLASH_CONFIG
#define DID_FLASH_CONFIG
Definition: data_sets.h:46
gps_version_t
struct PACKED gps_version_t
+
DID_GPS2_POS
#define DID_GPS2_POS
Definition: data_sets.h:48
DID_DIAGNOSTIC_MESSAGE
#define DID_DIAGNOSTIC_MESSAGE
Definition: data_sets.h:106
preintegrated_imu_t
struct PACKED preintegrated_imu_t
data_sets.h
+
cISDataMappings::StringToData
static bool StringToData(const char *stringBuffer, int stringLength, const p_data_hdr_t *hdr, uint8_t *dataBuffer, const data_info_t &info, int radix=10, bool json=false)
Definition: ISDataMappings.cpp:1297
DataTypeUInt16
Definition: ISDataMappings.h:30
DID_MAGNETOMETER_1
#define DID_MAGNETOMETER_1
Definition: data_sets.h:86
barometer_t
struct PACKED barometer_t
-
DID_GPS1_NAV
#define DID_GPS1_NAV
Definition: data_sets.h:47
DataTypeInt32
Definition: ISDataMappings.h:31
DataTypeBinary
Definition: ISDataMappings.h:38
DataTypeCount
Definition: ISDataMappings.h:40
-
ADD_MAP
#define ADD_MAP(map, totalSize, name, member, dataSize, dataType, memberType)
Definition: ISDataMappings.cpp:78
+
ADD_MAP
#define ADD_MAP(map, totalSize, name, member, dataSize, dataType, memberType)
Definition: ISDataMappings.cpp:79
+
gps_rtk_rel_t
struct PACKED gps_rtk_rel_t
nvm_flash_cfg_t
struct PACKED nvm_flash_cfg_t
-
MAX_TASK_NAME_LEN
#define MAX_TASK_NAME_LEN
Definition: data_sets.h:2324
+
MAX_TASK_NAME_LEN
#define MAX_TASK_NAME_LEN
Definition: data_sets.h:2354
+
DID_GPS1_POS
#define DID_GPS1_POS
Definition: data_sets.h:47
p_data_hdr_t
Definition: ISComm.h:478
sys_sensors_t
struct PACKED sys_sensors_t
DID_SYS_SENSORS
#define DID_SYS_SENSORS
Definition: data_sets.h:45
DID_GPS2_SAT
#define DID_GPS2_SAT
Definition: data_sets.h:50
+
DID_GPS1_RTK_MISC
#define DID_GPS1_RTK_MISC
Definition: data_sets.h:56
+
cISDataMappings::DataToString
static bool DataToString(const data_info_t &info, const p_data_hdr_t *hdr, const uint8_t *dataBuffer, data_mapping_string_t stringBuffer, bool json=false)
Definition: ISDataMappings.cpp:1400
DID_INS_3
#define DID_INS_3
Definition: data_sets.h:99
DID_DUAL_IMU_RAW
#define DID_DUAL_IMU_RAW
Definition: data_sets.h:91
-
cISDataMappings::CanGetFieldData
static bool CanGetFieldData(const data_info_t &info, const p_data_hdr_t *hdr, const uint8_t *buf, const uint8_t *&ptr)
Definition: ISDataMappings.cpp:1497
+
cISDataMappings::CanGetFieldData
static bool CanGetFieldData(const data_info_t &info, const p_data_hdr_t *hdr, const uint8_t *buf, const uint8_t *&ptr)
Definition: ISDataMappings.cpp:1572
DataTypeInt8
Definition: ISDataMappings.h:27
DataTypeDouble
Definition: ISDataMappings.h:36
+
DID_GPS1_RTK_POS
#define DID_GPS1_RTK_POS
Definition: data_sets.h:88
magnetometer_t
struct PACKED magnetometer_t
DataTypeFloat
Definition: ISDataMappings.h:35
DID_STROBE_IN_TIME
#define DID_STROBE_IN_TIME
Definition: data_sets.h:102
-
SNPRINTF
#define SNPRINTF
Definition: ISConstants.h:171
+
SNPRINTF
#define SNPRINTF
Definition: ISConstants.h:142
DID_INL2_STATUS
#define DID_INL2_STATUS
Definition: data_sets.h:84
gps_raw_t
struct PACKED gps_raw_t
data_info_t::dataType
eDataType dataType
Definition: ISDataMappings.h:57
-
cISDataMappings::DataToString
static bool DataToString(const data_info_t &info, const p_data_hdr_t *hdr, const uint8_t *dataBuffer, data_mapping_string_t stringBuffer)
Definition: ISDataMappings.cpp:1356
ins_4_t
struct PACKED ins_4_t
DID_NVR_USERPAGE_G0
#define DID_NVR_USERPAGE_G0
Definition: data_sets.h:69
ins_2_t
struct PACKED ins_2_t
getHexLookupTable
const unsigned char * getHexLookupTable()
Definition: ISUtilities.cpp:453
-
cISDataMappings::StringToData
static bool StringToData(const char *stringBuffer, int stringLength, const p_data_hdr_t *hdr, uint8_t *dataBuffer, const data_info_t &info, int radix=10)
Definition: ISDataMappings.cpp:1276
-
cISDataMappings::GetMap
static const map_lookup_name_t & GetMap()
Definition: ISDataMappings.cpp:1264
+
cISDataMappings::GetMap
static const map_lookup_name_t & GetMap()
Definition: ISDataMappings.cpp:1285
DataTypeString
Definition: ISDataMappings.h:37
-
_ARRAY_ELEMENT_COUNT
#define _ARRAY_ELEMENT_COUNT(a)
Definition: ISConstants.h:297
+
_ARRAY_ELEMENT_COUNT
#define _ARRAY_ELEMENT_COUNT(a)
Definition: ISConstants.h:294
p_data_hdr_t::offset
uint32_t offset
Definition: ISComm.h:487
+
DID_GPS1_RTK_REL
#define DID_GPS1_RTK_REL
Definition: data_sets.h:55
DID_DEBUG_ARRAY
#define DID_DEBUG_ARRAY
Definition: data_sets.h:73
DID_INS_4
#define DID_INS_4
Definition: data_sets.h:100
DID_BAROMETER
#define DID_BAROMETER
Definition: data_sets.h:87
DID_CONFIG
#define DID_CONFIG
Definition: data_sets.h:41
map_name_to_info_t
map< string, data_info_t, sCaseInsensitiveCompare > map_name_to_info_t
Definition: ISDataMappings.h:61
DID_RTOS_INFO
#define DID_RTOS_INFO
Definition: data_sets.h:72
+
DID_GPS2_VEL
#define DID_GPS2_VEL
Definition: data_sets.h:65
DID_INL2_STATES
#define DID_INL2_STATES
Definition: data_sets.h:82
-
ASSERT_SIZE
#define ASSERT_SIZE(s)
Definition: ISDataMappings.cpp:79
+
ASSERT_SIZE
#define ASSERT_SIZE(s)
Definition: ISDataMappings.cpp:80
DataTypeUInt32
Definition: ISDataMappings.h:32
- +
ISConstants.h
DID_SENSORS_ADC
#define DID_SENSORS_ADC
Definition: data_sets.h:62
diff --git a/docs/html/_i_s_data_mappings_8h.html b/docs/html/_i_s_data_mappings_8h.html index 67ba1cd86..4fbc1d1d4 100644 --- a/docs/html/_i_s_data_mappings_8h.html +++ b/docs/html/_i_s_data_mappings_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -268,7 +268,7 @@

Returns
the size of the data type, or 0 if unknown or variable length (i.e. DataTypeString)
-

Definition at line 52 of file ISDataMappings.cpp.

+

Definition at line 53 of file ISDataMappings.cpp.

diff --git a/docs/html/_i_s_data_mappings_8h_source.html b/docs/html/_i_s_data_mappings_8h_source.html index ea7144050..a1c288cce 100644 --- a/docs/html/_i_s_data_mappings_8h_source.html +++ b/docs/html/_i_s_data_mappings_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,8 +72,8 @@
ISDataMappings.h
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef __ISDATAMAPPINGS_H_
14 #define __ISDATAMAPPINGS_H_
15 
16 #include <string>
17 #include <map>
18 #include <inttypes.h>
19 #include "com_manager.h"
20 
21 using namespace std;
22 
23 #define IS_DATA_MAPPING_MAX_STRING_LENGTH 2048
24 
25 typedef enum
26 {
27  DataTypeInt8,
28  DataTypeUInt8,
29  DataTypeInt16,
30  DataTypeUInt16,
31  DataTypeInt32,
32  DataTypeUInt32,
33  DataTypeInt64,
34  DataTypeUInt64,
35  DataTypeFloat,
36  DataTypeDouble,
37  DataTypeString,
38  DataTypeBinary,
39 
40  DataTypeCount
41 } eDataType;
42 
48 uint32_t GetDataTypeSize(eDataType dataType);
49 
50 /*
51 * Metadata about a specific field
52 */
53 typedef struct
54 {
55  uint32_t dataOffset;
56  uint32_t dataSize;
57  eDataType dataType;
58  string name;
59 } data_info_t;
60 
61 struct sCaseInsensitiveCompare;
62 
63 // map of field name to data info
64 typedef map<string, data_info_t, sCaseInsensitiveCompare> map_name_to_info_t;
65 
66 // map of data id to map of name and data info
67 typedef map<uint32_t, map_name_to_info_t> map_lookup_name_t;
68 
69 typedef char data_mapping_string_t[IS_DATA_MAPPING_MAX_STRING_LENGTH];
70 
71 class cISDataMappings
72 {
73 public:
79  static const char* GetDataSetName(uint32_t dataId);
80 
85  static const map_lookup_name_t& GetMap();
86 
92  static uint32_t GetSize(uint32_t dataId);
93 
104  static bool StringToData(const char* stringBuffer, int stringLength, const p_data_hdr_t* hdr, uint8_t* dataBuffer, const data_info_t& info, int radix = 10);
105 
114  static bool DataToString(const data_info_t& info, const p_data_hdr_t* hdr, const uint8_t* dataBuffer, data_mapping_string_t stringBuffer);
115 
122  static double GetTimestamp(const p_data_hdr_t* hdr, const uint8_t* buf);
123 
132  static bool CanGetFieldData(const data_info_t& info, const p_data_hdr_t* hdr, const uint8_t* buf, const uint8_t*& ptr);
133 
134 private:
135  cISDataMappings();
136 
137  map_lookup_name_t m_columnMappings;
138  map<uint32_t, uint32_t> m_lookupSize;
139 
140  static cISDataMappings s_map;
141 };
142 
146 struct sCaseInsensitiveCompare : std::binary_function<std::string, std::string, bool>
147 {
148  struct nocase_compare : public std::binary_function<unsigned char, unsigned char, bool>
149  {
150  bool operator() (const unsigned char& c1, const unsigned char& c2) const
151  {
152  return tolower(c1) < tolower(c2);
153  }
154  };
155  bool operator() (const std::string& s1, const std::string& s2) const
156  {
157  return std::lexicographical_compare(s1.begin(), s1.end(), s2.begin(), s2.end(), nocase_compare());
158  }
159 };
160 
161 #endif // __ISDATAMAPPINGS_H_
162 
-
GetDataTypeSize
uint32_t GetDataTypeSize(eDataType dataType)
Definition: ISDataMappings.cpp:52
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef __ISDATAMAPPINGS_H_
14 #define __ISDATAMAPPINGS_H_
15 
16 #include <string>
17 #include <map>
18 #include <inttypes.h>
19 #include "com_manager.h"
20 
21 using namespace std;
22 
23 #define IS_DATA_MAPPING_MAX_STRING_LENGTH 2048
24 
25 typedef enum
26 {
27  DataTypeInt8,
28  DataTypeUInt8,
29  DataTypeInt16,
30  DataTypeUInt16,
31  DataTypeInt32,
32  DataTypeUInt32,
33  DataTypeInt64,
34  DataTypeUInt64,
35  DataTypeFloat,
36  DataTypeDouble,
37  DataTypeString,
38  DataTypeBinary,
39 
40  DataTypeCount
41 } eDataType;
42 
48 uint32_t GetDataTypeSize(eDataType dataType);
49 
50 /*
51 * Metadata about a specific field
52 */
53 typedef struct
54 {
55  uint32_t dataOffset;
56  uint32_t dataSize;
57  eDataType dataType;
58  string name;
59 } data_info_t;
60 
61 struct sCaseInsensitiveCompare;
62 
63 // map of field name to data info
64 typedef map<string, data_info_t, sCaseInsensitiveCompare> map_name_to_info_t;
65 
66 // map of data id to map of name and data info
67 typedef map<uint32_t, map_name_to_info_t> map_lookup_name_t;
68 
69 typedef char data_mapping_string_t[IS_DATA_MAPPING_MAX_STRING_LENGTH];
70 
71 class cISDataMappings
72 {
73 public:
79  static const char* GetDataSetName(uint32_t dataId);
80 
85  static const map_lookup_name_t& GetMap();
86 
92  static uint32_t GetSize(uint32_t dataId);
93 
105  static bool StringToData(const char* stringBuffer, int stringLength, const p_data_hdr_t* hdr, uint8_t* dataBuffer, const data_info_t& info, int radix = 10, bool json = false);
106 
116  static bool DataToString(const data_info_t& info, const p_data_hdr_t* hdr, const uint8_t* dataBuffer, data_mapping_string_t stringBuffer, bool json = false);
117 
124  static double GetTimestamp(const p_data_hdr_t* hdr, const uint8_t* buf);
125 
134  static bool CanGetFieldData(const data_info_t& info, const p_data_hdr_t* hdr, const uint8_t* buf, const uint8_t*& ptr);
135 
136 private:
137  cISDataMappings();
138 
139  map_lookup_name_t m_columnMappings;
140  map<uint32_t, uint32_t> m_lookupSize;
141 
142  static cISDataMappings s_map;
143 };
144 
148 struct sCaseInsensitiveCompare : std::binary_function<std::string, std::string, bool>
149 {
150  struct nocase_compare : public std::binary_function<unsigned char, unsigned char, bool>
151  {
152  bool operator() (const unsigned char& c1, const unsigned char& c2) const
153  {
154  return tolower(c1) < tolower(c2);
155  }
156  };
157  bool operator() (const std::string& s1, const std::string& s2) const
158  {
159  return std::lexicographical_compare(s1.begin(), s1.end(), s2.begin(), s2.end(), nocase_compare());
160  }
161 };
162 
163 #endif // __ISDATAMAPPINGS_H_
164 
+
GetDataTypeSize
uint32_t GetDataTypeSize(eDataType dataType)
Definition: ISDataMappings.cpp:53
IS_DATA_MAPPING_MAX_STRING_LENGTH
#define IS_DATA_MAPPING_MAX_STRING_LENGTH
Definition: ISDataMappings.h:23
DataTypeUInt8
Definition: ISDataMappings.h:28
@@ -85,7 +85,7 @@
DataTypeInt16
Definition: ISDataMappings.h:29
map_lookup_name_t
map< uint32_t, map_name_to_info_t > map_lookup_name_t
Definition: ISDataMappings.h:67
-
sCaseInsensitiveCompare::nocase_compare
Definition: ISDataMappings.h:148
+
sCaseInsensitiveCompare::nocase_compare
Definition: ISDataMappings.h:150
DataTypeUInt64
Definition: ISDataMappings.h:34
data_info_t
Definition: ISDataMappings.h:53
data_info_t::name
string name
Definition: ISDataMappings.h:58
diff --git a/docs/html/_i_s_display_8cpp.html b/docs/html/_i_s_display_8cpp.html index c7001de9e..0071f9ba9 100644 --- a/docs/html/_i_s_display_8cpp.html +++ b/docs/html/_i_s_display_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -302,7 +302,7 @@

-

Definition at line 1294 of file ISDisplay.cpp.

+

Definition at line 1329 of file ISDisplay.cpp.

@@ -322,7 +322,7 @@

-

Definition at line 1279 of file ISDisplay.cpp.

+

Definition at line 1314 of file ISDisplay.cpp.

@@ -342,7 +342,7 @@

-

Definition at line 1326 of file ISDisplay.cpp.

+

Definition at line 1361 of file ISDisplay.cpp.

@@ -362,7 +362,7 @@

-

Definition at line 1310 of file ISDisplay.cpp.

+

Definition at line 1345 of file ISDisplay.cpp.

diff --git a/docs/html/_i_s_display_8cpp_source.html b/docs/html/_i_s_display_8cpp_source.html index 3d522466b..cf3734dbc 100644 --- a/docs/html/_i_s_display_8cpp_source.html +++ b/docs/html/_i_s_display_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,220 +72,226 @@
ISDisplay.cpp
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <stdio.h>
14 #include <iostream>
15 #include <sstream>
16 #include <math.h>
17 
18 #include "ISConstants.h"
19 #include "ISUtilities.h"
20 #include "ISDisplay.h"
21 #include "ISPose.h"
22 #include "ISEarth.h"
23 #include "ISDataMappings.h"
24 #include "DataCSV.h"
25 
26 #if PLATFORM_IS_LINUX || PLATFORM_IS_APPLE
27 
28 #include <unistd.h>
29 #include <sys/time.h>
30 #include <termios.h>
31 
32 #endif
33 
34 #define PRINTV3_P1 "%8.1f,%8.1f,%8.1f\n"
35 #define PRINTV3_P2 " %8.2f,%8.2f,%8.2f\n"
36 #define PRINTV3_P3 " %8.3f,%8.3f,%8.3f\n"
37 #define PRINTV4_P1 "%8.1f,%8.1f,%8.1f,%8.1f\n"
38 #define PRINTV4_P2 " %8.2f,%8.2f,%8.2f,%8.2f\n"
39 #define PRINTV4_P3 " %8.3f,%8.3f,%8.3f,%8.3f\n"
40 #define PRINTV3_LLA "%13.7f,%13.7f,%7.1f ellipsoid\n"
41 #define PRINTV3_LLA_MSL "%13.7f,%13.7f,%7.1f MSL\n"
42 #define BUF_SIZE 8192
43 
44 #define DISPLAY_DELTA_TIME 0 // show delta time instead of time
45 
46 static bool s_controlCWasPressed;
47 
48 #if PLATFORM_IS_WINDOWS
49 
50 static bool ctrlHandler(DWORD fdwCtrlType)
51 {
52  switch (fdwCtrlType)
53  {
54  case CTRL_C_EVENT:
55  case CTRL_CLOSE_EVENT:
56  case CTRL_BREAK_EVENT:
57  case CTRL_LOGOFF_EVENT:
58  case CTRL_SHUTDOWN_EVENT:
59  s_controlCWasPressed = true;
60  return true;
61  default:
62  return false;
63  }
64 }
65 
66 #else
67 
68 #include <signal.h>
69 
70 static void signalFunction(int sig)
71 {
72  (void)sig;
73  s_controlCWasPressed = true;
74 }
75 
76 #endif
77 
78 cInertialSenseDisplay::cInertialSenseDisplay()
79 {
80  cout << endl << Hello() << endl;
81 
82  m_displayMode = DMODE_PRETTY;
83 
84 #if PLATFORM_IS_WINDOWS
85 
86  // Hide cursor
87  ShowCursor(false);
88 
89  if (!SetConsoleCtrlHandler((PHANDLER_ROUTINE)ctrlHandler, true))
90  {
91  std::cout << "Failed to set console ctrl handler!" << std::endl;
92  }
93 
94 #else
95 
96  signal(SIGINT, signalFunction);
97 
98 #endif
99 
100 }
101 
102 
103 void cInertialSenseDisplay::ShowCursor(bool visible)
104 {
105 
106 #if PLATFORM_IS_WINDOWS
107 
108 // m_windowsConsoleIn = GetStdHandle(STD_INPUT_HANDLE);
109  m_windowsConsoleOut = GetStdHandle(STD_OUTPUT_HANDLE);
110  CONSOLE_CURSOR_INFO cursorInfo;
111  GetConsoleCursorInfo(m_windowsConsoleOut, &cursorInfo);
112  cursorInfo.bVisible = visible;
113  SetConsoleCursorInfo(m_windowsConsoleOut, &cursorInfo);
114 
115 #endif
116 
117 }
118 
119 
120 void cInertialSenseDisplay::ShutDown()
121 {
122  ShowCursor(true);
123 // cout << "Shutting down..." << endl;
124 }
125 
126 
127 void cInertialSenseDisplay::Clear(void)
128 {
129 
130 #if PLATFORM_IS_WINDOWS
131 
132  COORD topLeft = { 0, 0 };
133  HANDLE console = GetStdHandle(STD_OUTPUT_HANDLE);
134  CONSOLE_SCREEN_BUFFER_INFO screen;
135  DWORD written;
136  GetConsoleScreenBufferInfo(console, &screen);
137  FillConsoleOutputCharacterA(console, ' ', screen.dwSize.X * screen.dwSize.Y, topLeft, &written);
138  FillConsoleOutputAttribute(console, FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE, screen.dwSize.X * screen.dwSize.Y, topLeft, &written);
139  SetConsoleCursorPosition(console, topLeft);
140 
141 #else
142 
143  printf( "\x1B[2J" ); // VT100 terminal command
144 
145 #endif
146 
147 }
148 
149 void cInertialSenseDisplay::Home(void)
150 {
151 
152 #if PLATFORM_IS_WINDOWS
153 
154  COORD topLeft = { 0, 0 };
155  SetConsoleCursorPosition(m_windowsConsoleOut, topLeft);
156 
157 #else
158 
159  printf( "\x1B[H" ); // VT100 terminal command
160 
161 #endif
162 
163 }
164 
165 void cInertialSenseDisplay::GoToRow(int y)
166 {
167 
168 #if PLATFORM_IS_WINDOWS
169 
170  COORD pos = { 0, (int16_t)y };
171  SetConsoleCursorPosition(m_windowsConsoleOut, pos);
172 
173 #else
174 
175  printf("\x1B[%dH", y); // VT100 terminal command
176 
177 #endif
178 
179 }
180 
181 void cInertialSenseDisplay::GoToColumnAndRow(int x, int y)
182 {
183 
184 #if PLATFORM_IS_WINDOWS
185 
186  COORD pos = { (int16_t)x, (int16_t)y };
187  SetConsoleCursorPosition(m_windowsConsoleOut, pos);
188 
189 #else
190 
191  printf("\x1B[%d;%df", y, x); // VT100 terminal command
192 
193 #endif
194 
195 }
196 
197 string cInertialSenseDisplay::Hello()
198 {
199  return "$ Inertial Sense. Press CTRL-C to terminate.\n";
200 }
201 
202 string cInertialSenseDisplay::Connected()
203 {
204  return string("$ Inertial Sense. Connected. Press CTRL-C to terminate. Rx ") + std::to_string(m_rxCount) + "\n";
205 }
206 
207 string cInertialSenseDisplay::Replay(double speed)
208 {
209  char buf[BUF_SIZE];
210 
211  SNPRINTF(buf, BUF_SIZE, "$ Inertial Sense. Replay mode at %.1lfx speed. Press CTRL-C to terminate.\n", speed);
212 
213  return buf;
214 }
215 
216 string cInertialSenseDisplay::Goodbye()
217 {
218  return "\nThanks for using Inertial Sense!\n";
219 }
220 
221 int cInertialSenseDisplay::ReadKey()
222 {
223 
224 #if PLATFORM_IS_WINDOWS
225 
226  INPUT_RECORD ip;
227  DWORD numRead = 0;
228  PeekConsoleInputA(m_windowsConsoleIn, &ip, 1, &numRead);
229  if (numRead == 1)
230  {
231  ReadConsoleInputA(m_windowsConsoleIn, &ip, 1, &numRead);
232  if (numRead == 1 && ip.EventType == KEY_EVENT && ip.Event.KeyEvent.bKeyDown)
233  {
234  return ip.Event.KeyEvent.uChar.AsciiChar;
235  }
236  }
237 
238 #else
239 
240  struct timeval tv;
241  fd_set fds;
242  tv.tv_sec = 0;
243  tv.tv_usec = 0;
244  FD_ZERO(&fds);
245  FD_SET(STDIN_FILENO, &fds);
246  select(STDIN_FILENO + 1, &fds, NULL, NULL, &tv);
247  if (FD_ISSET(0, &fds))
248  {
249  struct termios oldt;
250  struct termios newt;
251  tcgetattr(STDIN_FILENO, &oldt); /* store old settings*/
252  newt = oldt; /* copy old settings to new settings */
253  newt.c_lflag &= ~(ICANON); /* change settings */
254  tcsetattr(STDIN_FILENO, TCSANOW, &newt); /*apply the new settings immediatly */
255  int ch = getchar(); /* standard getchar call */
256  tcsetattr(STDIN_FILENO, TCSANOW, &oldt); /* reapply the old settings */
257  return ch; /* return received char */
258  }
259 
260 #endif
261 
262  return -1;
263 }
264 
265 bool cInertialSenseDisplay::ControlCWasPressed()
266 {
267  return s_controlCWasPressed;
268 }
269 
270 void cInertialSenseDisplay::ProcessData(p_data_t *data, bool enableReplay, double replaySpeedX)
271 {
272  if (m_displayMode == DMODE_QUIET)
273  {
274  return;
275  }
276 
277  int curTimeMs = current_weekMs();
278  m_rxCount++;
279 
280  if (enableReplay)
281  {
282  static bool isTowMode = false;
283  static int gpsTowMsOffset = 0;
284  static int msgTimeMsOffset = 0;
285  int msgTimeMs = 0;
286 
287  // Copy only new data
288  uDatasets d = {};
289  copyDataPToStructP(&d, data, sizeof(uDatasets));
290 
291  // Record message time. In either ToW or time since boot.
292  switch (data->hdr.id)
293  {
294  // Time of week - double
295  case DID_INS_1:
296  case DID_INS_2:
297  msgTimeMs = (int)(1000.0*d.ins1.timeOfWeek);
298  isTowMode = true;
299  break;
300 
301  // Time of week - uint32 ms
302  case DID_SYS_PARAMS:
303  msgTimeMs = d.gpsNav.timeOfWeekMs;
304  isTowMode = true;
305  break;
306 
307  case DID_GPS_NAV:
308  msgTimeMs = d.gpsNav.timeOfWeekMs;
309  gpsTowMsOffset = (int)(1000.0*d.gpsNav.towOffset);
310  isTowMode = true;
311  break;
312 
313  case DID_GPS_RTK_MISC:
314  msgTimeMs = d.gpsNav.timeOfWeekMs;
315  gpsTowMsOffset = (int)(1000.0*d.gpsNav.towOffset);
316  isTowMode = false;
317  break;
318 
319  // Time since boot - double
320  case DID_MAGNETOMETER_1:
321  case DID_BAROMETER:
322  case DID_SYS_SENSORS:
323  case DID_PREINTEGRATED_IMU:
324  case DID_DUAL_IMU:
325  case DID_INL2_STATES:
326  case DID_GPS_BASE_RAW:
327  if( isTowMode )
328  msgTimeMs = (int)(1000.0*d.imu.time) + gpsTowMsOffset;
329  else
330  msgTimeMs = (int)(1000.0*d.imu.time);
331  break;
332 
333  // Unidentified data type
334 // default: printf("Unknown DID %d\t", data->hdr.id); return;
335  }
336 
337 
338  // Control replay rate
339  if (msgTimeMs != 0 && replaySpeedX>0.0)
340  {
341  for (;;)
342  {
343  curTimeMs = current_weekMs();
344 
345  // Replay speed
346  int replayTimeMs = (int)(long)(((double)curTimeMs)*replaySpeedX);
347 
348  // Reinitialize message offset
349  if (abs(msgTimeMs + msgTimeMsOffset - replayTimeMs) > 1500)
350  msgTimeMsOffset = replayTimeMs - msgTimeMs;
351 
352  // Proceed if we're caught up
353  if (replayTimeMs >= msgTimeMs + msgTimeMsOffset)
354  break;
355 
356  // Add delay
357 // SLEEP_US(1000);
358  SLEEP_MS(10);
359  }
360  }
361  }
362 
363 
364  static int timeSinceRefreshMs = 0;
365  static int timeSinceClearMs = 0;
366  static char idHist[DID_COUNT] = { 0 };
367  if (m_displayMode != DMODE_SCROLL)
368  {
369  // Clear display every 2 seconds or if we start seeing new messages.
370  if (curTimeMs - timeSinceClearMs > 2000 || curTimeMs < timeSinceClearMs || idHist[data->hdr.id] == 0)
371  {
372  Clear();
373  idHist[data->hdr.id] = 1;
374  timeSinceClearMs = curTimeMs;
375  }
376  }
377 
378 
379  // Display Data
380  switch (m_displayMode)
381  {
382  default:
383  m_displayMode = DMODE_PRETTY;
384  case DMODE_PRETTY:
385 
386  // Data stays at fixed location (no scroll history)
387  DataToVector(data);
388 
389  // Limit printData display updates to 20Hz (50 ms)
390  if (curTimeMs - timeSinceRefreshMs > 50 || curTimeMs < timeSinceRefreshMs)
391  {
392  Home();
393  if (enableReplay)
394  cout << Replay(replaySpeedX) << endl;
395  else
396  cout << Connected() << endl;
397 
398  cout << VectortoString();
399 
400  timeSinceRefreshMs = curTimeMs;
401  }
402  break;
403 
404  case DMODE_STATS:
405  // Limit printData display updates to 20Hz (50 ms)
406  if (curTimeMs - timeSinceRefreshMs > 50 || curTimeMs < timeSinceRefreshMs)
407  {
408  Home();
409  cout << Connected() << endl;
410  DataToStats(data);
411 
412  timeSinceRefreshMs = curTimeMs;
413  }
414  break;
415 
416 
417  case DMODE_SCROLL: // Scroll display
418  cout << DataToString(data) << endl;
419  break;
420  }
421 
422 
423 
424 }
425 
426 string cInertialSenseDisplay::VectortoString()
427 {
428  stringstream ss;
429 
430  for (size_t i = 0; i < m_didMsgs.size(); i++)
431  {
432  if (m_didMsgs[i].size())
433  {
434  ss << m_didMsgs[i];
435  }
436  }
437 
438  return ss.str();
439 }
440 
441 void cInertialSenseDisplay::DataToVector(const p_data_t* data)
442 {
443  size_t id = data->hdr.id;
444  if (m_didMsgs.size() <= id)
445  { // Resize vector if necessary
446  m_didMsgs.resize(id + 1);
447  }
448  // Add string to vector
449  m_didMsgs[id] = DataToString(data);
450 }
451 
452 void cInertialSenseDisplay::DataToStats(const p_data_t* data)
453 {
454  size_t id = data->hdr.id;
455  if (m_didStats.size() <= id)
456  { // Resize vector if necessary
457  m_didStats.resize(id + 1);
458  }
459 
460  // Update stats
461  int curTimeMs = current_weekMs();
462  sDidStats &s = m_didStats[id];
463  s.count++;
464  if(s.lastTimeMs)
465  s.dtMs = curTimeMs - s.lastTimeMs;
466  s.lastTimeMs = curTimeMs;
467 
468  // Display stats
469  printf(" Name DID Count dt\n");
470  for (int i = 0; i < (int)m_didStats.size(); i++)
471  {
472  sDidStats &s = m_didStats[i];
473  if (s.count)
474  {
475  printf("%20s %4d %9d %9.3lf\n", cISDataMappings::GetDataSetName(i), i, s.count, s.dtMs*0.001);
476  }
477  }
478 }
479 
480 string cInertialSenseDisplay::DataToString(const p_data_t* data)
481 {
482  uDatasets d = {};
483 
484  // Copy only new data
485  copyDataPToStructP(&d, data, sizeof(uDatasets));
486 
487  string str;
488  switch (data->hdr.id)
489  {
490  case DID_DEV_INFO: str = DataToStringDevInfo(d.devInfo, data->hdr); break;
491  case DID_DUAL_IMU: str = DataToStringDualIMU(d.dualImu, data->hdr); break;
492  case DID_PREINTEGRATED_IMU: str = DataToStringPreintegratedImu(d.pImu, data->hdr); break;
493  case DID_INS_1: str = DataToStringINS1(d.ins1, data->hdr); break;
494  case DID_INS_2: str = DataToStringINS2(d.ins2, data->hdr); break;
495  case DID_INS_3: str = DataToStringINS3(d.ins3, data->hdr); break;
496  case DID_INS_4: str = DataToStringINS4(d.ins4, data->hdr); break;
497  case DID_MAGNETOMETER_1:
498  case DID_MAGNETOMETER_2: str = DataToStringMag(d.mag, data->hdr); break;
499  case DID_MAG_CAL: str = DataToStringMagCal(d.magCal, data->hdr); break;
500  case DID_BAROMETER: str = DataToStringBaro(d.baro, data->hdr); break;
501  case DID_GPS_NAV: str = DataToStringGPS(d.gpsNav, data->hdr); break;
502  case DID_SYS_PARAMS: str = DataToStringSysParams(d.sysParams, data->hdr); break;
503  case DID_SYS_SENSORS: str = DataToStringSysSensors(d.sysSensors, data->hdr); break;
504  case DID_GPS_RTK_MISC: str = DataToStringRtkMisc(d.gpsRtkMisc, data->hdr); break;
505  case DID_GPS_RTK_NAV: str = DataToStringGPS(d.gpsRtkNav, data->hdr); break;
506  case DID_GPS1_RAW:
507  case DID_GPS2_RAW:
508  case DID_GPS_BASE_RAW: str = DataToStringRawGPS(d.gpsRaw, data->hdr); break;
509  case DID_SURVEY_IN: str = DataToStringSurveyIn(d.surveyIn, data->hdr); break;
510  case DID_RTOS_INFO: str = DataToStringRTOS(d.rtosInfo, data->hdr); break;
511  default:
512 #if 0 // List all DIDs
513  char buf[128];
514  SNPRINTF(buf, 128, "DID: %d\n", data->hdr.id);
515  str = buf;
516 #endif
517  break;
518  }
519 
520  return str;
521 }
522 
523 char* cInertialSenseDisplay::StatusToString(char* ptr, char* ptrEnd, const uint32_t insStatus, const uint32_t hdwStatus)
524 {
525  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tSTATUS\n");
526  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t\tSatellite Rx %d INS Fusing: GPS %d, Mag %d\n",
527  (hdwStatus & HDW_STATUS_GPS_SATELLITE_RX) != 0,
528  (insStatus & INS_STATUS_USING_GPS_IN_SOLUTION) != 0,
529  (insStatus & INS_STATUS_USING_MAG_IN_SOLUTION) != 0);
530  if (insStatus & INS_STATUS_NAV_MODE)
531  {
532  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t\tMode: NAV ");
533  }
534  else
535  {
536  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t\tMode: AHRS");
537  }
538  switch (INS_STATUS_SOLUTION(insStatus))
539  {
540  default:
541  case INS_STATUS_SOLUTION_OFF: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: OFF\n"); break;
542  case INS_STATUS_SOLUTION_ALIGNING: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: ALIGNING\n"); break;
543  case INS_STATUS_SOLUTION_ALIGNMENT_COMPLETE: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: ALIGNMENT COMPLETE\n"); break;
544  case INS_STATUS_SOLUTION_NAV_GOOD: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: NAV GOOD\n"); break;
545  case INS_STATUS_SOLUTION_NAV_HIGH_VARIANCE: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: NAV HIGH VARIANCE\n"); break;
546  case INS_STATUS_SOLUTION_AHRS_GOOD: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: AHRS GOOD\n"); break;
547  case INS_STATUS_SOLUTION_AHRS_HIGH_VARIANCE: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: AHRS HIGH VARIANCE\n"); break;
548  }
549 // ptr += SNPRINTF(ptr, ptrEnd - ptr, " Align Good: Att %d, Vel %d, Pos %d\n",
550 // (insStatus & INS_STATUS_ATT_ALIGN_GOOD) != 0,
551 // (insStatus & INS_STATUS_VEL_ALIGN_GOOD) != 0,
552 // (insStatus & INS_STATUS_POS_ALIGN_GOOD) != 0);
553  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t\tErrors Rx parse %d, temperature %d, self-test %d\n",
554  HDW_STATUS_COM_PARSE_ERROR_COUNT(hdwStatus),
555  (hdwStatus & HDW_STATUS_ERR_TEMPERATURE) != 0,
556  (hdwStatus & HDW_STATUS_BIT_FAULT) != 0);
557 
558  return ptr;
559 }
560 
561 char* cInertialSenseDisplay::InsStatusToSolStatusString(char* ptr, char* ptrEnd, const uint32_t insStatus)
562 {
563  switch (INS_STATUS_SOLUTION(insStatus))
564  {
565  default:
566  case INS_STATUS_SOLUTION_OFF: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", OFF "); break;
567  case INS_STATUS_SOLUTION_ALIGNING: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", ALIGNING "); break;
568  case INS_STATUS_SOLUTION_ALIGNMENT_COMPLETE: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", COMPLETE "); break;
569  case INS_STATUS_SOLUTION_NAV_GOOD: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", NAV GOOD "); break;
570  case INS_STATUS_SOLUTION_NAV_HIGH_VARIANCE: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", NAV VARIA"); break;
571  case INS_STATUS_SOLUTION_AHRS_GOOD: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", AHRS GOOD"); break;
572  case INS_STATUS_SOLUTION_AHRS_HIGH_VARIANCE: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", AHRS VARI"); break;
573  }
574 
575  return ptr;
576 }
577 
578 string cInertialSenseDisplay::DataToStringINS1(const ins_1_t &ins1, const p_data_hdr_t& hdr)
579 {
580  (void)hdr;
581  char buf[BUF_SIZE];
582  char* ptr = buf;
583  char* ptrEnd = buf + BUF_SIZE;
584  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_INS_1:");
585 
586 #if DISPLAY_DELTA_TIME==1
587  static double lastTime = 0;
588  double dtMs = 1000.0*(ins1.timeOfWeek - lastTime);
589  lastTime = ins1.timeOfWeek;
590  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
591 #else
592  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", ins1.timeOfWeek);
593 #endif
594 
595  if (m_displayMode == DMODE_SCROLL)
596  { // Single line format
597  ptr = InsStatusToSolStatusString(ptr, ptrEnd, ins1.insStatus);
598  ptr += SNPRINTF(ptr, ptrEnd - ptr, " theta[%6.2f,%6.2f,%7.2f], uvw[%6.2f,%6.2f,%6.2f], lla[%12.7f,%12.7f,%7.1f], ned[%6.3f,%6.3f,%6.3f]",
599  ins1.theta[0] * C_RAD2DEG_F,
600  ins1.theta[1] * C_RAD2DEG_F,
601  ins1.theta[2] * C_RAD2DEG_F,
602  ins1.uvw[0], ins1.uvw[1], ins1.uvw[2],
603  ins1.lla[0], ins1.lla[1], ins1.lla[2],
604  ins1.ned[0], ins1.ned[1], ins1.ned[2]);
605  }
606  else
607  { // Spacious format
608  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tEuler\t");
609  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P2,
610  ins1.theta[0] * C_RAD2DEG_F, // Roll
611  ins1.theta[1] * C_RAD2DEG_F, // Pitch
612  ins1.theta[2] * C_RAD2DEG_F); // Yaw
613  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tUWV\t");
614  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P1,
615  ins1.uvw[0], // U body velocity
616  ins1.uvw[1], // V body velocity
617  ins1.uvw[2]); // W body velocity
618  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tLLA\t");
619  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_LLA,
620  ins1.lla[0], // INS Latitude
621  ins1.lla[1], // INS Longitude
622  ins1.lla[2]); // INS Ellipsoid altitude (meters)
623  ptr = StatusToString(ptr, ptrEnd, ins1.insStatus, ins1.hdwStatus);
624  }
625 
626  return buf;
627 }
628 
629 string cInertialSenseDisplay::DataToStringINS2(const ins_2_t &ins2, const p_data_hdr_t& hdr)
630 {
631  (void)hdr;
632  char buf[BUF_SIZE];
633  char* ptr = buf;
634  char* ptrEnd = buf + BUF_SIZE;
635  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_INS_2:");
636 
637 #if DISPLAY_DELTA_TIME==1
638  static double lastTime = 0;
639  double dtMs = 1000.0*(ins2.timeOfWeek - lastTime);
640  lastTime = ins2.timeOfWeek;
641  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
642 #else
643  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", ins2.timeOfWeek);
644 #endif
645 
646  if (m_displayMode == DMODE_SCROLL)
647  { // Single line format
648  ptr = InsStatusToSolStatusString(ptr, ptrEnd, ins2.insStatus);
649  ptr += SNPRINTF(ptr, ptrEnd - ptr, " qn2b[%6.3f,%6.3f,%6.3f,%6.3f], uvw[%6.2f,%6.2f,%6.2f], lla[%12.7f,%12.7f,%7.1f]",
650  ins2.qn2b[0], ins2.qn2b[1], ins2.qn2b[2], ins2.qn2b[3],
651  ins2.uvw[0], ins2.uvw[1], ins2.uvw[2],
652  ins2.lla[0], ins2.lla[1], ins2.lla[2]);
653  }
654  else
655  { // Spacious format
656  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tQn2b\t");
657  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV4_P3, // Quaternion attitude rotation
658  ins2.qn2b[0], // W
659  ins2.qn2b[1], // X
660  ins2.qn2b[2], // Y
661  ins2.qn2b[3]); // Z
662  float theta[3];
663  quat2euler(ins2.qn2b, theta);
664  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t(Euler)\t");
665  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P2, // Convert quaternion to euler rotation
666  theta[0] * C_RAD2DEG_F, // Roll
667  theta[1] * C_RAD2DEG_F, // Pitch
668  theta[2] * C_RAD2DEG_F); // Yaw
669  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tUWV\t");
670  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P1,
671  ins2.uvw[0], // U body velocity
672  ins2.uvw[1], // V body velocity
673  ins2.uvw[2]); // W body velocity
674  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tLLA\t");
675  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_LLA,
676  ins2.lla[0], // INS Latitude
677  ins2.lla[1], // INS Longitude
678  ins2.lla[2]); // INS Ellipsoid altitude (meters)
679  ptr = StatusToString(ptr, ptrEnd, ins2.insStatus, ins2.hdwStatus);
680  }
681 
682  return buf;
683 }
684 
685 string cInertialSenseDisplay::DataToStringINS3(const ins_3_t &ins3, const p_data_hdr_t& hdr)
686 {
687  (void)hdr;
688  char buf[BUF_SIZE];
689  char* ptr = buf;
690  char* ptrEnd = buf + BUF_SIZE;
691  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_INS_3:");
692 
693 #if DISPLAY_DELTA_TIME==1
694  static double lastTime = 0;
695  double dtMs = 1000.0*(ins3.timeOfWeek - lastTime);
696  lastTime = ins3.timeOfWeek;
697  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
698 #else
699  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", ins3.timeOfWeek);
700 #endif
701 
702  if (m_displayMode == DMODE_SCROLL)
703  { // Single line format
704  ptr = InsStatusToSolStatusString(ptr, ptrEnd, ins3.insStatus);
705  ptr += SNPRINTF(ptr, ptrEnd - ptr, " qn2b[%6.3f,%6.3f,%6.3f,%6.3f], uvw[%6.2f,%6.2f,%6.2f], lla[%12.7f,%12.7f,%7.1f]",
706  ins3.qn2b[0], ins3.qn2b[1], ins3.qn2b[2], ins3.qn2b[3],
707  ins3.uvw[0], ins3.uvw[1], ins3.uvw[2],
708  ins3.lla[0], ins3.lla[1], ins3.lla[2]);
709  }
710  else
711  { // Spacious format
712  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tQn2b\t");
713  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV4_P3, // Quaternion attitude rotation
714  ins3.qn2b[0], // W
715  ins3.qn2b[1], // X
716  ins3.qn2b[2], // Y
717  ins3.qn2b[3]); // Z
718  float theta[3];
719  quat2euler(ins3.qn2b, theta);
720  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t(Euler)\t");
721  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P2, // Convert quaternion to euler rotation
722  theta[0] * C_RAD2DEG_F, // Roll
723  theta[1] * C_RAD2DEG_F, // Pitch
724  theta[2] * C_RAD2DEG_F); // Yaw
725  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tUWV\t");
726  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P1,
727  ins3.uvw[0], // U body velocity
728  ins3.uvw[1], // V body velocity
729  ins3.uvw[2]); // W body velocity
730  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tLLA\t");
731  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_LLA_MSL,
732  ins3.lla[0], // INS Latitude
733  ins3.lla[1], // INS Longitude
734  ins3.lla[2]); // INS Ellipsoid altitude (meters)
735  ptr = StatusToString(ptr, ptrEnd, ins3.insStatus, ins3.hdwStatus);
736  }
737 
738  return buf;
739 }
740 
741 string cInertialSenseDisplay::DataToStringINS4(const ins_4_t &ins4, const p_data_hdr_t& hdr)
742 {
743  (void)hdr;
744  char buf[BUF_SIZE];
745  char* ptr = buf;
746  char* ptrEnd = buf + BUF_SIZE;
747  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_INS_3:");
748 
749 #if DISPLAY_DELTA_TIME==1
750  static double lastTime = 0;
751  double dtMs = 1000.0*(ins4.timeOfWeek - lastTime);
752  lastTime = ins4.timeOfWeek;
753  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
754 #else
755  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", ins4.timeOfWeek);
756 #endif
757 
758  if (m_displayMode == DMODE_SCROLL)
759  { // Single line format
760  ptr = InsStatusToSolStatusString(ptr, ptrEnd, ins4.insStatus);
761  ptr += SNPRINTF(ptr, ptrEnd - ptr, " qe2b[%6.3f,%6.3f,%6.3f,%6.3f], ve[%6.2f,%6.2f,%6.2f], ecef[%12.7f,%12.7f,%7.1f]",
762  ins4.qe2b[0], ins4.qe2b[1], ins4.qe2b[2], ins4.qe2b[3],
763  ins4.ve[0], ins4.ve[1], ins4.ve[2],
764  ins4.ecef[0], ins4.ecef[1], ins4.ecef[2]);
765  }
766  else
767  { // Spacious format
768  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tQe2b\t");
769  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV4_P3, // Quaternion attitude rotation
770  ins4.qe2b[0], // W
771  ins4.qe2b[1], // X
772  ins4.qe2b[2], // Y
773  ins4.qe2b[3]); // Z
774  float theta[3];
775  qe2b2EulerNedEcef(theta, (float*)ins4.qe2b, (double*)ins4.ecef);
776  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t(Euler)\t");
777  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P2, // Convert quaternion to euler rotation
778  theta[0] * C_RAD2DEG_F, // Roll
779  theta[1] * C_RAD2DEG_F, // Pitch
780  theta[2] * C_RAD2DEG_F); // Yaw
781  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tVE\t");
782  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
783  ins4.ve[0], // X ECEF velocity
784  ins4.ve[1], // Y ECEF velocity
785  ins4.ve[2]); // Z ECEF velocity
786  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tECEF\t");
787  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
788  ins4.ecef[0], // X ECEF position
789  ins4.ecef[1], // Y ECEF position
790  ins4.ecef[2]); // Z ECEF position
791  ptr = StatusToString(ptr, ptrEnd, ins4.insStatus, ins4.hdwStatus);
792  }
793 
794  return buf;
795 }
796 
797 string cInertialSenseDisplay::DataToStringDualIMU(const dual_imu_t &imu, const p_data_hdr_t& hdr)
798 {
799  (void)hdr;
800  char buf[BUF_SIZE];
801  char* ptr = buf;
802  char* ptrEnd = buf + BUF_SIZE;
803  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_DUAL_IMU:");
804 
805 #if DISPLAY_DELTA_TIME==1
806  static double lastTime = 0;
807  double dtMs = 1000.0*(imu.time - lastTime);
808  lastTime = imu.time;
809  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
810 #else
811  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", imu.time);
812 #endif
813 
814  if (m_displayMode == DMODE_SCROLL)
815  { // Single line format
816  for (int i = 0; i < 2; i++)
817  {
818  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", pqr[%5.1f,%5.1f,%5.1f]",
819  imu.I[i].pqr[0] * C_RAD2DEG_F,
820  imu.I[i].pqr[1] * C_RAD2DEG_F,
821  imu.I[i].pqr[2] * C_RAD2DEG_F);
822  }
823  for (int i = 0; i < 2; i++)
824  {
825  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", acc[%5.1f,%5.1f,%5.1f]",
826  imu.I[i].acc[0], imu.I[i].acc[1], imu.I[i].acc[2]);
827  }
828  }
829  else
830  { // Spacious format
831  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
832  for (int i = 0; i < 2; i++)
833  {
834  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tPQR\t");
835  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P1,
836  imu.I[i].pqr[0] * C_RAD2DEG_F, // P angular rate
837  imu.I[i].pqr[1] * C_RAD2DEG_F, // Q angular rate
838  imu.I[i].pqr[2] * C_RAD2DEG_F); // R angular rate
839  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tAcc\t");
840  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P1,
841  imu.I[i].acc[0], // X acceleration
842  imu.I[i].acc[1], // Y acceleration
843  imu.I[i].acc[2]); // Z acceleration
844  }
845  }
846 
847  return buf;
848 }
849 
850 string cInertialSenseDisplay::DataToStringPreintegratedImu(const preintegrated_imu_t &imu, const p_data_hdr_t& hdr)
851 {
852  (void)hdr;
853  char buf[BUF_SIZE];
854  char* ptr = buf;
855  char* ptrEnd = buf + BUF_SIZE;
856  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_PREINTEGRATED_IMU:");
857 
858 #if DISPLAY_DELTA_TIME==1
859  static double lastTime = 0;
860  double dtMs = 1000.0*(imu.time - lastTime);
861  lastTime = imu.time;
862  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
863 #else
864  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", imu.time);
865 #endif
866 
867  if (m_displayMode == DMODE_SCROLL)
868  { // Single line format
869  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", theta1[%6.3f,%6.3f,%6.3f], vel1[%6.3f,%6.3f,%6.3f]",
870  imu.theta1[0] * C_RAD2DEG_F,
871  imu.theta1[1] * C_RAD2DEG_F,
872  imu.theta1[2] * C_RAD2DEG_F,
873  imu.vel1[0], imu.vel1[1], imu.vel1[2]);
874  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", theta2[%6.3f,%6.3f,%6.3f], vel2[%6.3f,%6.3f,%6.3f]",
875  imu.theta2[0] * C_RAD2DEG_F,
876  imu.theta2[1] * C_RAD2DEG_F,
877  imu.theta2[2] * C_RAD2DEG_F,
878  imu.vel2[0], imu.vel2[1], imu.vel2[2]);
879  }
880  else
881  { // Spacious format
882  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tIMU1 theta1\t");
883  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
884  imu.theta1[0] * C_RAD2DEG_F, // IMU1 P angular rate
885  imu.theta1[1] * C_RAD2DEG_F, // IMU1 Q angular rate
886  imu.theta1[2] * C_RAD2DEG_F); // IMU1 R angular rate
887  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tIMU1 vel1\t");
888  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
889  imu.vel1[0], // IMU1 X acceleration
890  imu.vel1[1], // IMU1 Y acceleration
891  imu.vel1[2]); // IMU1 Z acceleration
892  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tIMU2 theta2\t");
893  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
894  imu.theta2[0] * C_RAD2DEG_F, // IMU2 P angular rate
895  imu.theta2[1] * C_RAD2DEG_F, // IMU2 Q angular rate
896  imu.theta2[2] * C_RAD2DEG_F); // IMU2 R angular rate
897  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tIMU2 vel2\t");
898  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
899  imu.vel2[0], // IMU2 X acceleration
900  imu.vel2[1], // IMU2 Y acceleration
901  imu.vel2[2]); // IMU2 Z acceleration
902  }
903 
904  return buf;
905 }
906 
907 string cInertialSenseDisplay::DataToStringMag(const magnetometer_t &mag, const p_data_hdr_t& hdr)
908 {
909  (void)hdr;
910  char buf[BUF_SIZE];
911  char* ptr = buf;
912  char* ptrEnd = buf + BUF_SIZE;
913  int i = 0;
914  if (hdr.id == DID_MAGNETOMETER_2) i = 1;
915  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_MAGNETOMETER_%d:", i + 1);
916 
917 #if DISPLAY_DELTA_TIME==1
918  static double lastTime[2] = { 0 };
919  double dtMs = 1000.0*(mag.time - lastTime[i]);
920  lastTime[i] = mag.time;
921  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
922 #else
923  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", mag.time);
924 #endif
925 
926  if (m_displayMode == DMODE_SCROLL)
927  { // Single line format
928  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", mag[%6.2f,%6.2f,%6.2f]",
929  mag.mag[0], // X magnetometer
930  mag.mag[1], // Y magnetometer
931  mag.mag[2]); // Z magnetometer
932  }
933  else
934  { // Spacious format
935  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tmag\t");
936  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P2,
937  mag.mag[0], // X magnetometer
938  mag.mag[1], // Y magnetometer
939  mag.mag[2]); // Z magnetometer
940  }
941 
942  return buf;
943 }
944 
945 string cInertialSenseDisplay::DataToStringMagCal(const mag_cal_t &mag, const p_data_hdr_t& hdr)
946 {
947  (void)hdr;
948  char buf[BUF_SIZE];
949  char* ptr = buf;
950  char* ptrEnd = buf + BUF_SIZE;
951  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_MAG_CAL:");
952 
953  switch (mag.enMagRecal)
954  {
955  default: ptr += SNPRINTF(ptr, ptrEnd - ptr, " enMagRecal %3d, ", mag.enMagRecal); break;
956  case MAG_RECAL_MODE_MULTI_AXIS: ptr += SNPRINTF(ptr, ptrEnd - ptr, " enMagRecal %3d (MULTI-AXIS ), ", mag.enMagRecal); break;
957  case MAG_RECAL_MODE_SINGLE_AXIS: ptr += SNPRINTF(ptr, ptrEnd - ptr, " enMagRecal %3d (SINGLE-AXIS), ", mag.enMagRecal); break;
958  case MAG_RECAL_MODE_COMPLETE: ptr += SNPRINTF(ptr, ptrEnd - ptr, " enMagRecal %3d (COMPLETE! ), ", mag.enMagRecal); break;
959  }
960 
961  { // Single line format
962  ptr += SNPRINTF(ptr, ptrEnd - ptr, " progress: %3.0f %%, declination: %4.1f",
963  mag.progress,
964  mag.declination * C_RAD2DEG_F);
965  }
966 
967  if (m_displayMode == DMODE_PRETTY)
968  {
969  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
970  }
971 
972  return buf;
973 }
974 
975 string cInertialSenseDisplay::DataToStringBaro(const barometer_t &baro, const p_data_hdr_t& hdr)
976 {
977  (void)hdr;
978  char buf[BUF_SIZE];
979  char* ptr = buf;
980  char* ptrEnd = buf + BUF_SIZE;
981  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_BAROMETER:");
982 
983 #if DISPLAY_DELTA_TIME==1
984  static double lastTime = 0;
985  double dtMs = 1000.0*(baro.time - lastTime);
986  lastTime = baro.time;
987  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
988 #else
989  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", baro.time);
990 #endif
991 
992  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", %.2fkPa", baro.bar);
993  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", %.1fm", baro.mslBar);
994  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", %.2fC", baro.barTemp);
995  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", Humid. %.1f%%", baro.humidity);
996 
997  if (m_displayMode == DMODE_PRETTY)
998  {
999  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
1000  }
1001 
1002  return buf;
1003 }
1004 
1005 string cInertialSenseDisplay::DataToStringGPS(const gps_nav_t &gps, const p_data_hdr_t& hdr)
1006 {
1007  (void)hdr;
1008  char buf[BUF_SIZE];
1009  char* ptr = buf;
1010  char* ptrEnd = buf + BUF_SIZE;
1011  switch (hdr.id)
1012  {
1013  default:
1014  case DID_GPS_NAV: ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_GPS_NAV:"); break;
1015  case DID_GPS1_NAV: ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_GPS1_NAV:"); break;
1016  case DID_GPS_RTK_NAV: ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_GPS_RTK_NAV:"); break;
1017  }
1018 
1019 #if DISPLAY_DELTA_TIME==1
1020  static int lastTimeMs = 0;
1021  int dtMs = gps.timeOfWeekMs - lastTimeMs;
1022  lastTimeMs = gps.timeOfWeekMs;
1023  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %3dms", dtMs);
1024 #else
1025  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %dms", gps.timeOfWeekMs);
1026 #endif
1027 
1028  if (m_displayMode == DMODE_SCROLL)
1029  { // Single line format
1030  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", LLA[%12.7f,%12.7f,%7.1f], %d sats, %d cno, %4.3f hAcc, %4.3f vAcc, %4.3f pDop",
1031  gps.lla[0], gps.lla[1], gps.lla[2],
1032  gps.status&GPS_STATUS_NUM_SATS_USED_MASK, gps.cnoMax,
1033  gps.hAcc, gps.vAcc, gps.pDop);
1034  }
1035  else
1036  { // Spacious format
1037  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tSats: %2d, ",
1038  gps.status&GPS_STATUS_NUM_SATS_USED_MASK); // Satellites used in solution
1039  ptr += SNPRINTF(ptr, ptrEnd - ptr, "Status: 0x%08x (", gps.status);
1040  switch (gps.status&GPS_STATUS_FIX_MASK)
1041  {
1042  default:
1043  case GPS_STATUS_FIX_NONE: ptr += SNPRINTF(ptr, ptrEnd - ptr, "%d", (gps.status&GPS_STATUS_FIX_MASK)>>GPS_STATUS_FIX_BIT_OFFSET); break;
1044  case GPS_STATUS_FIX_2D: ptr += SNPRINTF(ptr, ptrEnd - ptr, "2D"); break;
1045  case GPS_STATUS_FIX_3D: ptr += SNPRINTF(ptr, ptrEnd - ptr, "2D"); break;
1046  case GPS_STATUS_FIX_RTK_SINGLE: ptr += SNPRINTF(ptr, ptrEnd - ptr, "Single"); break;
1047  case GPS_STATUS_FIX_RTK_FLOAT: ptr += SNPRINTF(ptr, ptrEnd - ptr, "Float"); break;
1048  case GPS_STATUS_FIX_RTK_FIX: ptr += SNPRINTF(ptr, ptrEnd - ptr, "FIX"); break;
1049  }
1050  ptr += SNPRINTF(ptr, ptrEnd - ptr, "),\thAcc: %.3f m \n", gps.hAcc); // Position accuracy
1051  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tLLA: ");
1052  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_LLA,
1053  gps.lla[0], // GPS Latitude
1054  gps.lla[1], // GPS Longitude
1055  gps.lla[2]); // GPS Ellipsoid altitude (meters)
1056  if (gps.status&GPS_STATUS_FLAGS_RTK_MODE)
1057  {
1058  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tRTK:\tdiffAge: %3.1fs arRatio: %4.1f dist: %3.1fm \n",
1059  gps.differentialAge, gps.arRatio, gps.distanceToBase);
1060  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t\t");
1061  if (gps.status&GPS_STATUS_FLAGS_GPS_COMPASSING_MODE)
1062  {
1063  ptr += SNPRINTF(ptr, ptrEnd - ptr, "Compassing, ");
1064  }
1065  else
1066  {
1067  if (gps.status&GPS_STATUS_FLAGS_BASE_POSITION_MOVING) { ptr += SNPRINTF(ptr, ptrEnd - ptr, "Moving base, "); }
1068  }
1069  if (gps.status&GPS_STATUS_FLAGS_RX_BASE_NO_OBSERV_EPHEM) { ptr += SNPRINTF(ptr, ptrEnd - ptr, "No obs/ephem, "); }
1070  if (gps.status&GPS_STATUS_FLAGS_RX_BASE_NO_POSITION) { ptr += SNPRINTF(ptr, ptrEnd - ptr, "No base position, "); }
1071  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
1072  }
1073  }
1074 
1075  return buf;
1076 }
1077 
1078 string cInertialSenseDisplay::DataToStringDevInfo(const dev_info_t &info, const p_data_hdr_t& hdr)
1079 {
1080  (void)hdr;
1081  char buf[BUF_SIZE];
1082  char* ptr = buf;
1083  char* ptrEnd = buf + BUF_SIZE;
1084  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_DEV_INFO:");
1085 
1086  // Single line format
1087  ptr += SNPRINTF(ptr, ptrEnd - ptr, " SN%d, Fw %d.%d.%d.%d %c%d, %04d-%02d-%02d",
1088  info.serialNumber,
1089  info.firmwareVer[0],
1090  info.firmwareVer[1],
1091  info.firmwareVer[2],
1092  info.firmwareVer[3],
1093  info.buildDate[0],
1094  info.buildNumber,
1095  info.buildDate[1] + 2000,
1096  info.buildDate[2],
1097  info.buildDate[3]
1098  );
1099 
1100  if (m_displayMode != DMODE_SCROLL)
1101  { // Spacious format
1102  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %02d:%02d:%02d, Proto %d.%d.%d.%d\n",
1103  info.buildTime[0],
1104  info.buildTime[1],
1105  info.buildTime[2],
1106  info.protocolVer[0],
1107  info.protocolVer[1],
1108  info.protocolVer[2],
1109  info.protocolVer[3]
1110  );
1111  }
1112 
1113  return buf;
1114 }
1115 
1116 string cInertialSenseDisplay::DataToStringSysParams(const sys_params_t& sys, const p_data_hdr_t& hdr)
1117 {
1118  (void)hdr;
1119  char buf[BUF_SIZE];
1120  char* ptr = buf;
1121  char* ptrEnd = buf + BUF_SIZE;
1122  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_SYS_PARAMS:");
1123 
1124 #if DISPLAY_DELTA_TIME==1
1125  static int lastTimeMs = 0;
1126  int dtMs = sys.timeOfWeekMs - lastTimeMs;
1127  lastTimeMs = sys.timeOfWeekMs;
1128  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %3dms", dtMs);
1129 #else
1130  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %dms", sys.timeOfWeekMs);
1131 #endif
1132 
1133  ptr += SNPRINTF(ptr, ptrEnd - ptr, ",%d,%d,%d\n",
1134  sys.imuPeriodMs, sys.navPeriodMs, sys.genFaultCode);
1135 
1136  if (m_displayMode == DMODE_PRETTY)
1137  {
1138  ptr = StatusToString(ptr, ptrEnd, sys.insStatus, sys.hdwStatus);
1139  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
1140  }
1141 
1142  return buf;
1143 }
1144 
1145 string cInertialSenseDisplay::DataToStringSysSensors(const sys_sensors_t& sensors, const p_data_hdr_t& hdr)
1146 {
1147  (void)hdr;
1148  char buf[BUF_SIZE];
1149  char* ptr = buf;
1150  char* ptrEnd = buf + BUF_SIZE;
1151  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_SYS_SENSORS:");
1152 
1153 #if DISPLAY_DELTA_TIME==1
1154  static double lastTime = 0;
1155  double dtMs = 1000.0*(sensors.time - lastTime);
1156  lastTime = sensors.time;
1157  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
1158 #else
1159  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", sensors.time);
1160 #endif
1161 
1162  // Single line format
1163  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", %4.1fC, pqr[%5.1f,%5.1f,%5.1f], acc[%5.1f,%5.1f,%5.1f], mag[%6.2f,%6.2f,%6.2f]",
1164  sensors.temp,
1165  sensors.pqr[0] * C_RAD2DEG_F,
1166  sensors.pqr[1] * C_RAD2DEG_F,
1167  sensors.pqr[2] * C_RAD2DEG_F,
1168  sensors.acc[0], sensors.acc[1], sensors.acc[2],
1169  sensors.mag[0], sensors.mag[1], sensors.mag[2]
1170  );
1171 
1172  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", baro[%5.2fkPa, %4.1fC, %7.2fm, %3.1f%% humidity], adc[%3.1fV, %3.1fV, %3.1fV, %3.1fV]",
1173  sensors.bar, sensors.barTemp, sensors.mslBar, sensors.humidity,
1174  sensors.vin, sensors.ana1, sensors.ana3, sensors.ana4
1175  );
1176 
1177  if (m_displayMode != DMODE_SCROLL)
1178  {
1179  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
1180  }
1181 
1182  return buf;
1183 }
1184 
1185 string cInertialSenseDisplay::DataToStringRtkMisc(const gps_rtk_misc_t& rtk, const p_data_hdr_t& hdr)
1186 {
1187  (void)hdr;
1188  char buf[BUF_SIZE];
1189  char* ptr = buf;
1190  char* ptrEnd = buf + BUF_SIZE;
1191  const char* terminator = (m_displayMode != DMODE_SCROLL ? "\n" : "");
1192  ptr += SNPRINTF(buf, ptrEnd - ptr, "RTK MISC: T=%d, lla[%4.7f,%4.7f,%7.3f], A[%3.3f,%3.3f,%3.3f], AR:%3.3f, dop(g,p,h,v)[%3.3f,%3.3f,%3.3f,%3.3f] %s",
1193  rtk.timeOfWeekMs, rtk.baseLla[0], rtk.baseLla[1], rtk.baseLla[2],
1194  rtk.accuracyPos[0], rtk.accuracyPos[1], rtk.accuracyPos[2],
1195  rtk.arThreshold,
1196  rtk.gDop, rtk.pDop, rtk.hDop, rtk.vDop,
1197  terminator);
1198 
1199  if (m_displayMode != DMODE_SCROLL)
1200  {
1201  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
1202  }
1203 
1204  return buf;
1205 }
1206 
1207 string cInertialSenseDisplay::DataToStringRawGPS(const gps_raw_t& raw, const p_data_hdr_t& hdr)
1208 {
1209  (void)hdr;
1210  char buf[BUF_SIZE];
1211  char* ptr = buf;
1212  char* ptrEnd = buf + BUF_SIZE;
1213  const char* terminator = (m_displayMode != DMODE_SCROLL ? "\n" : "");
1214  ptr += SNPRINTF(buf, ptrEnd - ptr, "RAW GPS: receiverIndex=%d, type=%d, count=%d %s",
1215  raw.receiverIndex, raw.dataType, raw.obsCount, terminator);
1216 
1217  if (m_displayMode != DMODE_SCROLL)
1218  {
1219  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
1220  }
1221  return buf;
1222 }
1223 
1224 string cInertialSenseDisplay::DataToStringSurveyIn(const survey_in_t &survey, const p_data_hdr_t& hdr)
1225 {
1226  (void)hdr;
1227  char buf[BUF_SIZE];
1228  char* ptr = buf;
1229  char* ptrEnd = buf + BUF_SIZE;
1230  int i = 0;
1231  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_SURVEY_IN:");
1232 
1233  ptr += SNPRINTF(ptr, ptrEnd - ptr, " state: %d ", survey.state);
1234  switch (survey.state)
1235  {
1236  case SURVEY_IN_STATE_OFF: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(off)"); break;
1237  case SURVEY_IN_STATE_RUNNING_3D: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(running 3D)"); break;
1238  case SURVEY_IN_STATE_RUNNING_FLOAT: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(running Float)"); break;
1239  case SURVEY_IN_STATE_RUNNING_FIX: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(running Fix)"); break;
1240  case SURVEY_IN_STATE_SAVE_POS: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(saving pos)"); break;
1241  case SURVEY_IN_STATE_DONE: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(done)"); break;
1242  }
1243 
1244  int elapsedTimeMin = survey.elapsedTimeSec / 60;
1245  int elapsedTimeSec = survey.elapsedTimeSec - (elapsedTimeMin * 60);
1246  int maxDurationMin = survey.maxDurationSec / 60;
1247  int maxDurationSec = survey.maxDurationSec - (maxDurationMin * 60);
1248 
1249  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", elapsed: %d:%02d of %2d:%02d",
1250  elapsedTimeMin, elapsedTimeSec, maxDurationMin, maxDurationSec );
1251  if (m_displayMode != DMODE_SCROLL)
1252  {
1253  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\thAcc: %4.3f\tlla:", survey.hAccuracy);
1254  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_LLA,
1255  survey.lla[0], // latitude
1256  survey.lla[1], // longitude
1257  survey.lla[2]); // altitude
1258  }
1259  else
1260  { // Single line format
1261  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", hAcc: %4.3f ", survey.hAccuracy);
1262  ptr += SNPRINTF(ptr, ptrEnd - ptr, " lla[%12.7f,%12.7f,%7.1f]",
1263  survey.lla[0], // latitude
1264  survey.lla[1], // longitude
1265  survey.lla[2]); // altitude
1266  }
1267  return buf;
1268 }
1269 
1270 string cInertialSenseDisplay::DataToStringRTOS(const rtos_info_t& info, const p_data_hdr_t& hdr)
1271 {
1272  cDataCSV csv;
1273  string csvString;
1274  csv.DataToStringCSV(hdr, (const uint8_t*)&info, csvString);
1275  const char* terminator = (m_displayMode != DMODE_SCROLL ? "\n" : "");
1276  return string("RTOS: ") + csvString + terminator;
1277 }
1278 
1279 ostream& boldOn(ostream& os)
1280 {
1281 
1282 #if PLATFORM_IS_WINDOWS
1283 
1284  return os;
1285 
1286 #else
1287 
1288  return os << "\033[1m";
1289 
1290 #endif
1291 
1292 }
1293 
1294 ostream& boldOff(ostream& os)
1295 {
1296 
1297 #if PLATFORM_IS_WINDOWS
1298 
1299  return os;
1300 
1301 #else
1302 
1303  return os << "\033[0m";
1304 
1305 #endif
1306 
1307 }
1308 
1309 // Bold on with newline
1310 ostream& endlbOn(ostream& os)
1311 {
1312 
1313 #if PLATFORM_IS_WINDOWS
1314 
1315  return os << endl;
1316 
1317 #else
1318 
1319  return os << endl << boldOn;
1320 
1321 #endif
1322 
1323 }
1324 
1325 // Bold off with newline
1326 ostream& endlbOff(ostream& os)
1327 {
1328 
1329 #if PLATFORM_IS_WINDOWS
1330 
1331  return os << endl;
1332 
1333 #else
1334 
1335  return os << endl << boldOff;
1336 
1337 #endif
1338 
1339 }
1340 
1341 #if defined(ENABLE_IS_PYTHON_WRAPPER)
1342 
1343 namespace py = pybind11;
1344 
1345 test_initializer display([](py::module &m) {
1346  py::module m2 = m.def_submodule("display");
1347 
1348  py::class_<cInertialSenseDisplay> display(m2, "cInertialSenseDisplay");
1349  display.def(py::init<>());
1350  display.def("SetDisplayMode", &cInertialSenseDisplay::SetDisplayMode);
1351  display.def("Clear", &cInertialSenseDisplay::Clear);
1352  display.def("GoToRow", &cInertialSenseDisplay::GoToRow);
1353  display.def("ProcessData", &cInertialSenseDisplay::ProcessData);
1354  display.def("Goodbye", &cInertialSenseDisplay::Goodbye);
1355  display.def("Home", &cInertialSenseDisplay::Home);
1356 
1357 });
1358 
1359 #endif
GPS_STATUS_FIX_RTK_SINGLE
Definition: data_sets.h:324
-
DID_GPS_RTK_MISC
#define DID_GPS_RTK_MISC
Definition: data_sets.h:56
-
PACKED::baseLla
double baseLla[3]
Definition: data_sets.h:1980
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <stdio.h>
14 #include <iostream>
15 #include <sstream>
16 #include <math.h>
17 
18 #include "ISConstants.h"
19 #include "ISUtilities.h"
20 #include "ISDisplay.h"
21 #include "ISPose.h"
22 #include "ISEarth.h"
23 #include "ISDataMappings.h"
24 #include "DataCSV.h"
25 
26 #if PLATFORM_IS_LINUX || PLATFORM_IS_APPLE
27 
28 #include <unistd.h>
29 #include <sys/time.h>
30 #include <termios.h>
31 
32 #endif
33 
34 #define PRINTV3_P1 "%8.1f,%8.1f,%8.1f\n"
35 #define PRINTV3_P2 " %8.2f,%8.2f,%8.2f\n"
36 #define PRINTV3_P3 " %8.3f,%8.3f,%8.3f\n"
37 #define PRINTV4_P1 "%8.1f,%8.1f,%8.1f,%8.1f\n"
38 #define PRINTV4_P2 " %8.2f,%8.2f,%8.2f,%8.2f\n"
39 #define PRINTV4_P3 " %8.3f,%8.3f,%8.3f,%8.3f\n"
40 #define PRINTV3_LLA "%13.7f,%13.7f,%7.1f ellipsoid\n"
41 #define PRINTV3_LLA_MSL "%13.7f,%13.7f,%7.1f MSL\n"
42 #define BUF_SIZE 8192
43 
44 #define DISPLAY_DELTA_TIME 0 // show delta time instead of time
45 
46 static bool s_controlCWasPressed;
47 
48 #if PLATFORM_IS_WINDOWS
49 
50 static bool ctrlHandler(DWORD fdwCtrlType)
51 {
52  switch (fdwCtrlType)
53  {
54  case CTRL_C_EVENT:
55  case CTRL_CLOSE_EVENT:
56  case CTRL_BREAK_EVENT:
57  case CTRL_LOGOFF_EVENT:
58  case CTRL_SHUTDOWN_EVENT:
59  s_controlCWasPressed = true;
60  return true;
61  default:
62  return false;
63  }
64 }
65 
66 #else
67 
68 #include <signal.h>
69 
70 static void signalFunction(int sig)
71 {
72  (void)sig;
73  s_controlCWasPressed = true;
74 }
75 
76 #endif
77 
78 cInertialSenseDisplay::cInertialSenseDisplay()
79 {
80  cout << endl << Hello() << endl;
81 
82  m_displayMode = DMODE_PRETTY;
83 
84 #if PLATFORM_IS_WINDOWS
85 
86  // Hide cursor
87  ShowCursor(false);
88 
89  if (!SetConsoleCtrlHandler((PHANDLER_ROUTINE)ctrlHandler, true))
90  {
91  std::cout << "Failed to set console ctrl handler!" << std::endl;
92  }
93 
94 #else
95 
96  signal(SIGINT, signalFunction);
97 
98 #endif
99 
100 }
101 
102 
103 void cInertialSenseDisplay::ShowCursor(bool visible)
104 {
105 
106 #if PLATFORM_IS_WINDOWS
107 
108 // m_windowsConsoleIn = GetStdHandle(STD_INPUT_HANDLE);
109  m_windowsConsoleOut = GetStdHandle(STD_OUTPUT_HANDLE);
110  CONSOLE_CURSOR_INFO cursorInfo;
111  GetConsoleCursorInfo(m_windowsConsoleOut, &cursorInfo);
112  cursorInfo.bVisible = visible;
113  SetConsoleCursorInfo(m_windowsConsoleOut, &cursorInfo);
114 
115 #endif
116 
117 }
118 
119 
120 void cInertialSenseDisplay::ShutDown()
121 {
122  ShowCursor(true);
123 // cout << "Shutting down..." << endl;
124 }
125 
126 
127 void cInertialSenseDisplay::Clear(void)
128 {
129 
130 #if PLATFORM_IS_WINDOWS
131 
132  COORD topLeft = { 0, 0 };
133  HANDLE console = GetStdHandle(STD_OUTPUT_HANDLE);
134  CONSOLE_SCREEN_BUFFER_INFO screen;
135  DWORD written;
136  GetConsoleScreenBufferInfo(console, &screen);
137  FillConsoleOutputCharacterA(console, ' ', screen.dwSize.X * screen.dwSize.Y, topLeft, &written);
138  FillConsoleOutputAttribute(console, FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE, screen.dwSize.X * screen.dwSize.Y, topLeft, &written);
139  SetConsoleCursorPosition(console, topLeft);
140 
141 #else
142 
143  printf( "\x1B[2J" ); // VT100 terminal command
144 
145 #endif
146 
147 }
148 
149 void cInertialSenseDisplay::Home(void)
150 {
151 
152 #if PLATFORM_IS_WINDOWS
153 
154  COORD topLeft = { 0, 0 };
155  SetConsoleCursorPosition(m_windowsConsoleOut, topLeft);
156 
157 #else
158 
159  printf( "\x1B[H" ); // VT100 terminal command
160 
161 #endif
162 
163 }
164 
165 void cInertialSenseDisplay::GoToRow(int y)
166 {
167 
168 #if PLATFORM_IS_WINDOWS
169 
170  COORD pos = { 0, (int16_t)y };
171  SetConsoleCursorPosition(m_windowsConsoleOut, pos);
172 
173 #else
174 
175  printf("\x1B[%dH", y); // VT100 terminal command
176 
177 #endif
178 
179 }
180 
181 void cInertialSenseDisplay::GoToColumnAndRow(int x, int y)
182 {
183 
184 #if PLATFORM_IS_WINDOWS
185 
186  COORD pos = { (int16_t)x, (int16_t)y };
187  SetConsoleCursorPosition(m_windowsConsoleOut, pos);
188 
189 #else
190 
191  printf("\x1B[%d;%df", y, x); // VT100 terminal command
192 
193 #endif
194 
195 }
196 
197 string cInertialSenseDisplay::Hello()
198 {
199  return "$ Inertial Sense. Press CTRL-C to terminate.\n";
200 }
201 
202 string cInertialSenseDisplay::Connected()
203 {
204  return string("$ Inertial Sense. Connected. Press CTRL-C to terminate. Rx ") + std::to_string(m_rxCount) + "\n";
205 }
206 
207 string cInertialSenseDisplay::Replay(double speed)
208 {
209  char buf[BUF_SIZE];
210 
211  SNPRINTF(buf, BUF_SIZE, "$ Inertial Sense. Replay mode at %.1lfx speed. Press CTRL-C to terminate.\n", speed);
212 
213  return buf;
214 }
215 
216 string cInertialSenseDisplay::Goodbye()
217 {
218  return "\nThanks for using Inertial Sense!\n";
219 }
220 
221 int cInertialSenseDisplay::ReadKey()
222 {
223 
224 #if PLATFORM_IS_WINDOWS
225 
226  INPUT_RECORD ip;
227  DWORD numRead = 0;
228  PeekConsoleInputA(m_windowsConsoleIn, &ip, 1, &numRead);
229  if (numRead == 1)
230  {
231  ReadConsoleInputA(m_windowsConsoleIn, &ip, 1, &numRead);
232  if (numRead == 1 && ip.EventType == KEY_EVENT && ip.Event.KeyEvent.bKeyDown)
233  {
234  return ip.Event.KeyEvent.uChar.AsciiChar;
235  }
236  }
237 
238 #else
239 
240  struct timeval tv;
241  fd_set fds;
242  tv.tv_sec = 0;
243  tv.tv_usec = 0;
244  FD_ZERO(&fds);
245  FD_SET(STDIN_FILENO, &fds);
246  select(STDIN_FILENO + 1, &fds, NULL, NULL, &tv);
247  if (FD_ISSET(0, &fds))
248  {
249  struct termios oldt;
250  struct termios newt;
251  tcgetattr(STDIN_FILENO, &oldt); /* store old settings*/
252  newt = oldt; /* copy old settings to new settings */
253  newt.c_lflag &= ~(ICANON); /* change settings */
254  tcsetattr(STDIN_FILENO, TCSANOW, &newt); /*apply the new settings immediatly */
255  int ch = getchar(); /* standard getchar call */
256  tcsetattr(STDIN_FILENO, TCSANOW, &oldt); /* reapply the old settings */
257  return ch; /* return received char */
258  }
259 
260 #endif
261 
262  return -1;
263 }
264 
265 bool cInertialSenseDisplay::ControlCWasPressed()
266 {
267  return s_controlCWasPressed;
268 }
269 
270 void cInertialSenseDisplay::ProcessData(p_data_t *data, bool enableReplay, double replaySpeedX)
271 {
272  if (m_displayMode == DMODE_QUIET)
273  {
274  return;
275  }
276 
277  int curTimeMs = current_weekMs();
278  m_rxCount++;
279 
280  if (enableReplay)
281  {
282  static bool isTowMode = false;
283  static int gpsTowMsOffset = 0;
284  static int msgTimeMsOffset = 0;
285  int msgTimeMs = 0;
286 
287  // Copy only new data
288  uDatasets d = {};
289  copyDataPToStructP(&d, data, sizeof(uDatasets));
290 
291  // Record message time. In either ToW or time since boot.
292  switch (data->hdr.id)
293  {
294  // Time of week - double
295  case DID_INS_1:
296  case DID_INS_2:
297  msgTimeMs = (int)(1000.0*d.ins1.timeOfWeek);
298  isTowMode = true;
299  break;
300 
301  // Time of week - uint32 ms
302  case DID_SYS_PARAMS:
303  msgTimeMs = d.gpsPos.timeOfWeekMs;
304  isTowMode = true;
305  break;
306 
307  case DID_GPS1_POS:
308  msgTimeMs = d.gpsPos.timeOfWeekMs;
309  gpsTowMsOffset = (int)(1000.0*d.gpsPos.towOffset);
310  isTowMode = true;
311  break;
312 
313  case DID_GPS1_RTK_REL:
314  msgTimeMs = d.gpsRtkRel.timeOfWeekMs;
315  isTowMode = true;
316  break;
317 
318  case DID_GPS1_RTK_MISC:
319  msgTimeMs = d.gpsPos.timeOfWeekMs;
320  gpsTowMsOffset = (int)(1000.0*d.gpsPos.towOffset);
321  isTowMode = false;
322  break;
323 
324  // Time since boot - double
325  case DID_MAGNETOMETER_1:
326  case DID_BAROMETER:
327  case DID_SYS_SENSORS:
328  case DID_PREINTEGRATED_IMU:
329  case DID_DUAL_IMU:
330  case DID_INL2_STATES:
331  case DID_GPS_BASE_RAW:
332  if( isTowMode )
333  msgTimeMs = (int)(1000.0*d.imu.time) + gpsTowMsOffset;
334  else
335  msgTimeMs = (int)(1000.0*d.imu.time);
336  break;
337 
338  // Unidentified data type
339 // default: printf("Unknown DID %d\t", data->hdr.id); return;
340  }
341 
342 
343  // Control replay rate
344  if (msgTimeMs != 0 && replaySpeedX>0.0)
345  {
346  for (;;)
347  {
348  curTimeMs = current_weekMs();
349 
350  // Replay speed
351  int replayTimeMs = (int)(long)(((double)curTimeMs)*replaySpeedX);
352 
353  // Reinitialize message offset
354  if (abs(msgTimeMs + msgTimeMsOffset - replayTimeMs) > 1500)
355  msgTimeMsOffset = replayTimeMs - msgTimeMs;
356 
357  // Proceed if we're caught up
358  if (replayTimeMs >= msgTimeMs + msgTimeMsOffset)
359  break;
360 
361  // Add delay
362 // SLEEP_US(1000);
363  SLEEP_MS(10);
364  }
365  }
366  }
367 
368 
369  static int timeSinceRefreshMs = 0;
370  static int timeSinceClearMs = 0;
371  static char idHist[DID_COUNT] = { 0 };
372  if (m_displayMode != DMODE_SCROLL)
373  {
374  // Clear display every 2 seconds or if we start seeing new messages.
375  if (curTimeMs - timeSinceClearMs > 2000 || curTimeMs < timeSinceClearMs || idHist[data->hdr.id] == 0)
376  {
377  Clear();
378  idHist[data->hdr.id] = 1;
379  timeSinceClearMs = curTimeMs;
380  }
381  }
382 
383 
384  // Display Data
385  switch (m_displayMode)
386  {
387  default:
388  m_displayMode = DMODE_PRETTY;
389  case DMODE_PRETTY:
390 
391  // Data stays at fixed location (no scroll history)
392  DataToVector(data);
393 
394  // Limit printData display updates to 20Hz (50 ms)
395  if (curTimeMs - timeSinceRefreshMs > 50 || curTimeMs < timeSinceRefreshMs)
396  {
397  Home();
398  if (enableReplay)
399  cout << Replay(replaySpeedX) << endl;
400  else
401  cout << Connected() << endl;
402 
403  cout << VectortoString();
404 
405  timeSinceRefreshMs = curTimeMs;
406  }
407  break;
408 
409  case DMODE_STATS:
410  // Limit printData display updates to 20Hz (50 ms)
411  if (curTimeMs - timeSinceRefreshMs > 50 || curTimeMs < timeSinceRefreshMs)
412  {
413  Home();
414  cout << Connected() << endl;
415  DataToStats(data);
416 
417  timeSinceRefreshMs = curTimeMs;
418  }
419  break;
420 
421 
422  case DMODE_SCROLL: // Scroll display
423  cout << DataToString(data) << endl;
424  break;
425  }
426 
427 
428 
429 }
430 
431 string cInertialSenseDisplay::VectortoString()
432 {
433  stringstream ss;
434 
435  for (size_t i = 0; i < m_didMsgs.size(); i++)
436  {
437  if (m_didMsgs[i].size())
438  {
439  ss << m_didMsgs[i];
440  }
441  }
442 
443  return ss.str();
444 }
445 
446 void cInertialSenseDisplay::DataToVector(const p_data_t* data)
447 {
448  size_t id = data->hdr.id;
449  if (m_didMsgs.size() <= id)
450  { // Resize vector if necessary
451  m_didMsgs.resize(id + 1);
452  }
453  // Add string to vector
454  m_didMsgs[id] = DataToString(data);
455 }
456 
457 void cInertialSenseDisplay::DataToStats(const p_data_t* data)
458 {
459  size_t id = data->hdr.id;
460  if (m_didStats.size() <= id)
461  { // Resize vector if necessary
462  m_didStats.resize(id + 1);
463  }
464 
465  // Update stats
466  int curTimeMs = current_weekMs();
467  sDidStats &s = m_didStats[id];
468  s.count++;
469  if(s.lastTimeMs)
470  s.dtMs = curTimeMs - s.lastTimeMs;
471  s.lastTimeMs = curTimeMs;
472 
473  // Display stats
474  printf(" Name DID Count dt\n");
475  for (int i = 0; i < (int)m_didStats.size(); i++)
476  {
477  sDidStats &s = m_didStats[i];
478  if (s.count)
479  {
480  printf("%20s %4d %9d %9.3lf\n", cISDataMappings::GetDataSetName(i), i, s.count, s.dtMs*0.001);
481  }
482  }
483 }
484 
485 string cInertialSenseDisplay::DataToString(const p_data_t* data)
486 {
487  uDatasets d = {};
488 
489  // Copy only new data
490  copyDataPToStructP(&d, data, sizeof(uDatasets));
491 
492  string str;
493  switch (data->hdr.id)
494  {
495  case DID_DEV_INFO: str = DataToStringDevInfo(d.devInfo, data->hdr); break;
496  case DID_DUAL_IMU: str = DataToStringDualIMU(d.dualImu, data->hdr); break;
497  case DID_PREINTEGRATED_IMU: str = DataToStringPreintegratedImu(d.pImu, data->hdr); break;
498  case DID_INS_1: str = DataToStringINS1(d.ins1, data->hdr); break;
499  case DID_INS_2: str = DataToStringINS2(d.ins2, data->hdr); break;
500  case DID_INS_3: str = DataToStringINS3(d.ins3, data->hdr); break;
501  case DID_INS_4: str = DataToStringINS4(d.ins4, data->hdr); break;
502  case DID_MAGNETOMETER_1:
503  case DID_MAGNETOMETER_2: str = DataToStringMag(d.mag, data->hdr); break;
504  case DID_MAG_CAL: str = DataToStringMagCal(d.magCal, data->hdr); break;
505  case DID_BAROMETER: str = DataToStringBaro(d.baro, data->hdr); break;
506  case DID_GPS1_POS: str = DataToStringGpsPos(d.gpsPos, data->hdr, "DID_GPS1_POS"); break;
507  case DID_GPS2_POS: str = DataToStringGpsPos(d.gpsPos, data->hdr, "DID_GPS2_POS"); break;
508  case DID_GPS1_RTK_POS: str = DataToStringGpsPos(d.gpsPos, data->hdr, "DID_GPS1_RTK_POS"); break;
509  case DID_GPS1_RTK_REL: str = DataToStringRtkRel(d.gpsRtkRel, data->hdr); break;
510  case DID_GPS1_RTK_MISC: str = DataToStringRtkMisc(d.gpsRtkMisc, data->hdr); break;
511  case DID_GPS1_RAW:
512  case DID_GPS2_RAW:
513  case DID_GPS_BASE_RAW: str = DataToStringRawGPS(d.gpsRaw, data->hdr); break;
514  case DID_SURVEY_IN: str = DataToStringSurveyIn(d.surveyIn, data->hdr); break;
515  case DID_SYS_PARAMS: str = DataToStringSysParams(d.sysParams, data->hdr); break;
516  case DID_SYS_SENSORS: str = DataToStringSysSensors(d.sysSensors, data->hdr); break;
517  case DID_RTOS_INFO: str = DataToStringRTOS(d.rtosInfo, data->hdr); break;
518  default:
519 #if 0 // List all DIDs
520  char buf[128];
521  SNPRINTF(buf, 128, "DID: %d\n", data->hdr.id);
522  str = buf;
523 #endif
524  break;
525  }
526 
527  return str;
528 }
529 
530 char* cInertialSenseDisplay::StatusToString(char* ptr, char* ptrEnd, const uint32_t insStatus, const uint32_t hdwStatus)
531 {
532  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tSTATUS\n");
533  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t\tSatellite Rx %d INS Fusing: GPS %d, Mag %d\n",
534  (hdwStatus & HDW_STATUS_GPS_SATELLITE_RX) != 0,
535  (insStatus & INS_STATUS_USING_GPS_IN_SOLUTION) != 0,
536  (insStatus & INS_STATUS_USING_MAG_IN_SOLUTION) != 0);
537  if (insStatus & INS_STATUS_NAV_MODE)
538  {
539  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t\tMode: NAV ");
540  }
541  else
542  {
543  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t\tMode: AHRS");
544  }
545  switch (INS_STATUS_SOLUTION(insStatus))
546  {
547  default:
548  case INS_STATUS_SOLUTION_OFF: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: OFF\n"); break;
549  case INS_STATUS_SOLUTION_ALIGNING: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: ALIGNING\n"); break;
550  case INS_STATUS_SOLUTION_ALIGNMENT_COMPLETE: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: ALIGNMENT COMPLETE\n"); break;
551  case INS_STATUS_SOLUTION_NAV_GOOD: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: NAV GOOD\n"); break;
552  case INS_STATUS_SOLUTION_NAV_HIGH_VARIANCE: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: NAV HIGH VARIANCE\n"); break;
553  case INS_STATUS_SOLUTION_AHRS_GOOD: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: AHRS GOOD\n"); break;
554  case INS_STATUS_SOLUTION_AHRS_HIGH_VARIANCE: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: AHRS HIGH VARIANCE\n"); break;
555  }
556 // ptr += SNPRINTF(ptr, ptrEnd - ptr, " Align Good: Att %d, Vel %d, Pos %d\n",
557 // (insStatus & INS_STATUS_ATT_ALIGN_GOOD) != 0,
558 // (insStatus & INS_STATUS_VEL_ALIGN_GOOD) != 0,
559 // (insStatus & INS_STATUS_POS_ALIGN_GOOD) != 0);
560  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t\tErrors Rx parse %d, temperature %d, self-test %d\n",
561  HDW_STATUS_COM_PARSE_ERROR_COUNT(hdwStatus),
562  (hdwStatus & HDW_STATUS_ERR_TEMPERATURE) != 0,
563  (hdwStatus & HDW_STATUS_BIT_FAULT) != 0);
564 
565  return ptr;
566 }
567 
568 char* cInertialSenseDisplay::InsStatusToSolStatusString(char* ptr, char* ptrEnd, const uint32_t insStatus)
569 {
570  switch (INS_STATUS_SOLUTION(insStatus))
571  {
572  default:
573  case INS_STATUS_SOLUTION_OFF: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", OFF "); break;
574  case INS_STATUS_SOLUTION_ALIGNING: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", ALIGNING "); break;
575  case INS_STATUS_SOLUTION_ALIGNMENT_COMPLETE: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", COMPLETE "); break;
576  case INS_STATUS_SOLUTION_NAV_GOOD: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", NAV GOOD "); break;
577  case INS_STATUS_SOLUTION_NAV_HIGH_VARIANCE: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", NAV VARIA"); break;
578  case INS_STATUS_SOLUTION_AHRS_GOOD: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", AHRS GOOD"); break;
579  case INS_STATUS_SOLUTION_AHRS_HIGH_VARIANCE: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", AHRS VARI"); break;
580  }
581 
582  return ptr;
583 }
584 
585 string cInertialSenseDisplay::DataToStringINS1(const ins_1_t &ins1, const p_data_hdr_t& hdr)
586 {
587  (void)hdr;
588  char buf[BUF_SIZE];
589  char* ptr = buf;
590  char* ptrEnd = buf + BUF_SIZE;
591  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_INS_1:");
592 
593 #if DISPLAY_DELTA_TIME==1
594  static double lastTime = 0;
595  double dtMs = 1000.0*(ins1.timeOfWeek - lastTime);
596  lastTime = ins1.timeOfWeek;
597  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
598 #else
599  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", ins1.timeOfWeek);
600 #endif
601 
602  if (m_displayMode == DMODE_SCROLL)
603  { // Single line format
604  ptr = InsStatusToSolStatusString(ptr, ptrEnd, ins1.insStatus);
605  ptr += SNPRINTF(ptr, ptrEnd - ptr, " theta[%6.2f,%6.2f,%7.2f], uvw[%6.2f,%6.2f,%6.2f], lla[%12.7f,%12.7f,%7.1f], ned[%6.3f,%6.3f,%6.3f]",
606  ins1.theta[0] * C_RAD2DEG_F,
607  ins1.theta[1] * C_RAD2DEG_F,
608  ins1.theta[2] * C_RAD2DEG_F,
609  ins1.uvw[0], ins1.uvw[1], ins1.uvw[2],
610  ins1.lla[0], ins1.lla[1], ins1.lla[2],
611  ins1.ned[0], ins1.ned[1], ins1.ned[2]);
612  }
613  else
614  { // Spacious format
615  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tEuler\t");
616  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P2,
617  ins1.theta[0] * C_RAD2DEG_F, // Roll
618  ins1.theta[1] * C_RAD2DEG_F, // Pitch
619  ins1.theta[2] * C_RAD2DEG_F); // Yaw
620  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tUWV\t");
621  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P1,
622  ins1.uvw[0], // U body velocity
623  ins1.uvw[1], // V body velocity
624  ins1.uvw[2]); // W body velocity
625  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tLLA\t");
626  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_LLA,
627  ins1.lla[0], // INS Latitude
628  ins1.lla[1], // INS Longitude
629  ins1.lla[2]); // INS Ellipsoid altitude (meters)
630  ptr = StatusToString(ptr, ptrEnd, ins1.insStatus, ins1.hdwStatus);
631  }
632 
633  return buf;
634 }
635 
636 string cInertialSenseDisplay::DataToStringINS2(const ins_2_t &ins2, const p_data_hdr_t& hdr)
637 {
638  (void)hdr;
639  char buf[BUF_SIZE];
640  char* ptr = buf;
641  char* ptrEnd = buf + BUF_SIZE;
642  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_INS_2:");
643 
644 #if DISPLAY_DELTA_TIME==1
645  static double lastTime = 0;
646  double dtMs = 1000.0*(ins2.timeOfWeek - lastTime);
647  lastTime = ins2.timeOfWeek;
648  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
649 #else
650  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", ins2.timeOfWeek);
651 #endif
652 
653  if (m_displayMode == DMODE_SCROLL)
654  { // Single line format
655  ptr = InsStatusToSolStatusString(ptr, ptrEnd, ins2.insStatus);
656  ptr += SNPRINTF(ptr, ptrEnd - ptr, " qn2b[%6.3f,%6.3f,%6.3f,%6.3f], uvw[%6.2f,%6.2f,%6.2f], lla[%12.7f,%12.7f,%7.1f]",
657  ins2.qn2b[0], ins2.qn2b[1], ins2.qn2b[2], ins2.qn2b[3],
658  ins2.uvw[0], ins2.uvw[1], ins2.uvw[2],
659  ins2.lla[0], ins2.lla[1], ins2.lla[2]);
660  }
661  else
662  { // Spacious format
663  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tQn2b\t");
664  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV4_P3, // Quaternion attitude rotation
665  ins2.qn2b[0], // W
666  ins2.qn2b[1], // X
667  ins2.qn2b[2], // Y
668  ins2.qn2b[3]); // Z
669  float theta[3];
670  quat2euler(ins2.qn2b, theta);
671  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t(Euler)\t");
672  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P2, // Convert quaternion to euler rotation
673  theta[0] * C_RAD2DEG_F, // Roll
674  theta[1] * C_RAD2DEG_F, // Pitch
675  theta[2] * C_RAD2DEG_F); // Yaw
676  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tUWV\t");
677  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P1,
678  ins2.uvw[0], // U body velocity
679  ins2.uvw[1], // V body velocity
680  ins2.uvw[2]); // W body velocity
681  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tLLA\t");
682  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_LLA,
683  ins2.lla[0], // INS Latitude
684  ins2.lla[1], // INS Longitude
685  ins2.lla[2]); // INS Ellipsoid altitude (meters)
686  ptr = StatusToString(ptr, ptrEnd, ins2.insStatus, ins2.hdwStatus);
687  }
688 
689  return buf;
690 }
691 
692 string cInertialSenseDisplay::DataToStringINS3(const ins_3_t &ins3, const p_data_hdr_t& hdr)
693 {
694  (void)hdr;
695  char buf[BUF_SIZE];
696  char* ptr = buf;
697  char* ptrEnd = buf + BUF_SIZE;
698  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_INS_3:");
699 
700 #if DISPLAY_DELTA_TIME==1
701  static double lastTime = 0;
702  double dtMs = 1000.0*(ins3.timeOfWeek - lastTime);
703  lastTime = ins3.timeOfWeek;
704  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
705 #else
706  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", ins3.timeOfWeek);
707 #endif
708 
709  if (m_displayMode == DMODE_SCROLL)
710  { // Single line format
711  ptr = InsStatusToSolStatusString(ptr, ptrEnd, ins3.insStatus);
712  ptr += SNPRINTF(ptr, ptrEnd - ptr, " qn2b[%6.3f,%6.3f,%6.3f,%6.3f], uvw[%6.2f,%6.2f,%6.2f], lla[%12.7f,%12.7f,%7.1f]",
713  ins3.qn2b[0], ins3.qn2b[1], ins3.qn2b[2], ins3.qn2b[3],
714  ins3.uvw[0], ins3.uvw[1], ins3.uvw[2],
715  ins3.lla[0], ins3.lla[1], ins3.lla[2]);
716  }
717  else
718  { // Spacious format
719  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tQn2b\t");
720  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV4_P3, // Quaternion attitude rotation
721  ins3.qn2b[0], // W
722  ins3.qn2b[1], // X
723  ins3.qn2b[2], // Y
724  ins3.qn2b[3]); // Z
725  float theta[3];
726  quat2euler(ins3.qn2b, theta);
727  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t(Euler)\t");
728  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P2, // Convert quaternion to euler rotation
729  theta[0] * C_RAD2DEG_F, // Roll
730  theta[1] * C_RAD2DEG_F, // Pitch
731  theta[2] * C_RAD2DEG_F); // Yaw
732  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tUWV\t");
733  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P1,
734  ins3.uvw[0], // U body velocity
735  ins3.uvw[1], // V body velocity
736  ins3.uvw[2]); // W body velocity
737  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tLLA\t");
738  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_LLA_MSL,
739  ins3.lla[0], // INS Latitude
740  ins3.lla[1], // INS Longitude
741  ins3.lla[2]); // INS Ellipsoid altitude (meters)
742  ptr = StatusToString(ptr, ptrEnd, ins3.insStatus, ins3.hdwStatus);
743  }
744 
745  return buf;
746 }
747 
748 string cInertialSenseDisplay::DataToStringINS4(const ins_4_t &ins4, const p_data_hdr_t& hdr)
749 {
750  (void)hdr;
751  char buf[BUF_SIZE];
752  char* ptr = buf;
753  char* ptrEnd = buf + BUF_SIZE;
754  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_INS_3:");
755 
756 #if DISPLAY_DELTA_TIME==1
757  static double lastTime = 0;
758  double dtMs = 1000.0*(ins4.timeOfWeek - lastTime);
759  lastTime = ins4.timeOfWeek;
760  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
761 #else
762  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", ins4.timeOfWeek);
763 #endif
764 
765  if (m_displayMode == DMODE_SCROLL)
766  { // Single line format
767  ptr = InsStatusToSolStatusString(ptr, ptrEnd, ins4.insStatus);
768  ptr += SNPRINTF(ptr, ptrEnd - ptr, " qe2b[%6.3f,%6.3f,%6.3f,%6.3f], ve[%6.2f,%6.2f,%6.2f], ecef[%12.7f,%12.7f,%7.1f]",
769  ins4.qe2b[0], ins4.qe2b[1], ins4.qe2b[2], ins4.qe2b[3],
770  ins4.ve[0], ins4.ve[1], ins4.ve[2],
771  ins4.ecef[0], ins4.ecef[1], ins4.ecef[2]);
772  }
773  else
774  { // Spacious format
775  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tQe2b\t");
776  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV4_P3, // Quaternion attitude rotation
777  ins4.qe2b[0], // W
778  ins4.qe2b[1], // X
779  ins4.qe2b[2], // Y
780  ins4.qe2b[3]); // Z
781  float theta[3];
782  qe2b2EulerNedEcef(theta, (float*)ins4.qe2b, (double*)ins4.ecef);
783  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t(Euler)\t");
784  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P2, // Convert quaternion to euler rotation
785  theta[0] * C_RAD2DEG_F, // Roll
786  theta[1] * C_RAD2DEG_F, // Pitch
787  theta[2] * C_RAD2DEG_F); // Yaw
788  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tVE\t");
789  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
790  ins4.ve[0], // X ECEF velocity
791  ins4.ve[1], // Y ECEF velocity
792  ins4.ve[2]); // Z ECEF velocity
793  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tECEF\t");
794  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
795  ins4.ecef[0], // X ECEF position
796  ins4.ecef[1], // Y ECEF position
797  ins4.ecef[2]); // Z ECEF position
798  ptr = StatusToString(ptr, ptrEnd, ins4.insStatus, ins4.hdwStatus);
799  }
800 
801  return buf;
802 }
803 
804 string cInertialSenseDisplay::DataToStringDualIMU(const dual_imu_t &imu, const p_data_hdr_t& hdr)
805 {
806  (void)hdr;
807  char buf[BUF_SIZE];
808  char* ptr = buf;
809  char* ptrEnd = buf + BUF_SIZE;
810  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_DUAL_IMU:");
811 
812 #if DISPLAY_DELTA_TIME==1
813  static double lastTime = 0;
814  double dtMs = 1000.0*(imu.time - lastTime);
815  lastTime = imu.time;
816  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
817 #else
818  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", imu.time);
819 #endif
820 
821  if (m_displayMode == DMODE_SCROLL)
822  { // Single line format
823  for (int i = 0; i < 2; i++)
824  {
825  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", pqr[%5.1f,%5.1f,%5.1f]",
826  imu.I[i].pqr[0] * C_RAD2DEG_F,
827  imu.I[i].pqr[1] * C_RAD2DEG_F,
828  imu.I[i].pqr[2] * C_RAD2DEG_F);
829  }
830  for (int i = 0; i < 2; i++)
831  {
832  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", acc[%5.1f,%5.1f,%5.1f]",
833  imu.I[i].acc[0], imu.I[i].acc[1], imu.I[i].acc[2]);
834  }
835  }
836  else
837  { // Spacious format
838  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
839  for (int i = 0; i < 2; i++)
840  {
841  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tPQR\t");
842  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P1,
843  imu.I[i].pqr[0] * C_RAD2DEG_F, // P angular rate
844  imu.I[i].pqr[1] * C_RAD2DEG_F, // Q angular rate
845  imu.I[i].pqr[2] * C_RAD2DEG_F); // R angular rate
846  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tAcc\t");
847  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P1,
848  imu.I[i].acc[0], // X acceleration
849  imu.I[i].acc[1], // Y acceleration
850  imu.I[i].acc[2]); // Z acceleration
851  }
852  }
853 
854  return buf;
855 }
856 
857 string cInertialSenseDisplay::DataToStringPreintegratedImu(const preintegrated_imu_t &imu, const p_data_hdr_t& hdr)
858 {
859  (void)hdr;
860  char buf[BUF_SIZE];
861  char* ptr = buf;
862  char* ptrEnd = buf + BUF_SIZE;
863  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_PREINTEGRATED_IMU:");
864 
865 #if DISPLAY_DELTA_TIME==1
866  static double lastTime = 0;
867  double dtMs = 1000.0*(imu.time - lastTime);
868  lastTime = imu.time;
869  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
870 #else
871  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", imu.time);
872 #endif
873 
874  if (m_displayMode == DMODE_SCROLL)
875  { // Single line format
876  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", theta1[%6.3f,%6.3f,%6.3f], vel1[%6.3f,%6.3f,%6.3f]",
877  imu.theta1[0] * C_RAD2DEG_F,
878  imu.theta1[1] * C_RAD2DEG_F,
879  imu.theta1[2] * C_RAD2DEG_F,
880  imu.vel1[0], imu.vel1[1], imu.vel1[2]);
881  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", theta2[%6.3f,%6.3f,%6.3f], vel2[%6.3f,%6.3f,%6.3f]",
882  imu.theta2[0] * C_RAD2DEG_F,
883  imu.theta2[1] * C_RAD2DEG_F,
884  imu.theta2[2] * C_RAD2DEG_F,
885  imu.vel2[0], imu.vel2[1], imu.vel2[2]);
886  }
887  else
888  { // Spacious format
889  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tIMU1 theta1\t");
890  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
891  imu.theta1[0] * C_RAD2DEG_F, // IMU1 P angular rate
892  imu.theta1[1] * C_RAD2DEG_F, // IMU1 Q angular rate
893  imu.theta1[2] * C_RAD2DEG_F); // IMU1 R angular rate
894  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tIMU1 vel1\t");
895  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
896  imu.vel1[0], // IMU1 X acceleration
897  imu.vel1[1], // IMU1 Y acceleration
898  imu.vel1[2]); // IMU1 Z acceleration
899  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tIMU2 theta2\t");
900  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
901  imu.theta2[0] * C_RAD2DEG_F, // IMU2 P angular rate
902  imu.theta2[1] * C_RAD2DEG_F, // IMU2 Q angular rate
903  imu.theta2[2] * C_RAD2DEG_F); // IMU2 R angular rate
904  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tIMU2 vel2\t");
905  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
906  imu.vel2[0], // IMU2 X acceleration
907  imu.vel2[1], // IMU2 Y acceleration
908  imu.vel2[2]); // IMU2 Z acceleration
909  }
910 
911  return buf;
912 }
913 
914 string cInertialSenseDisplay::DataToStringMag(const magnetometer_t &mag, const p_data_hdr_t& hdr)
915 {
916  (void)hdr;
917  char buf[BUF_SIZE];
918  char* ptr = buf;
919  char* ptrEnd = buf + BUF_SIZE;
920  int i = 0;
921  if (hdr.id == DID_MAGNETOMETER_2) i = 1;
922  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_MAGNETOMETER_%d:", i + 1);
923 
924 #if DISPLAY_DELTA_TIME==1
925  static double lastTime[2] = { 0 };
926  double dtMs = 1000.0*(mag.time - lastTime[i]);
927  lastTime[i] = mag.time;
928  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
929 #else
930  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", mag.time);
931 #endif
932 
933  if (m_displayMode == DMODE_SCROLL)
934  { // Single line format
935  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", mag[%6.2f,%6.2f,%6.2f]",
936  mag.mag[0], // X magnetometer
937  mag.mag[1], // Y magnetometer
938  mag.mag[2]); // Z magnetometer
939  }
940  else
941  { // Spacious format
942  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tmag\t");
943  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P2,
944  mag.mag[0], // X magnetometer
945  mag.mag[1], // Y magnetometer
946  mag.mag[2]); // Z magnetometer
947  }
948 
949  return buf;
950 }
951 
952 string cInertialSenseDisplay::DataToStringMagCal(const mag_cal_t &mag, const p_data_hdr_t& hdr)
953 {
954  (void)hdr;
955  char buf[BUF_SIZE];
956  char* ptr = buf;
957  char* ptrEnd = buf + BUF_SIZE;
958  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_MAG_CAL:");
959 
960  switch (mag.enMagRecal)
961  {
962  default: ptr += SNPRINTF(ptr, ptrEnd - ptr, " enMagRecal %3d, ", mag.enMagRecal); break;
963  case MAG_RECAL_MODE_MULTI_AXIS: ptr += SNPRINTF(ptr, ptrEnd - ptr, " enMagRecal %3d (MULTI-AXIS ), ", mag.enMagRecal); break;
964  case MAG_RECAL_MODE_SINGLE_AXIS: ptr += SNPRINTF(ptr, ptrEnd - ptr, " enMagRecal %3d (SINGLE-AXIS), ", mag.enMagRecal); break;
965  case MAG_RECAL_MODE_COMPLETE: ptr += SNPRINTF(ptr, ptrEnd - ptr, " enMagRecal %3d (COMPLETE! ), ", mag.enMagRecal); break;
966  }
967 
968  { // Single line format
969  ptr += SNPRINTF(ptr, ptrEnd - ptr, " progress: %3.0f %%, declination: %4.1f",
970  mag.progress,
971  mag.declination * C_RAD2DEG_F);
972  }
973 
974  if (m_displayMode == DMODE_PRETTY)
975  {
976  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
977  }
978 
979  return buf;
980 }
981 
982 string cInertialSenseDisplay::DataToStringBaro(const barometer_t &baro, const p_data_hdr_t& hdr)
983 {
984  (void)hdr;
985  char buf[BUF_SIZE];
986  char* ptr = buf;
987  char* ptrEnd = buf + BUF_SIZE;
988  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_BAROMETER:");
989 
990 #if DISPLAY_DELTA_TIME==1
991  static double lastTime = 0;
992  double dtMs = 1000.0*(baro.time - lastTime);
993  lastTime = baro.time;
994  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
995 #else
996  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", baro.time);
997 #endif
998 
999  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", %.2fkPa", baro.bar);
1000  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", %.1fm", baro.mslBar);
1001  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", %.2fC", baro.barTemp);
1002  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", Humid. %.1f%%", baro.humidity);
1003 
1004  if (m_displayMode == DMODE_PRETTY)
1005  {
1006  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
1007  }
1008 
1009  return buf;
1010 }
1011 
1012 string cInertialSenseDisplay::DataToStringGpsPos(const gps_pos_t &gps, const p_data_hdr_t& hdr, const string didName)
1013 {
1014  (void)hdr;
1015  char buf[BUF_SIZE];
1016  char* ptr = buf;
1017  char* ptrEnd = buf + BUF_SIZE;
1018 
1019  ptr += SNPRINTF(ptr, ptrEnd - ptr, "%s:", didName.c_str());
1020 
1021 #if DISPLAY_DELTA_TIME==1
1022  static int lastTimeMs = 0;
1023  int dtMs = gps.timeOfWeekMs - lastTimeMs;
1024  lastTimeMs = gps.timeOfWeekMs;
1025  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %3dms", dtMs);
1026 #else
1027  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %dms", gps.timeOfWeekMs);
1028 #endif
1029 
1030  if (m_displayMode == DMODE_SCROLL)
1031  { // Single line format
1032  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", LLA[%12.7f,%12.7f,%7.1f], %d sats, %4.1f cno, %4.3f hAcc, %4.3f vAcc, %4.3f pDop",
1033  gps.lla[0], gps.lla[1], gps.lla[2],
1034  gps.status&GPS_STATUS_NUM_SATS_USED_MASK, gps.cnoMean,
1035  gps.hAcc, gps.vAcc, gps.pDop);
1036  }
1037  else
1038  { // Spacious format
1039  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tSats: %2d, ",
1040  gps.status&GPS_STATUS_NUM_SATS_USED_MASK); // Satellites used in solution
1041  ptr += SNPRINTF(ptr, ptrEnd - ptr, "Status: 0x%08x (", gps.status);
1042  switch (gps.status&GPS_STATUS_FIX_MASK)
1043  {
1044  default:
1045  case GPS_STATUS_FIX_NONE: ptr += SNPRINTF(ptr, ptrEnd - ptr, "%d", (gps.status&GPS_STATUS_FIX_MASK)>>GPS_STATUS_FIX_BIT_OFFSET); break;
1046  case GPS_STATUS_FIX_2D: ptr += SNPRINTF(ptr, ptrEnd - ptr, "2D"); break;
1047  case GPS_STATUS_FIX_3D: ptr += SNPRINTF(ptr, ptrEnd - ptr, "3D"); break;
1048  case GPS_STATUS_FIX_RTK_SINGLE: ptr += SNPRINTF(ptr, ptrEnd - ptr, "RTK Single"); break;
1049  case GPS_STATUS_FIX_RTK_FLOAT: ptr += SNPRINTF(ptr, ptrEnd - ptr, "RTK Float"); break;
1050  case GPS_STATUS_FIX_RTK_FIX: ptr += SNPRINTF(ptr, ptrEnd - ptr, "RTK FIX"); break;
1051  }
1052  ptr += SNPRINTF(ptr, ptrEnd - ptr, "),\thAcc: %.3f m cno: %3.1f dBHz\n", gps.hAcc, gps.cnoMean); // Position accuracy
1053  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tLLA: ");
1054  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_LLA,
1055  gps.lla[0], // GPS Latitude
1056  gps.lla[1], // GPS Longitude
1057  gps.lla[2]); // GPS Ellipsoid altitude (meters)
1058  if (gps.status&GPS_STATUS_FLAGS_RTK_ENABLED)
1059  {
1060  if (gps.status&GPS_STATUS_FLAGS_GPS_COMPASSING_ENABLED)
1061  {
1062  ptr += SNPRINTF(ptr, ptrEnd - ptr, "Compassing, ");
1063  }
1064  else
1065  {
1066  if (gps.status&GPS_STATUS_FLAGS_BASE_POSITION_MOVING) { ptr += SNPRINTF(ptr, ptrEnd - ptr, "Moving base, "); }
1067  }
1068  if (gps.status&GPS_STATUS_FLAGS_RX_BASE_NO_OBSERV_EPHEM) { ptr += SNPRINTF(ptr, ptrEnd - ptr, "No obs/ephem, "); }
1069  if (gps.status&GPS_STATUS_FLAGS_RX_BASE_NO_POSITION) { ptr += SNPRINTF(ptr, ptrEnd - ptr, "No base position, "); }
1070  }
1071  }
1072 
1073  return buf;
1074 }
1075 
1076 string cInertialSenseDisplay::DataToStringRtkRel(const gps_rtk_rel_t &rel, const p_data_hdr_t& hdr)
1077 {
1078  (void)hdr;
1079  char buf[BUF_SIZE];
1080  char* ptr = buf;
1081  char* ptrEnd = buf + BUF_SIZE;
1082 
1083  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_GPS1_RTK_REL:");
1084 
1085 #if DISPLAY_DELTA_TIME==1
1086  static int lastTimeMs = 0;
1087  int dtMs = rel.timeOfWeekMs - lastTimeMs;
1088  lastTimeMs = rel.timeOfWeekMs;
1089  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %3dms", dtMs);
1090 #else
1091  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %dms", rel.timeOfWeekMs);
1092 #endif
1093 
1094  if (m_displayMode == DMODE_SCROLL)
1095  { // Single line format
1096  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", V2B[%10.3f,%10.3f,%9.2f], %4.1f age, %4.1f arRatio, %4.3f dist, %4.2f bear",
1097  rel.vectorToBase[0], rel.vectorToBase[1], rel.vectorToBase[2],
1098  rel.differentialAge, rel.arRatio, rel.distanceToBase, rel.headingToBase);
1099  }
1100  else
1101  { // Spacious format
1102  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tVectorToBase: ");
1103  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
1104  rel.vectorToBase[0], // Vector to base in ECEF
1105  rel.vectorToBase[1], // Vector to base in ECEF
1106  rel.vectorToBase[2]); // Vector to base in ECEF
1107  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tRTK:\tdiffAge: %3.1fs arRatio: %4.1f dist:%5.2fm bear:%4.1f\n",
1108  rel.differentialAge, rel.arRatio, rel.distanceToBase, rel.headingToBase*C_RAD2DEG_F);
1109  }
1110 
1111  return buf;
1112 }
1113 
1114 string cInertialSenseDisplay::DataToStringRtkMisc(const gps_rtk_misc_t& rtk, const p_data_hdr_t& hdr)
1115 {
1116  (void)hdr;
1117  char buf[BUF_SIZE];
1118  char* ptr = buf;
1119  char* ptrEnd = buf + BUF_SIZE;
1120  const char* terminator = (m_displayMode != DMODE_SCROLL ? "\n" : "");
1121  ptr += SNPRINTF(buf, ptrEnd - ptr, "RTK MISC: T=%d, lla[%4.7f,%4.7f,%7.3f], A[%3.3f,%3.3f,%3.3f], AR:%3.3f, dop(g,h,v)[%3.3f,%3.3f,%3.3f] %s",
1122  rtk.timeOfWeekMs, rtk.baseLla[0], rtk.baseLla[1], rtk.baseLla[2],
1123  rtk.accuracyPos[0], rtk.accuracyPos[1], rtk.accuracyPos[2],
1124  rtk.arThreshold,
1125  rtk.gDop, rtk.hDop, rtk.vDop,
1126  terminator);
1127 
1128  if (m_displayMode != DMODE_SCROLL)
1129  {
1130  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
1131  }
1132 
1133  return buf;
1134 }
1135 
1136 string cInertialSenseDisplay::DataToStringRawGPS(const gps_raw_t& raw, const p_data_hdr_t& hdr)
1137 {
1138  (void)hdr;
1139  char buf[BUF_SIZE];
1140  char* ptr = buf;
1141  char* ptrEnd = buf + BUF_SIZE;
1142  const char* terminator = (m_displayMode != DMODE_SCROLL ? "\n" : "");
1143  ptr += SNPRINTF(buf, ptrEnd - ptr, "RAW GPS: receiverIndex=%d, type=%d, count=%d %s",
1144  raw.receiverIndex, raw.dataType, raw.obsCount, terminator);
1145 
1146  if (m_displayMode != DMODE_SCROLL)
1147  {
1148  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
1149  }
1150  return buf;
1151 }
1152 
1153 string cInertialSenseDisplay::DataToStringSurveyIn(const survey_in_t &survey, const p_data_hdr_t& hdr)
1154 {
1155  (void)hdr;
1156  char buf[BUF_SIZE];
1157  char* ptr = buf;
1158  char* ptrEnd = buf + BUF_SIZE;
1159  int i = 0;
1160  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_SURVEY_IN:");
1161 
1162  ptr += SNPRINTF(ptr, ptrEnd - ptr, " state: %d ", survey.state);
1163  switch (survey.state)
1164  {
1165  case SURVEY_IN_STATE_OFF: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(off)"); break;
1166  case SURVEY_IN_STATE_RUNNING_3D: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(running 3D)"); break;
1167  case SURVEY_IN_STATE_RUNNING_FLOAT: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(running Float)"); break;
1168  case SURVEY_IN_STATE_RUNNING_FIX: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(running Fix)"); break;
1169  case SURVEY_IN_STATE_SAVE_POS: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(saving pos)"); break;
1170  case SURVEY_IN_STATE_DONE: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(done)"); break;
1171  }
1172 
1173  int elapsedTimeMin = survey.elapsedTimeSec / 60;
1174  int elapsedTimeSec = survey.elapsedTimeSec - (elapsedTimeMin * 60);
1175  int maxDurationMin = survey.maxDurationSec / 60;
1176  int maxDurationSec = survey.maxDurationSec - (maxDurationMin * 60);
1177 
1178  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", elapsed: %d:%02d of %2d:%02d",
1179  elapsedTimeMin, elapsedTimeSec, maxDurationMin, maxDurationSec );
1180  if (m_displayMode != DMODE_SCROLL)
1181  {
1182  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\thAcc: %4.3f\tlla:", survey.hAccuracy);
1183  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_LLA,
1184  survey.lla[0], // latitude
1185  survey.lla[1], // longitude
1186  survey.lla[2]); // altitude
1187  }
1188  else
1189  { // Single line format
1190  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", hAcc: %4.3f ", survey.hAccuracy);
1191  ptr += SNPRINTF(ptr, ptrEnd - ptr, " lla[%12.7f,%12.7f,%7.1f]",
1192  survey.lla[0], // latitude
1193  survey.lla[1], // longitude
1194  survey.lla[2]); // altitude
1195  }
1196  return buf;
1197 }
1198 
1199 string cInertialSenseDisplay::DataToStringSysParams(const sys_params_t& sys, const p_data_hdr_t& hdr)
1200 {
1201  (void)hdr;
1202  char buf[BUF_SIZE];
1203  char* ptr = buf;
1204  char* ptrEnd = buf + BUF_SIZE;
1205  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_SYS_PARAMS:");
1206 
1207 #if DISPLAY_DELTA_TIME==1
1208  static int lastTimeMs = 0;
1209  int dtMs = sys.timeOfWeekMs - lastTimeMs;
1210  lastTimeMs = sys.timeOfWeekMs;
1211  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %3dms", dtMs);
1212 #else
1213  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %dms", sys.timeOfWeekMs);
1214 #endif
1215 
1216  ptr += SNPRINTF(ptr, ptrEnd - ptr, ",%d,%d,%d\n", sys.imuPeriodMs, sys.navPeriodMs, sys.genFaultCode);
1217 
1218  if (m_displayMode == DMODE_PRETTY)
1219  {
1220  ptr = StatusToString(ptr, ptrEnd, sys.insStatus, sys.hdwStatus);
1221  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tTemp: IMU %4.1f C\tBaro %4.1f C\tMCU %4.1f C\n", sys.imuTemp, sys.baroTemp, sys.mcuTemp);
1222  }
1223 
1224  return buf;
1225 }
1226 
1227 string cInertialSenseDisplay::DataToStringSysSensors(const sys_sensors_t& sensors, const p_data_hdr_t& hdr)
1228 {
1229  (void)hdr;
1230  char buf[BUF_SIZE];
1231  char* ptr = buf;
1232  char* ptrEnd = buf + BUF_SIZE;
1233  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_SYS_SENSORS:");
1234 
1235 #if DISPLAY_DELTA_TIME==1
1236  static double lastTime = 0;
1237  double dtMs = 1000.0*(sensors.time - lastTime);
1238  lastTime = sensors.time;
1239  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
1240 #else
1241  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", sensors.time);
1242 #endif
1243 
1244  // Single line format
1245  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", %4.1fC, pqr[%5.1f,%5.1f,%5.1f], acc[%5.1f,%5.1f,%5.1f], mag[%6.2f,%6.2f,%6.2f]",
1246  sensors.temp,
1247  sensors.pqr[0] * C_RAD2DEG_F,
1248  sensors.pqr[1] * C_RAD2DEG_F,
1249  sensors.pqr[2] * C_RAD2DEG_F,
1250  sensors.acc[0], sensors.acc[1], sensors.acc[2],
1251  sensors.mag[0], sensors.mag[1], sensors.mag[2]
1252  );
1253 
1254  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", baro[%5.2fkPa, %4.1fC, %7.2fm, %3.1f%% humidity], adc[%3.1fV, %3.1fV, %3.1fV, %3.1fV]",
1255  sensors.bar, sensors.barTemp, sensors.mslBar, sensors.humidity,
1256  sensors.vin, sensors.ana1, sensors.ana3, sensors.ana4
1257  );
1258 
1259  if (m_displayMode != DMODE_SCROLL)
1260  {
1261  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
1262  }
1263 
1264  return buf;
1265 }
1266 
1267 string cInertialSenseDisplay::DataToStringRTOS(const rtos_info_t& info, const p_data_hdr_t& hdr)
1268 {
1269  cDataCSV csv;
1270  string csvString;
1271  csv.DataToStringCSV(hdr, (const uint8_t*)&info, csvString);
1272  const char* terminator = (m_displayMode != DMODE_SCROLL ? "\n" : "");
1273  return string("RTOS: ") + csvString + terminator;
1274 }
1275 
1276 string cInertialSenseDisplay::DataToStringDevInfo(const dev_info_t &info, const p_data_hdr_t& hdr)
1277 {
1278  (void)hdr;
1279  char buf[BUF_SIZE];
1280  char* ptr = buf;
1281  char* ptrEnd = buf + BUF_SIZE;
1282  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_DEV_INFO:");
1283 
1284  // Single line format
1285  ptr += SNPRINTF(ptr, ptrEnd - ptr, " SN%d, Fw %d.%d.%d.%d %c%d, %04d-%02d-%02d",
1286  info.serialNumber,
1287  info.firmwareVer[0],
1288  info.firmwareVer[1],
1289  info.firmwareVer[2],
1290  info.firmwareVer[3],
1291  info.buildDate[0],
1292  info.buildNumber,
1293  info.buildDate[1] + 2000,
1294  info.buildDate[2],
1295  info.buildDate[3]
1296  );
1297 
1298  if (m_displayMode != DMODE_SCROLL)
1299  { // Spacious format
1300  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %02d:%02d:%02d, Proto %d.%d.%d.%d\n",
1301  info.buildTime[0],
1302  info.buildTime[1],
1303  info.buildTime[2],
1304  info.protocolVer[0],
1305  info.protocolVer[1],
1306  info.protocolVer[2],
1307  info.protocolVer[3]
1308  );
1309  }
1310 
1311  return buf;
1312 }
1313 
1314 ostream& boldOn(ostream& os)
1315 {
1316 
1317 #if PLATFORM_IS_WINDOWS
1318 
1319  return os;
1320 
1321 #else
1322 
1323  return os << "\033[1m";
1324 
1325 #endif
1326 
1327 }
1328 
1329 ostream& boldOff(ostream& os)
1330 {
1331 
1332 #if PLATFORM_IS_WINDOWS
1333 
1334  return os;
1335 
1336 #else
1337 
1338  return os << "\033[0m";
1339 
1340 #endif
1341 
1342 }
1343 
1344 // Bold on with newline
1345 ostream& endlbOn(ostream& os)
1346 {
1347 
1348 #if PLATFORM_IS_WINDOWS
1349 
1350  return os << endl;
1351 
1352 #else
1353 
1354  return os << endl << boldOn;
1355 
1356 #endif
1357 
1358 }
1359 
1360 // Bold off with newline
1361 ostream& endlbOff(ostream& os)
1362 {
1363 
1364 #if PLATFORM_IS_WINDOWS
1365 
1366  return os << endl;
1367 
1368 #else
1369 
1370  return os << endl << boldOff;
1371 
1372 #endif
1373 
1374 }
GPS_STATUS_FIX_RTK_SINGLE
Definition: data_sets.h:343
+
PACKED::baseLla
double baseLla[3]
Definition: data_sets.h:2013
DID_SURVEY_IN
#define DID_SURVEY_IN
Definition: data_sets.h:107
-
HDW_STATUS_ERR_TEMPERATURE
Definition: data_sets.h:289
+
HDW_STATUS_ERR_TEMPERATURE
Definition: data_sets.h:306
DID_DUAL_IMU
#define DID_DUAL_IMU
Definition: data_sets.h:92
-
PACKED::navPeriodMs
uint32_t navPeriodMs
Definition: data_sets.h:881
-
GPS_STATUS_FIX_RTK_FLOAT
Definition: data_sets.h:325
+
PACKED::navPeriodMs
uint32_t navPeriodMs
Definition: data_sets.h:893
+
GPS_STATUS_FIX_RTK_FLOAT
Definition: data_sets.h:344
-
PACKED::genFaultCode
uint32_t genFaultCode
Definition: data_sets.h:887
-
cInertialSenseDisplay::DataToStringMagCal
string DataToStringMagCal(const mag_cal_t &mag, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:945
-
SLEEP_MS
#define SLEEP_MS(timeMs)
Definition: ISUtilities.h:140
-
PACKED::ana4
float ana4
Definition: data_sets.h:834
-
GPS_STATUS_FLAGS_GPS_COMPASSING_MODE
Definition: data_sets.h:337
-
DID_GPS_RTK_NAV
#define DID_GPS_RTK_NAV
Definition: data_sets.h:55
-
survey_in_t::hAccuracy
float hAccuracy
Definition: data_sets.h:2209
-
GPS_STATUS_FIX_NONE
Definition: data_sets.h:314
+
PACKED::genFaultCode
uint32_t genFaultCode
Definition: data_sets.h:899
+
PACKED::cnoMean
float cnoMean
Definition: data_sets.h:659
+
cInertialSenseDisplay::DataToStringMagCal
string DataToStringMagCal(const mag_cal_t &mag, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:952
+
SLEEP_MS
#define SLEEP_MS(timeMs)
Definition: ISUtilities.h:134
+
PACKED::ana4
float ana4
Definition: data_sets.h:846
+
PACKED::vectorToBase
float vectorToBase[3]
Definition: data_sets.h:1977
+
PACKED::gpsRtkRel
gps_rtk_rel_t gpsRtkRel
Definition: data_sets.h:2442
+
survey_in_t::hAccuracy
float hAccuracy
Definition: data_sets.h:2239
+
GPS_STATUS_FIX_NONE
Definition: data_sets.h:333
ISDisplay.h
PRINTV3_P3
#define PRINTV3_P3
Definition: ISDisplay.cpp:36
-
PACKED::arRatio
float arRatio
Definition: data_sets.h:656
-
GPS_STATUS_FIX_BIT_OFFSET
Definition: data_sets.h:328
-
cInertialSenseDisplay::DataToStringSysParams
string DataToStringSysParams(const sys_params_t &sys, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1116
+
PACKED::arRatio
float arRatio
Definition: data_sets.h:1974
+
GPS_STATUS_FLAGS_GPS_COMPASSING_ENABLED
Definition: data_sets.h:356
+
GPS_STATUS_FIX_BIT_OFFSET
Definition: data_sets.h:347
+
cInertialSenseDisplay::DataToStringSysParams
string DataToStringSysParams(const sys_params_t &sys, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1199
dev_info_t
PUSH_PACK_1 struct PACKED dev_info_t
-
PACKED::distanceToBase
float distanceToBase
Definition: data_sets.h:659
-
PACKED::ins3
ins_3_t ins3
Definition: data_sets.h:2401
-
PACKED::timeOfWeek
double timeOfWeek
Definition: data_sets.h:415
-
survey_in_t::elapsedTimeSec
uint32_t elapsedTimeSec
Definition: data_sets.h:2206
+
PACKED::distanceToBase
float distanceToBase
Definition: data_sets.h:1980
+
PACKED::ins3
ins_3_t ins3
Definition: data_sets.h:2431
+
PACKED::timeOfWeek
double timeOfWeek
Definition: data_sets.h:439
+
survey_in_t::elapsedTimeSec
uint32_t elapsedTimeSec
Definition: data_sets.h:2236
ISDataMappings.h
-
boldOn
ostream & boldOn(ostream &os)
Definition: ISDisplay.cpp:1279
+
boldOn
ostream & boldOn(ostream &os)
Definition: ISDisplay.cpp:1314
p_data_hdr_t::id
uint32_t id
Definition: ISComm.h:481
-
PACKED::ins2
ins_2_t ins2
Definition: data_sets.h:2400
+
PACKED::ins2
ins_2_t ins2
Definition: data_sets.h:2430
DID_INS_1
#define DID_INS_1
Definition: data_sets.h:38
-
PACKED::imuPeriodMs
uint32_t imuPeriodMs
Definition: data_sets.h:878
-
cInertialSenseDisplay::DataToString
string DataToString(const p_data_t *data)
Definition: ISDisplay.cpp:480
-
survey_in_t::maxDurationSec
uint32_t maxDurationSec
Definition: data_sets.h:2200
-
survey_in_t::state
uint32_t state
Definition: data_sets.h:2197
+
PACKED::imuPeriodMs
uint32_t imuPeriodMs
Definition: data_sets.h:890
+
cInertialSenseDisplay::DataToString
string DataToString(const p_data_t *data)
Definition: ISDisplay.cpp:485
+
survey_in_t::maxDurationSec
uint32_t maxDurationSec
Definition: data_sets.h:2230
+
survey_in_t::state
uint32_t state
Definition: data_sets.h:2227
DataCSV.h
-
PACKED::lla
double lla[3]
Definition: data_sets.h:430
-
INS_STATUS_NAV_MODE
Definition: data_sets.h:182
+
PACKED::lla
double lla[3]
Definition: data_sets.h:454
+
INS_STATUS_NAV_MODE
Definition: data_sets.h:184
-
cISDataMappings::GetDataSetName
static const char * GetDataSetName(uint32_t dataId)
Definition: ISDataMappings.cpp:1174
-
PACKED::mslBar
float mslBar
Definition: data_sets.h:571
+
cISDataMappings::GetDataSetName
static const char * GetDataSetName(uint32_t dataId)
Definition: ISDataMappings.cpp:1195
+
PACKED::mslBar
float mslBar
Definition: data_sets.h:595
- +
cDataCSV::DataToStringCSV
bool DataToStringCSV(const p_data_hdr_t &hdr, const uint8_t *buf, string &csv)
Definition: DataCSV.cpp:164
-
PACKED::ana3
float ana3
Definition: data_sets.h:831
+
PACKED::ana3
float ana3
Definition: data_sets.h:843
DID_COUNT
#define DID_COUNT
Definition: data_sets.h:117
-
PACKED::bar
float bar
Definition: data_sets.h:568
+
PACKED::bar
float bar
Definition: data_sets.h:592
DID_DEV_INFO
#define DID_DEV_INFO
Definition: data_sets.h:35
DID_INS_2
#define DID_INS_2
Definition: data_sets.h:39
-
SURVEY_IN_STATE_SAVE_POS
Definition: data_sets.h:2187
-
cInertialSenseDisplay::DataToStringRtkMisc
string DataToStringRtkMisc(const gps_rtk_misc_t &sol, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1185
-
PACKED::status
uint32_t status
Definition: data_sets.h:614
+
SURVEY_IN_STATE_SAVE_POS
Definition: data_sets.h:2217
+
cInertialSenseDisplay::DataToStringRtkMisc
string DataToStringRtkMisc(const gps_rtk_misc_t &sol, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1114
+
PACKED::status
uint32_t status
Definition: data_sets.h:638
-
cInertialSenseDisplay::DataToStringRawGPS
string DataToStringRawGPS(const gps_raw_t &raw, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1207
+
cInertialSenseDisplay::DataToStringRawGPS
string DataToStringRawGPS(const gps_raw_t &raw, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1136
DID_PREINTEGRATED_IMU
#define DID_PREINTEGRATED_IMU
Definition: data_sets.h:37
-
SURVEY_IN_STATE_RUNNING_FLOAT
Definition: data_sets.h:2185
-
PACKED::obsCount
uint8_t obsCount
Definition: data_sets.h:2120
-
cInertialSenseDisplay::DataToStringPreintegratedImu
string DataToStringPreintegratedImu(const preintegrated_imu_t &imu, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:850
-
PACKED::theta
float theta[3]
Definition: data_sets.h:424
-
cInertialSenseDisplay::DataToStringBaro
string DataToStringBaro(const barometer_t &baro, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:975
-
PACKED::I
imus_t I
Definition: data_sets.h:535
+
SURVEY_IN_STATE_RUNNING_FLOAT
Definition: data_sets.h:2215
+
PACKED::imuTemp
float imuTemp
Definition: data_sets.h:878
+
PACKED::obsCount
uint8_t obsCount
Definition: data_sets.h:2150
+
cInertialSenseDisplay::DataToStringPreintegratedImu
string DataToStringPreintegratedImu(const preintegrated_imu_t &imu, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:857
+
PACKED::theta
float theta[3]
Definition: data_sets.h:448
+
cInertialSenseDisplay::DataToStringBaro
string DataToStringBaro(const barometer_t &baro, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:982
+
PACKED::I
imus_t I
Definition: data_sets.h:559
DID_SYS_PARAMS
#define DID_SYS_PARAMS
Definition: data_sets.h:44
-
MAG_RECAL_MODE_MULTI_AXIS
Definition: data_sets.h:1046
+
MAG_RECAL_MODE_MULTI_AXIS
Definition: data_sets.h:1063
ISUtilities.h
-
PACKED::time
double time
Definition: data_sets.h:532
-
PACKED::sysParams
sys_params_t sysParams
Definition: data_sets.h:2414
+
PACKED::time
double time
Definition: data_sets.h:556
+
PACKED::sysParams
sys_params_t sysParams
Definition: data_sets.h:2448
DID_GPS_BASE_RAW
#define DID_GPS_BASE_RAW
Definition: data_sets.h:94
DID_MAG_CAL
#define DID_MAG_CAL
Definition: data_sets.h:53
-
PACKED::gpsRtkMisc
gps_rtk_misc_t gpsRtkMisc
Definition: data_sets.h:2411
-
PACKED::imu
imu_t imu
Definition: data_sets.h:2403
- -
PACKED::vAcc
float vAcc
Definition: data_sets.h:632
+
PACKED::gpsRtkMisc
gps_rtk_misc_t gpsRtkMisc
Definition: data_sets.h:2443
+
PACKED::imu
imu_t imu
Definition: data_sets.h:2433
+ +
PACKED::vAcc
float vAcc
Definition: data_sets.h:653
BUF_SIZE
#define BUF_SIZE
Definition: ISDisplay.cpp:42
-
PACKED::vin
float vin
Definition: data_sets.h:825
+
PACKED::vin
float vin
Definition: data_sets.h:837
DID_MAGNETOMETER_2
#define DID_MAGNETOMETER_2
Definition: data_sets.h:89
-
cInertialSenseDisplay::StatusToString
char * StatusToString(char *ptr, char *ptrEnd, const uint32_t insStatus, const uint32_t hdwStatus)
Definition: ISDisplay.cpp:523
-
PACKED::qe2b
float qe2b[4]
Definition: data_sets.h:508
-
GPS_STATUS_FLAGS_RX_BASE_NO_OBSERV_EPHEM
Definition: data_sets.h:338
-
PACKED::declination
float declination
Definition: data_sets.h:1062
-
cInertialSenseDisplay::DataToStringDevInfo
string DataToStringDevInfo(const dev_info_t &info, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1078
-
PACKED::arThreshold
float arThreshold
Definition: data_sets.h:1965
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MAG_RECAL_MODE_COMPLETE
Definition: data_sets.h:1048
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PACKED::qn2b
float qn2b[4]
Definition: data_sets.h:453
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cInertialSenseDisplay::DataToStringRTOS
string DataToStringRTOS(const rtos_info_t &info, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1270
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PACKED::progress
float progress
Definition: data_sets.h:1059
-
PACKED::pqr
float pqr[3]
Definition: data_sets.h:521
-
PACKED::uvw
float uvw[3]
Definition: data_sets.h:427
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PACKED::hAcc
float hAcc
Definition: data_sets.h:629
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PACKED::enMagRecal
uint32_t enMagRecal
Definition: data_sets.h:1056
-
PACKED::gpsRtkNav
gps_nav_t gpsRtkNav
Definition: data_sets.h:2417
-
PACKED::magCal
mag_cal_t magCal
Definition: data_sets.h:2406
+
cInertialSenseDisplay::StatusToString
char * StatusToString(char *ptr, char *ptrEnd, const uint32_t insStatus, const uint32_t hdwStatus)
Definition: ISDisplay.cpp:530
+
PACKED::qe2b
float qe2b[4]
Definition: data_sets.h:532
+
GPS_STATUS_FLAGS_RX_BASE_NO_OBSERV_EPHEM
Definition: data_sets.h:357
+
PACKED::declination
float declination
Definition: data_sets.h:1079
+
cInertialSenseDisplay::DataToStringDevInfo
string DataToStringDevInfo(const dev_info_t &info, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1276
+
PACKED::arThreshold
float arThreshold
Definition: data_sets.h:2001
+
MAG_RECAL_MODE_COMPLETE
Definition: data_sets.h:1065
+
PACKED::qn2b
float qn2b[4]
Definition: data_sets.h:477
+
PACKED::headingToBase
float headingToBase
Definition: data_sets.h:1983
+
cInertialSenseDisplay::DataToStringRTOS
string DataToStringRTOS(const rtos_info_t &info, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1267
+
PACKED::progress
float progress
Definition: data_sets.h:1076
+
PACKED::pqr
float pqr[3]
Definition: data_sets.h:545
+
PACKED::uvw
float uvw[3]
Definition: data_sets.h:451
+
PACKED::hAcc
float hAcc
Definition: data_sets.h:650
+
PACKED::enMagRecal
uint32_t enMagRecal
Definition: data_sets.h:1073
+
PACKED::magCal
mag_cal_t magCal
Definition: data_sets.h:2436
quat2euler
void quat2euler(const Quat_t q, Euler_t theta)
Definition: ISPose.c:185
DID_GPS2_RAW
#define DID_GPS2_RAW
Definition: data_sets.h:104
PRINTV4_P3
#define PRINTV4_P3
Definition: ISDisplay.cpp:39
-
PACKED::insStatus
uint32_t insStatus
Definition: data_sets.h:418
-
PACKED::dualImu
dual_imu_t dualImu
Definition: data_sets.h:2404
-
cInertialSenseDisplay::DataToStats
void DataToStats(const p_data_t *data)
Definition: ISDisplay.cpp:452
-
cInertialSenseDisplay::DataToStringINS1
string DataToStringINS1(const ins_1_t &ins1, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:578
+
PACKED::mcuTemp
float mcuTemp
Definition: data_sets.h:884
+
PACKED::insStatus
uint32_t insStatus
Definition: data_sets.h:442
+
PACKED::dualImu
dual_imu_t dualImu
Definition: data_sets.h:2434
+
cInertialSenseDisplay::DataToStats
void DataToStats(const p_data_t *data)
Definition: ISDisplay.cpp:457
+
cInertialSenseDisplay::DataToStringINS1
string DataToStringINS1(const ins_1_t &ins1, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:585
-
PACKED::gDop
float gDop
Definition: data_sets.h:1968
-
PACKED::rtosInfo
rtos_info_t rtosInfo
Definition: data_sets.h:2416
-
cInertialSenseDisplay::InsStatusToSolStatusString
char * InsStatusToSolStatusString(char *ptr, char *ptrEnd, const uint32_t insStatus)
Definition: ISDisplay.cpp:561
-
SURVEY_IN_STATE_RUNNING_FIX
Definition: data_sets.h:2186
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PACKED::ecef
double ecef[3]
Definition: data_sets.h:514
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endlbOn
ostream & endlbOn(ostream &os)
Definition: ISDisplay.cpp:1310
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PACKED::mag
float mag[3]
Definition: data_sets.h:557
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PACKED::hdwStatus
uint32_t hdwStatus
Definition: data_sets.h:421
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DID_GPS_NAV
#define DID_GPS_NAV
Definition: data_sets.h:40
-
PACKED::vDop
float vDop
Definition: data_sets.h:1977
+
PACKED::gDop
float gDop
Definition: data_sets.h:2004
+
PACKED::rtosInfo
rtos_info_t rtosInfo
Definition: data_sets.h:2450
+
cInertialSenseDisplay::InsStatusToSolStatusString
char * InsStatusToSolStatusString(char *ptr, char *ptrEnd, const uint32_t insStatus)
Definition: ISDisplay.cpp:568
+
SURVEY_IN_STATE_RUNNING_FIX
Definition: data_sets.h:2216
+
PACKED::ecef
double ecef[3]
Definition: data_sets.h:538
+
endlbOn
ostream & endlbOn(ostream &os)
Definition: ISDisplay.cpp:1345
+
PACKED::mag
float mag[3]
Definition: data_sets.h:581
+
PACKED::hdwStatus
uint32_t hdwStatus
Definition: data_sets.h:445
+
PACKED::vDop
float vDop
Definition: data_sets.h:2010
+
cInertialSenseDisplay::DataToStringGpsPos
string DataToStringGpsPos(const gps_pos_t &gps, const p_data_hdr_t &hdr, const string didName)
Definition: ISDisplay.cpp:1012
DID_GPS1_RAW
#define DID_GPS1_RAW
Definition: data_sets.h:103
-
PACKED::differentialAge
float differentialAge
Definition: data_sets.h:653
-
PACKED::theta2
float theta2[3]
Definition: data_sets.h:591
-
PACKED::dataType
uint8_t dataType
Definition: data_sets.h:2117
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cInertialSenseDisplay::DataToStringINS4
string DataToStringINS4(const ins_4_t &ins4, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:741
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cInertialSenseDisplay::DataToStringDualIMU
string DataToStringDualIMU(const dual_imu_t &imu, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:797
-
HDW_STATUS_BIT_FAULT
Definition: data_sets.h:287
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PACKED::ins4
ins_4_t ins4
Definition: data_sets.h:2402
- -
HDW_STATUS_GPS_SATELLITE_RX
Definition: data_sets.h:249
-
cInertialSenseDisplay::DataToStringGPS
string DataToStringGPS(const gps_nav_t &gps, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1005
-
SURVEY_IN_STATE_OFF
Definition: data_sets.h:2175
+
PACKED::differentialAge
float differentialAge
Definition: data_sets.h:1971
+
PACKED::theta2
float theta2[3]
Definition: data_sets.h:615
+
PACKED::baroTemp
float baroTemp
Definition: data_sets.h:881
+
DID_GPS2_POS
#define DID_GPS2_POS
Definition: data_sets.h:48
+
PACKED::dataType
uint8_t dataType
Definition: data_sets.h:2147
+
cInertialSenseDisplay::DataToStringINS4
string DataToStringINS4(const ins_4_t &ins4, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:748
+
cInertialSenseDisplay::DataToStringDualIMU
string DataToStringDualIMU(const dual_imu_t &imu, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:804
+
HDW_STATUS_BIT_FAULT
Definition: data_sets.h:304
+
PACKED::ins4
ins_4_t ins4
Definition: data_sets.h:2432
+ +
HDW_STATUS_GPS_SATELLITE_RX
Definition: data_sets.h:260
+
SURVEY_IN_STATE_OFF
Definition: data_sets.h:2205
p_data_t::hdr
p_data_hdr_t hdr
Definition: ISComm.h:494
-
PACKED::barTemp
float barTemp
Definition: data_sets.h:574
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cInertialSenseDisplay::DataToStringINS3
string DataToStringINS3(const ins_3_t &ins3, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:685
-
PACKED::ned
float ned[3]
Definition: data_sets.h:433
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cInertialSenseDisplay::DataToStringSysSensors
string DataToStringSysSensors(const sys_sensors_t &sensors, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1145
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PACKED::ins1
ins_1_t ins1
Definition: data_sets.h:2399
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GPS_STATUS_FLAGS_BASE_POSITION_MOVING
Definition: data_sets.h:340
+
PACKED::barTemp
float barTemp
Definition: data_sets.h:598
+
cInertialSenseDisplay::DataToStringINS3
string DataToStringINS3(const ins_3_t &ins3, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:692
+
PACKED::ned
float ned[3]
Definition: data_sets.h:457
+
cInertialSenseDisplay::DataToStringSysSensors
string DataToStringSysSensors(const sys_sensors_t &sensors, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1227
+
PACKED::ins1
ins_1_t ins1
Definition: data_sets.h:2429
+
GPS_STATUS_FLAGS_BASE_POSITION_MOVING
Definition: data_sets.h:359
DID_MAGNETOMETER_1
#define DID_MAGNETOMETER_1
Definition: data_sets.h:86
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GPS_STATUS_FLAGS_RTK_MODE
Definition: data_sets.h:335
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SURVEY_IN_STATE_RUNNING_3D
Definition: data_sets.h:2184
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GPS_STATUS_FIX_2D
Definition: data_sets.h:316
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PACKED::timeOfWeekMs
uint32_t timeOfWeekMs
Definition: data_sets.h:611
-
DID_GPS1_NAV
#define DID_GPS1_NAV
Definition: data_sets.h:47
-
INS_STATUS_SOLUTION
#define INS_STATUS_SOLUTION(insStatus)
Definition: data_sets.h:187
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cInertialSenseDisplay::DataToStringINS2
string DataToStringINS2(const ins_2_t &ins2, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:629
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SURVEY_IN_STATE_DONE
Definition: data_sets.h:2188
-
PACKED::sysSensors
sys_sensors_t sysSensors
Definition: data_sets.h:2415
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SURVEY_IN_STATE_RUNNING_3D
Definition: data_sets.h:2214
+
GPS_STATUS_FIX_2D
Definition: data_sets.h:335
+
PACKED::timeOfWeekMs
uint32_t timeOfWeekMs
Definition: data_sets.h:635
+
INS_STATUS_SOLUTION
#define INS_STATUS_SOLUTION(insStatus)
Definition: data_sets.h:193
+
cInertialSenseDisplay::DataToStringINS2
string DataToStringINS2(const ins_2_t &ins2, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:636
+
SURVEY_IN_STATE_DONE
Definition: data_sets.h:2218
+
PACKED::sysSensors
sys_sensors_t sysSensors
Definition: data_sets.h:2449
qe2b2EulerNedEcef
void qe2b2EulerNedEcef(Vector3 eul, const Vector4 qe2b, const Vector3d ecef)
Definition: ISPose.c:269
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PACKED::surveyIn
survey_in_t surveyIn
Definition: data_sets.h:2413
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GPS_STATUS_FIX_MASK
Definition: data_sets.h:327
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PACKED::gpsNav
gps_nav_t gpsNav
Definition: data_sets.h:2409
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PACKED::baro
barometer_t baro
Definition: data_sets.h:2407
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PACKED::surveyIn
survey_in_t surveyIn
Definition: data_sets.h:2447
+
GPS_STATUS_FIX_MASK
Definition: data_sets.h:346
+
PACKED::baro
barometer_t baro
Definition: data_sets.h:2437
+
DID_GPS1_POS
#define DID_GPS1_POS
Definition: data_sets.h:47
p_data_hdr_t
Definition: ISComm.h:478
PRINTV3_P2
#define PRINTV3_P2
Definition: ISDisplay.cpp:35
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INS_STATUS_SOLUTION_NAV_GOOD
Definition: data_sets.h:192
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GPS_STATUS_FIX_RTK_FIX
Definition: data_sets.h:326
-
PACKED::devInfo
dev_info_t devInfo
Definition: data_sets.h:2398
-
INS_STATUS_SOLUTION_OFF
Definition: data_sets.h:189
+
INS_STATUS_SOLUTION_NAV_GOOD
Definition: data_sets.h:198
+
GPS_STATUS_FIX_RTK_FIX
Definition: data_sets.h:345
+
PACKED::devInfo
dev_info_t devInfo
Definition: data_sets.h:2428
+
INS_STATUS_SOLUTION_OFF
Definition: data_sets.h:195
cInertialSenseDisplay::ShowCursor
void ShowCursor(bool visible)
Definition: ISDisplay.cpp:103
ISEarth.h
DID_SYS_SENSORS
#define DID_SYS_SENSORS
Definition: data_sets.h:45
PRINTV3_P1
#define PRINTV3_P1
Definition: ISDisplay.cpp:34
-
PACKED::temp
float temp
Definition: data_sets.h:801
+
PACKED::temp
float temp
Definition: data_sets.h:813
+
DID_GPS1_RTK_MISC
#define DID_GPS1_RTK_MISC
Definition: data_sets.h:56
DID_INS_3
#define DID_INS_3
Definition: data_sets.h:99
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PACKED::cnoMax
uint32_t cnoMax
Definition: data_sets.h:617
-
PACKED::vel1
float vel1[3]
Definition: data_sets.h:594
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INS_STATUS_SOLUTION_NAV_HIGH_VARIANCE
Definition: data_sets.h:193
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PACKED::vel1
float vel1[3]
Definition: data_sets.h:618
+
INS_STATUS_SOLUTION_NAV_HIGH_VARIANCE
Definition: data_sets.h:199
PRINTV3_LLA_MSL
#define PRINTV3_LLA_MSL
Definition: ISDisplay.cpp:41
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GPS_STATUS_FIX_3D
Definition: data_sets.h:317
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GPS_STATUS_FIX_3D
Definition: data_sets.h:336
+
p_data_t
Definition: ISComm.h:491
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INS_STATUS_SOLUTION_AHRS_GOOD
Definition: data_sets.h:194
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INS_STATUS_SOLUTION_ALIGNMENT_COMPLETE
Definition: data_sets.h:191
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PACKED::humidity
float humidity
Definition: data_sets.h:577
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PACKED::ve
float ve[3]
Definition: data_sets.h:511
+
INS_STATUS_SOLUTION_AHRS_GOOD
Definition: data_sets.h:200
+
INS_STATUS_SOLUTION_ALIGNMENT_COMPLETE
Definition: data_sets.h:197
+
PACKED::humidity
float humidity
Definition: data_sets.h:601
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PACKED::ve
float ve[3]
Definition: data_sets.h:535
ISPose.h
PRINTV3_LLA
#define PRINTV3_LLA
Definition: ISDisplay.cpp:40
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survey_in_t
Definition: data_sets.h:2194
-
cInertialSenseDisplay::SetDisplayMode
void SetDisplayMode(eDisplayMode mode)
Definition: ISDisplay.h:49
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cInertialSenseDisplay::DataToStringMag
string DataToStringMag(const magnetometer_t &mag, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:907
-
SNPRINTF
#define SNPRINTF
Definition: ISConstants.h:171
+
survey_in_t
Definition: data_sets.h:2224
+
DID_GPS1_RTK_POS
#define DID_GPS1_RTK_POS
Definition: data_sets.h:88
+
cInertialSenseDisplay::DataToStringMag
string DataToStringMag(const magnetometer_t &mag, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:914
+
SNPRINTF
#define SNPRINTF
Definition: ISConstants.h:142
current_weekMs
int current_weekMs()
Definition: ISUtilities.cpp:239
-
PACKED::gpsRaw
gps_raw_t gpsRaw
Definition: data_sets.h:2418
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PACKED::towOffset
double towOffset
Definition: data_sets.h:644
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GPS_STATUS_FLAGS_RX_BASE_NO_POSITION
Definition: data_sets.h:339
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PACKED::vel2
float vel2[3]
Definition: data_sets.h:597
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PACKED::gpsRaw
gps_raw_t gpsRaw
Definition: data_sets.h:2451
+
PACKED::towOffset
double towOffset
Definition: data_sets.h:662
+
GPS_STATUS_FLAGS_RX_BASE_NO_POSITION
Definition: data_sets.h:358
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PACKED::vel2
float vel2[3]
Definition: data_sets.h:621
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PACKED::receiverIndex
uint8_t receiverIndex
Definition: data_sets.h:2114
-
C_RAD2DEG_F
#define C_RAD2DEG_F
Definition: ISConstants.h:503
-
INS_STATUS_USING_MAG_IN_SOLUTION
Definition: data_sets.h:179
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PACKED::receiverIndex
uint8_t receiverIndex
Definition: data_sets.h:2144
+
C_RAD2DEG_F
#define C_RAD2DEG_F
Definition: ISConstants.h:500
+
GPS_STATUS_FLAGS_RTK_ENABLED
Definition: data_sets.h:354
+
INS_STATUS_USING_MAG_IN_SOLUTION
Definition: data_sets.h:181
copyDataPToStructP
char copyDataPToStructP(void *sptr, const p_data_t *data, const unsigned int maxsize)
Definition: ISComm.c:789
+
cInertialSenseDisplay::DataToStringRtkRel
string DataToStringRtkRel(const gps_rtk_rel_t &gps, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1076
cInertialSenseDisplay::GoToColumnAndRow
void GoToColumnAndRow(int x, int y)
Definition: ISDisplay.cpp:181
+
PACKED::gpsPos
gps_pos_t gpsPos
Definition: data_sets.h:2439
cInertialSenseDisplay::ProcessData
void ProcessData(p_data_t *data, bool enableReplay=false, double replaySpeedX=1.0)
Definition: ISDisplay.cpp:270
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PACKED::accuracyPos
float accuracyPos[3]
Definition: data_sets.h:1958
-
INS_STATUS_USING_GPS_IN_SOLUTION
Definition: data_sets.h:173
-
HDW_STATUS_COM_PARSE_ERROR_COUNT
#define HDW_STATUS_COM_PARSE_ERROR_COUNT(hdwStatus)
Definition: data_sets.h:284
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PACKED::ana1
float ana1
Definition: data_sets.h:828
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PACKED::pDop
float pDop
Definition: data_sets.h:635
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endlbOff
ostream & endlbOff(ostream &os)
Definition: ISDisplay.cpp:1326
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boldOff
ostream & boldOff(ostream &os)
Definition: ISDisplay.cpp:1294
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PACKED::pImu
preintegrated_imu_t pImu
Definition: data_sets.h:2408
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PACKED::accuracyPos
float accuracyPos[3]
Definition: data_sets.h:1994
+
DID_GPS1_RTK_REL
#define DID_GPS1_RTK_REL
Definition: data_sets.h:55
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INS_STATUS_USING_GPS_IN_SOLUTION
Definition: data_sets.h:175
+
HDW_STATUS_COM_PARSE_ERROR_COUNT
#define HDW_STATUS_COM_PARSE_ERROR_COUNT(hdwStatus)
Definition: data_sets.h:301
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PACKED::ana1
float ana1
Definition: data_sets.h:840
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PACKED::pDop
float pDop
Definition: data_sets.h:656
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endlbOff
ostream & endlbOff(ostream &os)
Definition: ISDisplay.cpp:1361
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boldOff
ostream & boldOff(ostream &os)
Definition: ISDisplay.cpp:1329
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PACKED::pImu
preintegrated_imu_t pImu
Definition: data_sets.h:2438
DID_INS_4
#define DID_INS_4
Definition: data_sets.h:100
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PACKED::hDop
float hDop
Definition: data_sets.h:1974
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cInertialSenseDisplay::DataToStringSurveyIn
string DataToStringSurveyIn(const survey_in_t &survey, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1224
+
PACKED::hDop
float hDop
Definition: data_sets.h:2007
+
cInertialSenseDisplay::DataToStringSurveyIn
string DataToStringSurveyIn(const survey_in_t &survey, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1153
DID_BAROMETER
#define DID_BAROMETER
Definition: data_sets.h:87
DID_RTOS_INFO
#define DID_RTOS_INFO
Definition: data_sets.h:72
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survey_in_t::lla
double lla[3]
Definition: data_sets.h:2212
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survey_in_t::lla
double lla[3]
Definition: data_sets.h:2242
DID_INL2_STATES
#define DID_INL2_STATES
Definition: data_sets.h:82
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PACKED::acc
float acc[3]
Definition: data_sets.h:524
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INS_STATUS_SOLUTION_ALIGNING
Definition: data_sets.h:190
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PACKED::acc
float acc[3]
Definition: data_sets.h:548
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INS_STATUS_SOLUTION_ALIGNING
Definition: data_sets.h:196
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INS_STATUS_SOLUTION_AHRS_HIGH_VARIANCE
Definition: data_sets.h:195
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MAG_RECAL_MODE_SINGLE_AXIS
Definition: data_sets.h:1047
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INS_STATUS_SOLUTION_AHRS_HIGH_VARIANCE
Definition: data_sets.h:201
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MAG_RECAL_MODE_SINGLE_AXIS
Definition: data_sets.h:1064
cInertialSenseDisplay::Replay
string Replay(double speed=1.0)
Definition: ISDisplay.cpp:207
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PACKED::theta1
float theta1[3]
Definition: data_sets.h:588
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PACKED::theta1
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Definition: data_sets.h:612
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GPS_STATUS_NUM_SATS_USED_MASK
Definition: data_sets.h:311
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Definition: data_sets.h:330
diff --git a/docs/html/_i_s_display_8h.html b/docs/html/_i_s_display_8h.html index 4007e7b38..065cb3d97 100644 --- a/docs/html/_i_s_display_8h.html +++ b/docs/html/_i_s_display_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
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diff --git a/docs/html/_i_s_display_8h_source.html b/docs/html/_i_s_display_8h_source.html index 3146997d1..0ab7ae694 100644 --- a/docs/html/_i_s_display_8h_source.html +++ b/docs/html/_i_s_display_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,25 +72,25 @@
ISDisplay.h
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef IS_DISPLAY_H
14 #define IS_DISPLAY_H
15 
16 #include <stdlib.h>
17 #include <inttypes.h>
18 #include <vector>
19 #include <string>
20 
21 #include "com_manager.h"
22 #include "data_sets.h"
23 #include "ISConstants.h"
24 
25 #if defined(ENABLE_IS_PYTHON_WRAPPER)
26 
27 #include "../pySDK/pySDK.h"
28 
29 #endif
30 
31 using namespace std;
32 
36 class cInertialSenseDisplay
37 {
38 public:
39  enum eDisplayMode
40  {
41  DMODE_PRETTY,
42  DMODE_SCROLL,
43  DMODE_STATS,
44  DMODE_QUIET
45  };
46 
47  cInertialSenseDisplay();
48 
49  void SetDisplayMode(eDisplayMode mode) { m_displayMode = mode; };
50  eDisplayMode GetDisplayMode() { return m_displayMode; }
51  void ShowCursor(bool visible);
52  void ShutDown();
53  void Clear(void);
54  void Home(void);
55  void GoToRow(int y);
56  void GoToColumnAndRow(int x, int y);
57  string Hello();
58  string Connected();
59  string Replay(double speed=1.0);
60  string Goodbye();
61  int ReadKey(); // non-block, returns -1 if no key available
62  bool ControlCWasPressed();
63 
64  // for the binary protocol, this processes a packet of data
65  void ProcessData(p_data_t *data, bool enableReplay = false, double replaySpeedX = 1.0);
66  void DataToStats(const p_data_t* data);
67  string DataToString(const p_data_t* data);
68  char* StatusToString(char* ptr, char* ptrEnd, const uint32_t insStatus, const uint32_t hdwStatus);
69  char* InsStatusToSolStatusString(char* ptr, char* ptrEnd, const uint32_t insStatus);
70  string DataToStringINS1(const ins_1_t &ins1, const p_data_hdr_t& hdr);
71  string DataToStringINS2(const ins_2_t &ins2, const p_data_hdr_t& hdr);
72  string DataToStringINS3(const ins_3_t &ins3, const p_data_hdr_t& hdr);
73  string DataToStringINS4(const ins_4_t &ins4, const p_data_hdr_t& hdr);
74  string DataToStringDualIMU(const dual_imu_t &imu, const p_data_hdr_t& hdr);
75  string DataToStringIMU(const imu_t &imu, const p_data_hdr_t& hdr);
76  string DataToStringPreintegratedImu(const preintegrated_imu_t &imu, const p_data_hdr_t& hdr);
77  string DataToStringMag(const magnetometer_t &mag, const p_data_hdr_t& hdr);
78  string DataToStringMagCal(const mag_cal_t &mag, const p_data_hdr_t& hdr);
79  string DataToStringBaro(const barometer_t &baro, const p_data_hdr_t& hdr);
80  string DataToStringGPS(const gps_nav_t &gps, const p_data_hdr_t& hdr);
81  string DataToStringDevInfo(const dev_info_t &info, const p_data_hdr_t& hdr);
82  string DataToStringSysParams(const sys_params_t& sys, const p_data_hdr_t& hdr);
83  string DataToStringSysSensors(const sys_sensors_t& sensors, const p_data_hdr_t& hdr);
84  string DataToStringRtkMisc(const gps_rtk_misc_t& sol, const p_data_hdr_t& hdr);
85  string DataToStringRawGPS(const gps_raw_t& raw, const p_data_hdr_t& hdr);
86  string DataToStringSurveyIn(const survey_in_t &survey, const p_data_hdr_t& hdr);
87  string DataToStringRTOS(const rtos_info_t& info, const p_data_hdr_t& hdr);
88 
89 private:
90  string VectortoString();
91  void DataToVector(const p_data_t* data);
92 
93  vector<string> m_didMsgs;
94  eDisplayMode m_displayMode;
95  uint16_t m_rxCount;
96 
97  struct sDidStats
98  {
99  int lastTimeMs;
100  int dtMs;
101  int count;
102  };
103 
104  vector<sDidStats> m_didStats;
105 
106 #if PLATFORM_IS_WINDOWS
107 
108  HANDLE m_windowsConsoleIn;
109  HANDLE m_windowsConsoleOut;
110 
111 #endif
112 
113 };
114 
115 ostream& boldOn(ostream& os);
116 ostream& boldOff(ostream& os);
117 ostream& endlbOn(ostream& os); // Bold on with newline
118 ostream& endlbOff(ostream& os); // Bold off with newline
119 
120 #endif // IS_DISPLAY_H
boldOn
ostream & boldOn(ostream &os)
Definition: ISDisplay.cpp:1279
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef IS_DISPLAY_H
14 #define IS_DISPLAY_H
15 
16 #include <stdlib.h>
17 #include <inttypes.h>
18 #include <vector>
19 #include <string>
20 
21 #include "com_manager.h"
22 #include "data_sets.h"
23 #include "ISConstants.h"
24 
25 using namespace std;
26 
30 class cInertialSenseDisplay
31 {
32 public:
33  enum eDisplayMode
34  {
35  DMODE_PRETTY,
36  DMODE_SCROLL,
37  DMODE_STATS,
38  DMODE_QUIET
39  };
40 
41  cInertialSenseDisplay();
42 
43  void SetDisplayMode(eDisplayMode mode) { m_displayMode = mode; };
44  eDisplayMode GetDisplayMode() { return m_displayMode; }
45  void ShowCursor(bool visible);
46  void ShutDown();
47  void Clear(void);
48  void Home(void);
49  void GoToRow(int y);
50  void GoToColumnAndRow(int x, int y);
51  string Hello();
52  string Connected();
53  string Replay(double speed=1.0);
54  string Goodbye();
55  int ReadKey(); // non-block, returns -1 if no key available
56  bool ControlCWasPressed();
57 
58  // for the binary protocol, this processes a packet of data
59  void ProcessData(p_data_t *data, bool enableReplay = false, double replaySpeedX = 1.0);
60  void DataToStats(const p_data_t* data);
61  string DataToString(const p_data_t* data);
62  char* StatusToString(char* ptr, char* ptrEnd, const uint32_t insStatus, const uint32_t hdwStatus);
63  char* InsStatusToSolStatusString(char* ptr, char* ptrEnd, const uint32_t insStatus);
64  string DataToStringINS1(const ins_1_t &ins1, const p_data_hdr_t& hdr);
65  string DataToStringINS2(const ins_2_t &ins2, const p_data_hdr_t& hdr);
66  string DataToStringINS3(const ins_3_t &ins3, const p_data_hdr_t& hdr);
67  string DataToStringINS4(const ins_4_t &ins4, const p_data_hdr_t& hdr);
68  string DataToStringDualIMU(const dual_imu_t &imu, const p_data_hdr_t& hdr);
69  string DataToStringIMU(const imu_t &imu, const p_data_hdr_t& hdr);
70  string DataToStringPreintegratedImu(const preintegrated_imu_t &imu, const p_data_hdr_t& hdr);
71  string DataToStringMag(const magnetometer_t &mag, const p_data_hdr_t& hdr);
72  string DataToStringMagCal(const mag_cal_t &mag, const p_data_hdr_t& hdr);
73  string DataToStringBaro(const barometer_t &baro, const p_data_hdr_t& hdr);
74  string DataToStringGpsPos(const gps_pos_t &gps, const p_data_hdr_t& hdr, const string didName);
75  string DataToStringRtkRel(const gps_rtk_rel_t &gps, const p_data_hdr_t& hdr);
76  string DataToStringRtkMisc(const gps_rtk_misc_t& sol, const p_data_hdr_t& hdr);
77  string DataToStringRawGPS(const gps_raw_t& raw, const p_data_hdr_t& hdr);
78  string DataToStringSurveyIn(const survey_in_t &survey, const p_data_hdr_t& hdr);
79  string DataToStringSysParams(const sys_params_t& sys, const p_data_hdr_t& hdr);
80  string DataToStringSysSensors(const sys_sensors_t& sensors, const p_data_hdr_t& hdr);
81  string DataToStringRTOS(const rtos_info_t& info, const p_data_hdr_t& hdr);
82  string DataToStringDevInfo(const dev_info_t &info, const p_data_hdr_t& hdr);
83 
84 private:
85  string VectortoString();
86  void DataToVector(const p_data_t* data);
87 
88  vector<string> m_didMsgs;
89  eDisplayMode m_displayMode;
90  uint16_t m_rxCount;
91 
92  struct sDidStats
93  {
94  int lastTimeMs;
95  int dtMs;
96  int count;
97  };
98 
99  vector<sDidStats> m_didStats;
100 
101 #if PLATFORM_IS_WINDOWS
102 
103  HANDLE m_windowsConsoleIn;
104  HANDLE m_windowsConsoleOut;
105 
106 #endif
107 
108 };
109 
110 ostream& boldOn(ostream& os);
111 ostream& boldOff(ostream& os);
112 ostream& endlbOn(ostream& os); // Bold on with newline
113 ostream& endlbOff(ostream& os); // Bold off with newline
114 
115 #endif // IS_DISPLAY_H
boldOn
ostream & boldOn(ostream &os)
Definition: ISDisplay.cpp:1314
dev_info_t
PUSH_PACK_1 struct PACKED dev_info_t
- - + + -
endlbOn
ostream & endlbOn(ostream &os)
Definition: ISDisplay.cpp:1310
-
cInertialSenseDisplay::GetDisplayMode
eDisplayMode GetDisplayMode()
Definition: ISDisplay.h:50
-
endlbOff
ostream & endlbOff(ostream &os)
Definition: ISDisplay.cpp:1326
- - +
endlbOn
ostream & endlbOn(ostream &os)
Definition: ISDisplay.cpp:1345
+
cInertialSenseDisplay::GetDisplayMode
eDisplayMode GetDisplayMode()
Definition: ISDisplay.h:44
+
endlbOff
ostream & endlbOff(ostream &os)
Definition: ISDisplay.cpp:1361
+ +
data_sets.h
p_data_hdr_t
Definition: ISComm.h:478
- +
p_data_t
Definition: ISComm.h:491
-
survey_in_t
Definition: data_sets.h:2194
-
cInertialSenseDisplay::SetDisplayMode
void SetDisplayMode(eDisplayMode mode)
Definition: ISDisplay.h:49
+
survey_in_t
Definition: data_sets.h:2224
+
cInertialSenseDisplay::SetDisplayMode
void SetDisplayMode(eDisplayMode mode)
Definition: ISDisplay.h:43
com_manager.h
-
boldOff
ostream & boldOff(ostream &os)
Definition: ISDisplay.cpp:1294
- +
boldOff
ostream & boldOff(ostream &os)
Definition: ISDisplay.cpp:1329
+
ISConstants.h
diff --git a/docs/html/_i_s_earth_8c.html b/docs/html/_i_s_earth_8c.html index 680665484..44d72fa05 100644 --- a/docs/html/_i_s_earth_8c.html +++ b/docs/html/_i_s_earth_8c.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_earth_8c_source.html b/docs/html/_i_s_earth_8c_source.html index e75a12d1b..02c406b79 100644 --- a/docs/html/_i_s_earth_8c_source.html +++ b/docs/html/_i_s_earth_8c_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,11 +72,11 @@
ISEarth.c
-Go to the documentation of this file.
1 /*
2  * ISEarth.c
3  *
4  * Created on: May 5, 2011
5  * Author: waltj
6  */
7 
8 #define _MATH_DEFINES_DEFINED
9 #include <math.h>
10 
11 // #include "misc/debug.h"
12 // #include "ISConstants.h"
13 
14 #include "ISEarth.h"
15 
16 //_____ M A C R O S ________________________________________________________
17 
18 //_____ D E F I N I T I O N S ______________________________________________
19 
20 #define C_NEG_MG_DIV_KT0_F -1.18558314779367E-04f // - (M * g) / (K * T0)
21 #define C_NEG_KT0_DIV_MG_F -8.43466779922578000E+03f // - (K * T0) / (M * g)
22 
23 //_____ G L O B A L S ______________________________________________________
24 
25 //_____ L O C A L P R O T O T Y P E S ____________________________________
26 
27 //_____ F U N C T I O N S __________________________________________________
28 static const double Ra = 6378137.0; // (m) Earth equatorial radius
29 static const double Rb = 6356752.31424518; // (m) Earth polar radius Rb = Ra * (1-f) (from flattening, f = 1/298.257223563)
30 
31 #define POWA2 40680631590769.000 // = pow(6378137.0,2)
32 #define POWB2 40408299984661.453 // = pow(6356752.31424518,2)
33 
34 #define POWA2_F 40680631590769.000f // = pow(6378137.0,2)
35 #define POWB2_F 40408299984661.453f // = pow(6356752.31424518,2)
36 
37 
38 
39 /* Coordinate transformation from ECEF coordinates to latitude/longitude/altitude */
40 void ecef2lla(const double *Pe, double *LLA, const bool metric, const int Niter)
41 {
42  int i;
43  double f = 1.0 / 298.257223563; // Earth flattening
44  double R, e2, s, A, B, Rn, sinmu, beta;
45 
46  // Earth equatorial radius
47  if (metric) {
48  R = 6378137; // m
49  } else {
50  R = 20925646.3255; // ft
51  }
52 
53  // Square of first eccentricity
54  e2 = 1 - (1-f)*(1-f);
55 
56  // Longitude
57  LLA[1] = atan2(Pe[1], Pe[0]);
58 
59  // Latitude computation using Bowring's method,
60  // which typically converges after 2 or 3 iterations
61  s = sqrt(Pe[0]*Pe[0] + Pe[1]*Pe[1]);
62  beta = atan2(Pe[2], (1-f)*s); // reduced latitude, initial guess
63 
64  // Precompute these values to speed-up computation
65  B = e2 * R;
66  A = B / (1-f);
67  for (i = 0; i < Niter; i++) {
68  // iterative latitude computation
69  LLA[0] = atan2(Pe[2]+A*pow(sin(beta),3), s-B*pow(cos(beta),3));
70  beta = atan((1-f)*tan(LLA[0]));
71  }
72 
73  // Radius of curvature in the vertical prime
74  sinmu = sin(LLA[0]);
75  Rn = R / sqrt(1 - e2*sinmu*sinmu);
76 
77  // Altitude above planetary ellipsoid
78  LLA[2] = s*cos(LLA[0]) + (Pe[2]+e2*Rn*sinmu)*sinmu - Rn;
79 }
80 
81 
82 /* Coordinate transformation from latitude/longitude/altitude to ECEF coordinates */
83 void lla2ecef(const double *LLA, double *Pe, const bool metric)
84 {
85  double e = 0.08181919084262; // Earth first eccentricity: e = sqrt((R^2-b^2)/R^2);
86  double R, b, Rn, Smu, Cmu, Sl, Cl;
87 
88  /* Earth equatorial and polar radii
89  (from flattening, f = 1/298.257223563; */
90  if (metric) {
91  R = 6378137; // m
92  // Earth polar radius b = R * (1-f)
93  b = 6356752.31424518;
94  } else {
95  R = 20925646.3255; // ft
96  // Earth polar radius b = R * (1-f)
97  b = 20855486.5953;
98  }
99 
100  Smu = sin(LLA[0]);
101  Cmu = cos(LLA[0]);
102  Sl = sin(LLA[1]);
103  Cl = cos(LLA[1]);
104 
105  // Radius of curvature at a surface point:
106  Rn = R / sqrt(1 - e*e*Smu*Smu);
107 
108  Pe[0] = (Rn + LLA[2]) * Cmu * Cl;
109  Pe[1] = (Rn + LLA[2]) * Cmu * Sl;
110  Pe[2] = (Rn*b*b/R/R + LLA[2]) * Smu;
111 }
112 
113 
114 /*
115  * Find NED (north, east, down) from LLAref to LLA (WGS-84 standard)
116  *
117  * lla[0] = latitude (rad)
118  * lla[1] = longitude (rad)
119  * lla[2] = msl altitude (m)
120  */
121 void lla2ned(Vector3_t llaRef, Vector3_t lla, Vector3_t result)
122 {
123  Vector3_t deltaLLA;
124  deltaLLA[0] = lla[0] - llaRef[0];
125  deltaLLA[1] = lla[1] - llaRef[1];
126  deltaLLA[2] = lla[2] - llaRef[2];
127 
128  // Handle longitude wrapping
129  UNWRAP_F32(deltaLLA[1]);
130 
131  // Find NED
132  result[0] = deltaLLA[0] * EARTH_RADIUS_F;
133  result[1] = deltaLLA[1] * EARTH_RADIUS_F * _COS( llaRef[0] );
134  result[2] = -deltaLLA[2];
135 }
136 
137 
138 /*
139  * Find NED (north, east, down) from LLAref to LLA (WGS-84 standard)
140  *
141  * lla[0] = latitude (rad)
142  * lla[1] = longitude (rad)
143  * lla[2] = msl altitude (m)
144  */
145 void lla2ned_d(double llaRef[3], double lla[3], Vector3_t result)
146 {
147  Vector3_t deltaLLA;
148  deltaLLA[0] = (f_t)(lla[0] - llaRef[0]);
149  deltaLLA[1] = (f_t)(lla[1] - llaRef[1]);
150  deltaLLA[2] = (f_t)(lla[2] - llaRef[2]);
151 
152  // Handle longitude wrapping in radians
153  UNWRAP_F32(deltaLLA[1]);
154 
155  // Find NED
156  result[0] = deltaLLA[0] * EARTH_RADIUS_F;
157  result[1] = deltaLLA[1] * EARTH_RADIUS_F * _COS( ((f_t)llaRef[0]) );
158  result[2] = -deltaLLA[2];
159 }
160 
161 /*
162  * Find NED (north, east, down) from LLAref to LLA (WGS-84 standard)
163  *
164  * lla[0] = latitude (deg)
165  * lla[1] = longitude (deg)
166  * lla[2] = msl altitude (m)
167  */
168 void llaDeg2ned_d(double llaRef[3], double lla[3], Vector3_t result)
169 {
170  Vector3_t deltaLLA;
171  deltaLLA[0] = (f_t)(lla[0] - llaRef[0]);
172  deltaLLA[1] = (f_t)(lla[1] - llaRef[1]);
173  deltaLLA[2] = (f_t)(lla[2] - llaRef[2]);
174 
175  // Handle longitude wrapping
176  UNWRAP_DEG_F32(deltaLLA[1]);
177 
178  // Find NED
179  result[0] = deltaLLA[0] * DEG2RAD_EARTH_RADIUS_F;
180  result[1] = deltaLLA[1] * DEG2RAD_EARTH_RADIUS_F * _COS( ((f_t)llaRef[0]) * C_DEG2RAD_F );
181  result[2] = -deltaLLA[2];
182 }
183 
184 
185 /*
186  * Find LLA of NED (north, east, down) from LLAref (WGS-84 standard)
187  *
188  * lla[0] = latitude (rad)
189  * lla[1] = longitude (rad)
190  * lla[2] = msl altitude (m)
191  */
192 void ned2lla(Vector3_t ned, Vector3_t llaRef, Vector3_t result)
193 {
194  Vector3 deltaLLA;
195  ned2DeltaLla( ned, llaRef, deltaLLA );
196 
197  // Find LLA
198  result[0] = llaRef[0] + deltaLLA[0];
199  result[1] = llaRef[1] + deltaLLA[1];
200  result[2] = llaRef[2] + deltaLLA[2];
201 }
202 
203 
204 /*
205  * Find LLA of NED (north, east, down) from LLAref (WGS-84 standard)
206  *
207  * lla[0] = latitude (rad)
208  * lla[1] = longitude (rad)
209  * lla[2] = msl altitude (m)
210  */
211 void ned2lla_d(Vector3_t ned, double llaRef[3], double result[3])
212 {
213  double deltaLLA[3];
214  ned2DeltaLla_d( ned, llaRef, deltaLLA );
215 
216  // Find LLA
217  result[0] = llaRef[0] + deltaLLA[0];
218  result[1] = llaRef[1] + deltaLLA[1];
219  result[2] = llaRef[2] + deltaLLA[2];
220 }
221 
222 
223 /*
224 * Find LLA of NED (north, east, down) from LLAref (WGS-84 standard)
225 *
226 * lla[0] = latitude (degrees)
227 * lla[1] = longitude (degrees)
228 * lla[2] = msl altitude (m)
229 */
230 void ned2llaDeg_d(Vector3_t ned, double llaRef[3], double result[3])
231 {
232  double deltaLLA[3];
233  ned2DeltaLlaDeg_d(ned, llaRef, deltaLLA);
234 
235  // Find LLA
236  result[0] = llaRef[0] + deltaLLA[0];
237  result[1] = llaRef[1] + deltaLLA[1];
238  result[2] = llaRef[2] + deltaLLA[2];
239 }
240 
241 
242 /*
243  * Find msl altitude based on barometric pressure
244  * https://en.wikipedia.org/wiki/Atmospheric_pressure
245  *
246  * baroKPa = (kPa) barometric pressure in kilopascals
247  * return = (m) msl altitude in meters
248  */
249 f_t baro2msl( f_t pKPa )
250 {
251  if( pKPa <= _ZERO )
252  return _ZERO;
253  else
254  return (f_t)C_NEG_KT0_DIV_MG_F * _LOG( pKPa * (f_t)C_INV_P0_KPA_F );
255 }
256 
257 
258 /*
259  * Find linear distance between lat,lon,alt (rad,rad,m) coordinates.
260  *
261  * return = (m) distance in meters
262  */
263 f_t llaRadDistance( double lla1[3], double lla2[3] )
264 {
265  Vector3_t ned;
266 
267  lla2ned_d( lla1, lla2, ned );
268 
269  return _SQRT( ned[0]*ned[0] + ned[1]*ned[1] + ned[2]*ned[2] );
270 }
271 
272 /*
273  * Find linear distance between lat,lon,alt (deg,deg,m) coordinates.
274  *
275  * return = (m) distance in meters
276  */
277 f_t llaDegDistance( double lla1[3], double lla2[3] )
278 {
279  Vector3_t ned;
280 
281  llaDeg2ned_d( lla1, lla2, ned );
282 
283  return _SQRT( ned[0]*ned[0] + ned[1]*ned[1] + ned[2]*ned[2] );
284 }
285 
286 void ned2DeltaLla(Vector3_t ned, Vector3 llaRef, Vector3 deltaLLA)
287 {
288  deltaLLA[0] = ned[0] * INV_EARTH_RADIUS_F;
289  deltaLLA[1] = ned[1] * INV_EARTH_RADIUS_F / _COS(((f_t)llaRef[0]));
290  deltaLLA[2] = -ned[2];
291 }
292 
293 void ned2DeltaLla_d(Vector3_t ned, double llaRef[3], double deltaLLA[3])
294 {
295  deltaLLA[0] = (double)( ned[0] * INV_EARTH_RADIUS_F);
296  deltaLLA[1] = (double)( ned[1] * INV_EARTH_RADIUS_F / _COS(((f_t)llaRef[0])) );
297  deltaLLA[2] = (double)(-ned[2]);
298 }
299 
300 void ned2DeltaLlaDeg_d(Vector3_t ned, double llaRef[3], double deltaLLA[3])
301 {
302  deltaLLA[0] = (double)(ned[0] * INV_EARTH_RADIUS_F * C_RAD2DEG_F);
303  deltaLLA[1] = (double)(ned[1] * INV_EARTH_RADIUS_F * C_RAD2DEG_F / _COS( (((f_t)llaRef[0])*C_DEG2RAD_F) ) );
304  deltaLLA[2] = (double)(-ned[2]);
305 }
306 
307 // Convert LLA from radians to degrees
308 void lla_Rad2Deg_d(double result[3], double lla[3])
309 {
310  result[0] = C_RAD2DEG * lla[0];
311  result[1] = C_RAD2DEG * lla[1];
312  result[2] = lla[2];
313 }
314 
315 // Convert LLA from degrees to radians
316 void lla_Deg2Rad_d(double result[3], double lla[3])
317 {
318  result[0] = C_DEG2RAD * lla[0];
319  result[1] = C_DEG2RAD * lla[1];
320  result[2] = lla[2];
321 }
322 
323 void lla_Deg2Rad_d2(double result[3], double lat, double lon, double alt)
324 {
325  result[0] = C_DEG2RAD * lat;
326  result[1] = C_DEG2RAD * lon;
327  result[2] = alt;
328 }
329 
330 /*
331  * Check if lat,lon,alt (deg,deg,m) coordinates are valid.
332  *
333  * return 1 on success, 0 on failure.
334  */
335 int llaDegValid( double lla[3] )
336 {
337  if( (lla[0]<-90.0) || (lla[0]>90.0) || // Lat
338  (lla[1]<-180.0) || (lla[1]>180.0) || // Lon
339  (lla[2]<-10000.0) || (lla[2]>1000000.0) ) // Alt: -10 to 1,000 kilometers
340  { // Invalid
341  return 0;
342  }
343  else
344  { // Valid
345  return 1;
346  }
347 }
348 
UNWRAP_F32
#define UNWRAP_F32(x)
Definition: ISConstants.h:702
-
f_t
float f_t
Definition: ISConstants.h:722
+Go to the documentation of this file.
1 /*
2  * ISEarth.c
3  *
4  * Created on: May 5, 2011
5  * Author: waltj
6  */
7 
8 #define _MATH_DEFINES_DEFINED
9 #include <math.h>
10 
11 // #include "misc/debug.h"
12 // #include "ISConstants.h"
13 
14 #include "ISEarth.h"
15 
16 //_____ M A C R O S ________________________________________________________
17 
18 //_____ D E F I N I T I O N S ______________________________________________
19 
20 #define C_NEG_MG_DIV_KT0_F -1.18558314779367E-04f // - (M * g) / (K * T0)
21 #define C_NEG_KT0_DIV_MG_F -8.43466779922578000E+03f // - (K * T0) / (M * g)
22 
23 //_____ G L O B A L S ______________________________________________________
24 
25 //_____ L O C A L P R O T O T Y P E S ____________________________________
26 
27 //_____ F U N C T I O N S __________________________________________________
28 static const double Ra = 6378137.0; // (m) Earth equatorial radius
29 static const double Rb = 6356752.31424518; // (m) Earth polar radius Rb = Ra * (1-f) (from flattening, f = 1/298.257223563)
30 
31 #define POWA2 40680631590769.000 // = pow(6378137.0,2)
32 #define POWB2 40408299984661.453 // = pow(6356752.31424518,2)
33 
34 #define POWA2_F 40680631590769.000f // = pow(6378137.0,2)
35 #define POWB2_F 40408299984661.453f // = pow(6356752.31424518,2)
36 
37 
38 
39 /* Coordinate transformation from ECEF coordinates to latitude/longitude/altitude */
40 void ecef2lla(const double *Pe, double *LLA, const bool metric, const int Niter)
41 {
42  int i;
43  double f = 1.0 / 298.257223563; // Earth flattening
44  double R, e2, s, A, B, Rn, sinmu, beta;
45 
46  // Earth equatorial radius
47  if (metric) {
48  R = 6378137; // m
49  } else {
50  R = 20925646.3255; // ft
51  }
52 
53  // Square of first eccentricity
54  e2 = 1 - (1-f)*(1-f);
55 
56  // Longitude
57  LLA[1] = atan2(Pe[1], Pe[0]);
58 
59  // Latitude computation using Bowring's method,
60  // which typically converges after 2 or 3 iterations
61  s = sqrt(Pe[0]*Pe[0] + Pe[1]*Pe[1]);
62  beta = atan2(Pe[2], (1-f)*s); // reduced latitude, initial guess
63 
64  // Precompute these values to speed-up computation
65  B = e2 * R;
66  A = B / (1-f);
67  for (i = 0; i < Niter; i++) {
68  // iterative latitude computation
69  LLA[0] = atan2(Pe[2]+A*pow(sin(beta),3), s-B*pow(cos(beta),3));
70  beta = atan((1-f)*tan(LLA[0]));
71  }
72 
73  // Radius of curvature in the vertical prime
74  sinmu = sin(LLA[0]);
75  Rn = R / sqrt(1 - e2*sinmu*sinmu);
76 
77  // Altitude above planetary ellipsoid
78  LLA[2] = s*cos(LLA[0]) + (Pe[2]+e2*Rn*sinmu)*sinmu - Rn;
79 }
80 
81 
82 /* Coordinate transformation from latitude/longitude/altitude to ECEF coordinates */
83 void lla2ecef(const double *LLA, double *Pe, const bool metric)
84 {
85  double e = 0.08181919084262; // Earth first eccentricity: e = sqrt((R^2-b^2)/R^2);
86  double R, b, Rn, Smu, Cmu, Sl, Cl;
87 
88  /* Earth equatorial and polar radii
89  (from flattening, f = 1/298.257223563; */
90  if (metric) {
91  R = 6378137; // m
92  // Earth polar radius b = R * (1-f)
93  b = 6356752.31424518;
94  } else {
95  R = 20925646.3255; // ft
96  // Earth polar radius b = R * (1-f)
97  b = 20855486.5953;
98  }
99 
100  Smu = sin(LLA[0]);
101  Cmu = cos(LLA[0]);
102  Sl = sin(LLA[1]);
103  Cl = cos(LLA[1]);
104 
105  // Radius of curvature at a surface point:
106  Rn = R / sqrt(1 - e*e*Smu*Smu);
107 
108  Pe[0] = (Rn + LLA[2]) * Cmu * Cl;
109  Pe[1] = (Rn + LLA[2]) * Cmu * Sl;
110  Pe[2] = (Rn*b*b/R/R + LLA[2]) * Smu;
111 }
112 
113 
114 /*
115  * Find NED (north, east, down) from LLAref to LLA (WGS-84 standard)
116  *
117  * lla[0] = latitude (rad)
118  * lla[1] = longitude (rad)
119  * lla[2] = msl altitude (m)
120  */
121 void lla2ned(Vector3_t llaRef, Vector3_t lla, Vector3_t result)
122 {
123  Vector3_t deltaLLA;
124  deltaLLA[0] = lla[0] - llaRef[0];
125  deltaLLA[1] = lla[1] - llaRef[1];
126  deltaLLA[2] = lla[2] - llaRef[2];
127 
128  // Handle longitude wrapping
129  UNWRAP_F32(deltaLLA[1]);
130 
131  // Find NED
132  result[0] = deltaLLA[0] * EARTH_RADIUS_F;
133  result[1] = deltaLLA[1] * EARTH_RADIUS_F * _COS( llaRef[0] );
134  result[2] = -deltaLLA[2];
135 }
136 
137 
138 /*
139  * Find NED (north, east, down) from LLAref to LLA (WGS-84 standard)
140  *
141  * lla[0] = latitude (rad)
142  * lla[1] = longitude (rad)
143  * lla[2] = msl altitude (m)
144  */
145 void lla2ned_d(double llaRef[3], double lla[3], Vector3_t result)
146 {
147  Vector3_t deltaLLA;
148  deltaLLA[0] = (f_t)(lla[0] - llaRef[0]);
149  deltaLLA[1] = (f_t)(lla[1] - llaRef[1]);
150  deltaLLA[2] = (f_t)(lla[2] - llaRef[2]);
151 
152  // Handle longitude wrapping in radians
153  UNWRAP_F32(deltaLLA[1]);
154 
155  // Find NED
156  result[0] = deltaLLA[0] * EARTH_RADIUS_F;
157  result[1] = deltaLLA[1] * EARTH_RADIUS_F * _COS( ((f_t)llaRef[0]) );
158  result[2] = -deltaLLA[2];
159 }
160 
161 /*
162  * Find NED (north, east, down) from LLAref to LLA (WGS-84 standard)
163  *
164  * lla[0] = latitude (deg)
165  * lla[1] = longitude (deg)
166  * lla[2] = msl altitude (m)
167  */
168 void llaDeg2ned_d(double llaRef[3], double lla[3], Vector3_t result)
169 {
170  Vector3_t deltaLLA;
171  deltaLLA[0] = (f_t)(lla[0] - llaRef[0]);
172  deltaLLA[1] = (f_t)(lla[1] - llaRef[1]);
173  deltaLLA[2] = (f_t)(lla[2] - llaRef[2]);
174 
175  // Handle longitude wrapping
176  UNWRAP_DEG_F32(deltaLLA[1]);
177 
178  // Find NED
179  result[0] = deltaLLA[0] * DEG2RAD_EARTH_RADIUS_F;
180  result[1] = deltaLLA[1] * DEG2RAD_EARTH_RADIUS_F * _COS( ((f_t)llaRef[0]) * C_DEG2RAD_F );
181  result[2] = -deltaLLA[2];
182 }
183 
184 
185 /*
186  * Find LLA of NED (north, east, down) from LLAref (WGS-84 standard)
187  *
188  * lla[0] = latitude (rad)
189  * lla[1] = longitude (rad)
190  * lla[2] = msl altitude (m)
191  */
192 void ned2lla(Vector3_t ned, Vector3_t llaRef, Vector3_t result)
193 {
194  Vector3 deltaLLA;
195  ned2DeltaLla( ned, llaRef, deltaLLA );
196 
197  // Find LLA
198  result[0] = llaRef[0] + deltaLLA[0];
199  result[1] = llaRef[1] + deltaLLA[1];
200  result[2] = llaRef[2] + deltaLLA[2];
201 }
202 
203 
204 /*
205  * Find LLA of NED (north, east, down) from LLAref (WGS-84 standard)
206  *
207  * lla[0] = latitude (rad)
208  * lla[1] = longitude (rad)
209  * lla[2] = msl altitude (m)
210  */
211 void ned2lla_d(Vector3_t ned, double llaRef[3], double result[3])
212 {
213  double deltaLLA[3];
214  ned2DeltaLla_d( ned, llaRef, deltaLLA );
215 
216  // Find LLA
217  result[0] = llaRef[0] + deltaLLA[0];
218  result[1] = llaRef[1] + deltaLLA[1];
219  result[2] = llaRef[2] + deltaLLA[2];
220 }
221 
222 
223 /*
224 * Find LLA of NED (north, east, down) from LLAref (WGS-84 standard)
225 *
226 * lla[0] = latitude (degrees)
227 * lla[1] = longitude (degrees)
228 * lla[2] = msl altitude (m)
229 */
230 void ned2llaDeg_d(Vector3_t ned, double llaRef[3], double result[3])
231 {
232  double deltaLLA[3];
233  ned2DeltaLlaDeg_d(ned, llaRef, deltaLLA);
234 
235  // Find LLA
236  result[0] = llaRef[0] + deltaLLA[0];
237  result[1] = llaRef[1] + deltaLLA[1];
238  result[2] = llaRef[2] + deltaLLA[2];
239 }
240 
241 
242 /*
243  * Find msl altitude based on barometric pressure
244  * https://en.wikipedia.org/wiki/Atmospheric_pressure
245  *
246  * baroKPa = (kPa) barometric pressure in kilopascals
247  * return = (m) msl altitude in meters
248  */
249 f_t baro2msl( f_t pKPa )
250 {
251  if( pKPa <= _ZERO )
252  return _ZERO;
253  else
254  return (f_t)C_NEG_KT0_DIV_MG_F * _LOG( pKPa * (f_t)C_INV_P0_KPA_F );
255 }
256 
257 
258 /*
259  * Find linear distance between lat,lon,alt (rad,rad,m) coordinates.
260  *
261  * return = (m) distance in meters
262  */
263 f_t llaRadDistance( double lla1[3], double lla2[3] )
264 {
265  Vector3_t ned;
266 
267  lla2ned_d( lla1, lla2, ned );
268 
269  return _SQRT( ned[0]*ned[0] + ned[1]*ned[1] + ned[2]*ned[2] );
270 }
271 
272 /*
273  * Find linear distance between lat,lon,alt (deg,deg,m) coordinates.
274  *
275  * return = (m) distance in meters
276  */
277 f_t llaDegDistance( double lla1[3], double lla2[3] )
278 {
279  Vector3_t ned;
280 
281  llaDeg2ned_d( lla1, lla2, ned );
282 
283  return _SQRT( ned[0]*ned[0] + ned[1]*ned[1] + ned[2]*ned[2] );
284 }
285 
286 void ned2DeltaLla(Vector3_t ned, Vector3 llaRef, Vector3 deltaLLA)
287 {
288  deltaLLA[0] = ned[0] * INV_EARTH_RADIUS_F;
289  deltaLLA[1] = ned[1] * INV_EARTH_RADIUS_F / _COS(((f_t)llaRef[0]));
290  deltaLLA[2] = -ned[2];
291 }
292 
293 void ned2DeltaLla_d(Vector3_t ned, double llaRef[3], double deltaLLA[3])
294 {
295  deltaLLA[0] = (double)( ned[0] * INV_EARTH_RADIUS_F);
296  deltaLLA[1] = (double)( ned[1] * INV_EARTH_RADIUS_F / _COS(((f_t)llaRef[0])) );
297  deltaLLA[2] = (double)(-ned[2]);
298 }
299 
300 void ned2DeltaLlaDeg_d(Vector3_t ned, double llaRef[3], double deltaLLA[3])
301 {
302  deltaLLA[0] = (double)(ned[0] * INV_EARTH_RADIUS_F * C_RAD2DEG_F);
303  deltaLLA[1] = (double)(ned[1] * INV_EARTH_RADIUS_F * C_RAD2DEG_F / _COS( (((f_t)llaRef[0])*C_DEG2RAD_F) ) );
304  deltaLLA[2] = (double)(-ned[2]);
305 }
306 
307 // Convert LLA from radians to degrees
308 void lla_Rad2Deg_d(double result[3], double lla[3])
309 {
310  result[0] = C_RAD2DEG * lla[0];
311  result[1] = C_RAD2DEG * lla[1];
312  result[2] = lla[2];
313 }
314 
315 // Convert LLA from degrees to radians
316 void lla_Deg2Rad_d(double result[3], double lla[3])
317 {
318  result[0] = C_DEG2RAD * lla[0];
319  result[1] = C_DEG2RAD * lla[1];
320  result[2] = lla[2];
321 }
322 
323 void lla_Deg2Rad_d2(double result[3], double lat, double lon, double alt)
324 {
325  result[0] = C_DEG2RAD * lat;
326  result[1] = C_DEG2RAD * lon;
327  result[2] = alt;
328 }
329 
330 /*
331  * Check if lat,lon,alt (deg,deg,m) coordinates are valid.
332  *
333  * return 1 on success, 0 on failure.
334  */
335 int llaDegValid( double lla[3] )
336 {
337  if( (lla[0]<-90.0) || (lla[0]>90.0) || // Lat
338  (lla[1]<-180.0) || (lla[1]>180.0) || // Lon
339  (lla[2]<-10000.0) || (lla[2]>1000000.0) ) // Alt: -10 to 1,000 kilometers
340  { // Invalid
341  return 0;
342  }
343  else
344  { // Valid
345  return 1;
346  }
347 }
348 
UNWRAP_F32
#define UNWRAP_F32(x)
Definition: ISConstants.h:699
+
f_t
float f_t
Definition: ISConstants.h:719
lla_Rad2Deg_d
void lla_Rad2Deg_d(double result[3], double lla[3])
Definition: ISEarth.c:308
lla_Deg2Rad_d2
void lla_Deg2Rad_d2(double result[3], double lat, double lon, double alt)
Definition: ISEarth.c:323
-
UNWRAP_DEG_F32
#define UNWRAP_DEG_F32(x)
Definition: ISConstants.h:700
+
UNWRAP_DEG_F32
#define UNWRAP_DEG_F32(x)
Definition: ISConstants.h:697
ned2lla
void ned2lla(Vector3_t ned, Vector3_t llaRef, Vector3_t result)
Definition: ISEarth.c:192
ned2DeltaLlaDeg_d
void ned2DeltaLlaDeg_d(Vector3_t ned, double llaRef[3], double deltaLLA[3])
Definition: ISEarth.c:300
DEG2RAD_EARTH_RADIUS_F
#define DEG2RAD_EARTH_RADIUS_F
Definition: ISEarth.h:21
@@ -84,29 +84,29 @@
ned2DeltaLla
void ned2DeltaLla(Vector3_t ned, Vector3 llaRef, Vector3 deltaLLA)
Definition: ISEarth.c:286
lla2ned_d
void lla2ned_d(double llaRef[3], double lla[3], Vector3_t result)
Definition: ISEarth.c:145
ned2lla_d
void ned2lla_d(Vector3_t ned, double llaRef[3], double result[3])
Definition: ISEarth.c:211
-
_LOG
#define _LOG
Definition: ISConstants.h:714
+
_LOG
#define _LOG
Definition: ISConstants.h:711
lla_Deg2Rad_d
void lla_Deg2Rad_d(double result[3], double lla[3])
Definition: ISEarth.c:316
ecef2lla
void ecef2lla(const double *Pe, double *LLA, const bool metric, const int Niter)
Definition: ISEarth.c:40
C_NEG_KT0_DIV_MG_F
#define C_NEG_KT0_DIV_MG_F
Definition: ISEarth.c:21
-
C_DEG2RAD_F
#define C_DEG2RAD_F
Definition: ISConstants.h:501
+
C_DEG2RAD_F
#define C_DEG2RAD_F
Definition: ISConstants.h:498
llaDegValid
int llaDegValid(double lla[3])
Definition: ISEarth.c:335
-
Vector3
f_t Vector3[3]
Definition: ISConstants.h:727
-
_SQRT
#define _SQRT
Definition: ISConstants.h:712
-
C_RAD2DEG
#define C_RAD2DEG
Definition: ISConstants.h:502
-
_COS
#define _COS
Definition: ISConstants.h:707
+
Vector3
f_t Vector3[3]
Definition: ISConstants.h:724
+
_SQRT
#define _SQRT
Definition: ISConstants.h:709
+
C_RAD2DEG
#define C_RAD2DEG
Definition: ISConstants.h:499
+
_COS
#define _COS
Definition: ISConstants.h:704
baro2msl
f_t baro2msl(f_t pKPa)
Definition: ISEarth.c:249
ned2llaDeg_d
void ned2llaDeg_d(Vector3_t ned, double llaRef[3], double result[3])
Definition: ISEarth.c:230
ISEarth.h
llaRadDistance
f_t llaRadDistance(double lla1[3], double lla2[3])
Definition: ISEarth.c:263
ned2DeltaLla_d
void ned2DeltaLla_d(Vector3_t ned, double llaRef[3], double deltaLLA[3])
Definition: ISEarth.c:293
llaDeg2ned_d
void llaDeg2ned_d(double llaRef[3], double lla[3], Vector3_t result)
Definition: ISEarth.c:168
-
C_RAD2DEG_F
#define C_RAD2DEG_F
Definition: ISConstants.h:503
+
C_RAD2DEG_F
#define C_RAD2DEG_F
Definition: ISConstants.h:500
EARTH_RADIUS_F
#define EARTH_RADIUS_F
Definition: ISEarth.h:24
-
_ZERO
#define _ZERO
Definition: ISConstants.h:718
+
_ZERO
#define _ZERO
Definition: ISConstants.h:715
Vector3_t
Vector3 Vector3_t
Definition: ISPose.h:33
INV_EARTH_RADIUS_F
#define INV_EARTH_RADIUS_F
Definition: ISEarth.h:25
-
C_DEG2RAD
#define C_DEG2RAD
Definition: ISConstants.h:500
-
C_INV_P0_KPA_F
#define C_INV_P0_KPA_F
Definition: ISConstants.h:445
+
C_DEG2RAD
#define C_DEG2RAD
Definition: ISConstants.h:497
+
C_INV_P0_KPA_F
#define C_INV_P0_KPA_F
Definition: ISConstants.h:442
llaDegDistance
f_t llaDegDistance(double lla1[3], double lla2[3])
Definition: ISEarth.c:277
lla2ecef
void lla2ecef(const double *LLA, double *Pe, const bool metric)
Definition: ISEarth.c:83
diff --git a/docs/html/_i_s_earth_8h.html b/docs/html/_i_s_earth_8h.html index 2d754025a..43f850435 100644 --- a/docs/html/_i_s_earth_8h.html +++ b/docs/html/_i_s_earth_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_earth_8h_source.html b/docs/html/_i_s_earth_8h_source.html index 42ba7a08d..cdd439193 100644 --- a/docs/html/_i_s_earth_8h_source.html +++ b/docs/html/_i_s_earth_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -73,7 +73,7 @@
Go to the documentation of this file.
1 /*
2  * ISEarth.h
3  *
4  * Created on: Sept 4, 2011
5  * Author: waltj
6  */
7 
8 #ifndef ISEARTH_H_
9 #define ISEARTH_H_
10 
11 #ifdef __cplusplus
12 extern "C" {
13 #endif
14 
15 #include <stdbool.h>
16 
17 #include "ISMatrix.h"
18 #include "ISConstants.h"
19 #include "ISPose.h"
20 
21 #define DEG2RAD_EARTH_RADIUS_F 111120.0f // = DEG2RAD * earth_radius_in_meters
22 #define INV_DEG2RAD_EARTH_RADIUS_F 8.99928005759539236861e-6f // = 1 / ( DEG2RAD * earth_radius_in_meters )
23 
24 #define EARTH_RADIUS_F 6366707.01949371f // = earth_radius_in_meters
25 #define INV_EARTH_RADIUS_F 1.5706706731410E-07f // = 1 / earth_radius_in_meters
26 
27 #if 0
28 typedef Vector2 Vector2_t;
29 typedef Vector3 Vector3_t;
30 typedef Vector4 Vector4_t;
31 typedef Vector3_t Euler_t; // phi, theta, psi (roll, pitch, yaw)
32 typedef Vector4_t Quat_t; // w, x, y, z
33 typedef Matrix2 Matrix2_t;
34 typedef Matrix3 Matrix3_t;
35 typedef Matrix4 Matrix4_t;
36 #else
37 
38 #endif
39 
40 
41 #if (!defined (__cplusplus) && (!defined (inline)))
42 # define inline __inline // allow "inline" keyword to work in windows w/ c program
43 #endif
44 
45 
46 //_____ G L O B A L S ______________________________________________________
47 
48 //_____ P R O T O T Y P E S ________________________________________________
49 
50 /* Coordinate transformation from ECEF coordinates to latitude/longitude/altitude */
51 void ecef2lla(const double *Pe, double *LLA, const bool metric, const int Niter);
52 
53 /* Coordinate transformation from latitude/longitude/altitude to ECEF coordinates */
54 void lla2ecef(const double *LLA, double *Pe, const bool metric);
55 
56 /*
57  * Find NED (north, east, down) from LLAref to LLA
58  *
59  * lla[0] = latitude (rad)
60  * lla[1] = longitude (rad)
61  * lla[2] = msl altitude (m)
62  */
63 void lla2ned( Vector3_t llaRef, Vector3_t lla, Vector3_t result );
64 void lla2ned_d( double llaRef[3], double lla[3], Vector3_t result ); // double precision
65 
66 /*
67  * Find NED (north, east, down) from LLAref to LLA
68  *
69  * lla[0] = latitude (degrees)
70  * lla[1] = longitude (degrees)
71  * lla[2] = msl altitude (m)
72  */
73 void llaDeg2ned_d(double llaRef[3], double lla[3], Vector3_t result);
74 
75 /*
76  * Find LLA of NED (north, east, down) from LLAref
77  *
78  * lla[0] = latitude (rad)
79  * lla[1] = longitude (rad)
80  * lla[2] = msl altitude (m)
81  */
82 void ned2lla( Vector3_t ned, Vector3_t llaRef, Vector3_t result );
83 void ned2lla_d( Vector3_t ned, double llaRef[3], double result[3] ); // double precision
84 
85 /*
86 * Find LLA of NED (north, east, down) from LLAref (WGS-84 standard)
87 *
88 * lla[0] = latitude (degrees)
89 * lla[1] = longitude (degrees)
90 * lla[2] = msl altitude (m)
91 */
92 void ned2llaDeg_d(Vector3_t ned, double llaRef[3], double result[3]);
93 
94 /*
95  * Find Delta LLA of NED (north, east, down) from LLAref
96  *
97  * lla[0] = latitude (rad)
98  * lla[1] = longitude (rad)
99  * lla[2] = msl altitude (m)
100  */
101 void ned2DeltaLla(Vector3_t ned, Vector3 llaRef, Vector3 deltaLLA);
102 void ned2DeltaLla_d(Vector3_t ned, double llaRef[3], double deltaLLA[3]);
103 
104 /*
105 * Find Delta LLA of NED (north, east, down) from LLAref
106 *
107 * lla[0] = latitude (degrees)
108 * lla[1] = longitude (degrees)
109 * lla[2] = msl altitude (m)
110 */
111 void ned2DeltaLlaDeg_d(Vector3_t ned, double llaRef[3], double deltaLLA[3]);
112 
113 // Convert LLA from radians to degrees
114 void lla_Rad2Deg_d(double result[3], double lla[3]);
115 
116 // Convert LLA from degrees to radians
117 void lla_Deg2Rad_d(double result[3], double lla[3]);
118 void lla_Deg2Rad_d2(double result[3], double lat, double lon, double alt);
119 
120 /*
121  * Find msl altitude based on barometric pressure
122  * https://en.wikipedia.org/wiki/Atmospheric_pressure
123  *
124  * baroKPa = (kPa) barometric pressure in kilopascals
125  * return = (m) MSL altitude in meters
126  */
127 f_t baro2msl( f_t pKPa );
128 
129 
130 /*
131  * Find linear distance between lat,lon,alt (rad,rad,m) coordinates.
132  *
133  * return = (m) distance in meters
134  */
135 f_t llaRadDistance( double lla1[3], double lla2[3] );
136 f_t llaDegDistance( double lla1[3], double lla2[3] );
137 
138 
139 /*
140  * Check if lat,lon,alt (deg,deg,m) coordinates are valid.
141  *
142  * return 0 on success, -1 on failure.
143  */
144 int llaDegValid( double lla[3] );
145 
146 
147 #ifdef __cplusplus
148 }
149 #endif
150 
151 #endif /* ISEARTH_H_ */
baro2msl
f_t baro2msl(f_t pKPa)
Definition: ISEarth.c:249
-
f_t
float f_t
Definition: ISConstants.h:722
+
f_t
float f_t
Definition: ISConstants.h:719
lla_Deg2Rad_d2
void lla_Deg2Rad_d2(double result[3], double lat, double lon, double alt)
Definition: ISEarth.c:323
Vector4_t
Vector4 Vector4_t
Definition: ISPose.h:34
lla2ned
void lla2ned(Vector3_t llaRef, Vector3_t lla, Vector3_t result)
Definition: ISEarth.c:121
@@ -83,7 +83,7 @@
lla2ned_d
void lla2ned_d(double llaRef[3], double lla[3], Vector3_t result)
Definition: ISEarth.c:145
Quat_t
Vector4_t Quat_t
Definition: ISPose.h:36
ecef2lla
void ecef2lla(const double *Pe, double *LLA, const bool metric, const int Niter)
Definition: ISEarth.c:40
-
Vector4
f_t Vector4[4]
Definition: ISConstants.h:729
+
Vector4
f_t Vector4[4]
Definition: ISConstants.h:726
ned2lla_d
void ned2lla_d(Vector3_t ned, double llaRef[3], double result[3])
Definition: ISEarth.c:211
llaRadDistance
f_t llaRadDistance(double lla1[3], double lla2[3])
Definition: ISEarth.c:263
ned2DeltaLla_d
void ned2DeltaLla_d(Vector3_t ned, double llaRef[3], double deltaLLA[3])
Definition: ISEarth.c:293
@@ -91,14 +91,14 @@
Matrix2_t
Matrix2 Matrix2_t
Definition: ISPose.h:38
Matrix3_t
Matrix3 Matrix3_t
Definition: ISPose.h:39
ned2llaDeg_d
void ned2llaDeg_d(Vector3_t ned, double llaRef[3], double result[3])
Definition: ISEarth.c:230
-
Vector2
f_t Vector2[3]
Definition: ISConstants.h:725
-
Vector3
f_t Vector3[3]
Definition: ISConstants.h:727
+
Vector2
f_t Vector2[3]
Definition: ISConstants.h:722
+
Vector3
f_t Vector3[3]
Definition: ISConstants.h:724
ISMatrix.h
ned2DeltaLlaDeg_d
void ned2DeltaLlaDeg_d(Vector3_t ned, double llaRef[3], double deltaLLA[3])
Definition: ISEarth.c:300
Matrix4_t
Matrix4 Matrix4_t
Definition: ISPose.h:40
-
Matrix3
f_t Matrix3[9]
Definition: ISConstants.h:735
-
Matrix4
f_t Matrix4[16]
Definition: ISConstants.h:736
-
Matrix2
f_t Matrix2[4]
Definition: ISConstants.h:734
+
Matrix3
f_t Matrix3[9]
Definition: ISConstants.h:732
+
Matrix4
f_t Matrix4[16]
Definition: ISConstants.h:733
+
Matrix2
f_t Matrix2[4]
Definition: ISConstants.h:731
ISPose.h
ned2lla
void ned2lla(Vector3_t ned, Vector3_t llaRef, Vector3_t result)
Definition: ISEarth.c:192
llaDeg2ned_d
void llaDeg2ned_d(double llaRef[3], double lla[3], Vector3_t result)
Definition: ISEarth.c:168
diff --git a/docs/html/_i_s_logger_8cpp.html b/docs/html/_i_s_logger_8cpp.html index b4cb3f596..38dd7e351 100644 --- a/docs/html/_i_s_logger_8cpp.html +++ b/docs/html/_i_s_logger_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_logger_8cpp_source.html b/docs/html/_i_s_logger_8cpp_source.html index fc2494621..897a59616 100644 --- a/docs/html/_i_s_logger_8cpp_source.html +++ b/docs/html/_i_s_logger_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,115 +72,116 @@
ISLogger.cpp
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <ctime>
14 #include <sstream>
15 #include <sys/types.h>
16 #include <sys/stat.h>
17 #include <algorithm>
18 #include <iomanip>
19 #include <iostream>
20 #include <fstream>
21 #include <stdio.h>
22 #include <stdlib.h>
23 #include <stddef.h>
24 #include <regex>
25 #include <set>
26 #include <sstream>
27 
28 #include "ISLogger.h"
29 #include "ISDataMappings.h"
30 #include "ISUtilities.h"
31 
32 #if PLATFORM_IS_LINUX || PLATFORM_IS_APPLE
33 
34 #include <sys/statvfs.h>
35 
36 #endif
37 
38 const string cISLogger::g_emptyString;
39 
40 bool cISLogger::LogHeaderIsCorrupt(const p_data_hdr_t* hdr)
41 {
42  bool corrupt = (hdr != NULL &&
43  (
44  hdr->size == 0 ||
45  hdr->offset + hdr->size > MAX_DATASET_SIZE ||
46  hdr->id == 0 ||
47  hdr->id >= DID_COUNT ||
48  hdr->offset % 4 != 0 ||
49  hdr->size % 4 != 0 ||
50  (cISDataMappings::GetSize(hdr->id) > 0 && hdr->offset + hdr->size > cISDataMappings::GetSize(hdr->id))
51  ));
52  return corrupt;
53 }
54 
55 bool cISLogger::LogDataIsCorrupt(const p_data_t* data)
56 {
57  return (data != NULL && LogHeaderIsCorrupt(&data->hdr));
58 }
59 
60 cISLogger::cISLogger()
61 {
62  m_enabled = false;
63  m_logStats = new cLogStats;
64  m_logStats->Clear();
65  m_errorFile = NULL;
66  m_lastCommTime = 0;
67  m_timeoutFlushSeconds = 0;
68 }
69 
70 
71 cISLogger::~cISLogger()
72 {
73  Cleanup();
74  delete m_logStats;
75 }
76 
77 
78 void cISLogger::Cleanup()
79 {
80  // Delete old devices
81  for (unsigned int i = 0; i < m_devices.size(); i++)
82  {
83  if (m_devices[i] != NULL)
84  {
85  delete m_devices[i];
86  }
87  }
88  m_devices.clear();
89  m_logStats->Clear();
90  if (m_errorFile != NULL)
91  {
92  fclose(m_errorFile);
93  m_errorFile = NULL;
94  }
95 }
96 
97 
98 void cISLogger::Update()
99 {
100  // if we have a timeout param and the time has elapsed, shutdown
101  if (m_lastCommTime == 0)
102  {
103  m_lastCommTime = time(NULLPTR);
104  }
105  else if (m_timeoutFlushSeconds > 0 && time(NULLPTR) - m_lastCommTime >= m_timeoutFlushSeconds)
106  {
107  for (unsigned int i = 0; i < m_devices.size(); i++)
108  {
109  m_devices[i]->Flush();
110  }
111  }
112  _UTIMEBUF buf{ time(NULL), time(NULL) };
113  _UTIME((m_directory + "/stats.txt").c_str(), &buf);
114 }
115 
116 
117 bool cISLogger::InitSaveCommon(eLogType logType, const string& directory, const string& subDirectory, int numDevices, float maxDiskSpacePercent, uint32_t maxFileSize, uint32_t maxChunkSize, bool useSubFolderTimestamp)
118 {
119  static const int minFileCount = 50;
120  static const int maxFileCount = 10000;
121 
122  // Close any open files
123  CloseAllFiles();
124 
125  m_logType = logType;
126  m_directory = (directory.empty() ? DEFAULT_LOGS_DIRECTORY : directory);
127  maxDiskSpacePercent = _CLAMP(maxDiskSpacePercent, 0.01f, 0.99f);
128  uint64_t availableSpace = cISLogger::GetDirectorySpaceAvailable(m_directory);
129  m_maxDiskSpace = (maxDiskSpacePercent <= 0.0f ? availableSpace : (uint64_t)(availableSpace * maxDiskSpacePercent));
130 
131  // ensure there are between min and max file count
132  if (maxFileSize > m_maxDiskSpace / minFileCount)
133  {
134  m_maxFileSize = (uint32_t)(m_maxDiskSpace / minFileCount);
135  }
136  else if (maxFileSize < m_maxDiskSpace / maxFileCount)
137  {
138  m_maxFileSize = (uint32_t)(m_maxDiskSpace / maxFileCount);
139  }
140  else
141  {
142  m_maxFileSize = maxFileSize;
143  }
144 
145  // make sure chunk size is valid
146  if (maxChunkSize > m_maxFileSize)
147  {
148  m_maxChunkSize = _MIN(m_maxFileSize, MAX_CHUNK_SIZE);
149  }
150  else
151  {
152  m_maxChunkSize = _MIN(maxChunkSize, MAX_CHUNK_SIZE);
153  }
154 
155  // create root dir
156  _MKDIR(m_directory.c_str());
157 
158  if (useSubFolderTimestamp)
159  {
160  // create time stamp dir
161  m_directory = directory + "/" + m_timeStamp;
162  _MKDIR(m_directory.c_str());
163 
164  if (!subDirectory.empty())
165  {
166  // create sub dir
167  m_directory += "/" + subDirectory;
168  _MKDIR(m_directory.c_str());
169  }
170  }
171 
172  // create empty stats file to track timestamps
173  fstream fs;
174  fs.open((m_directory + "/stats.txt").c_str(), ios::out);
175  fs.close();
176 
177  // Initialize devices
178  return InitDevicesForWriting(numDevices);
179 }
180 
181 
182 string cISLogger::CreateCurrentTimestamp()
183 {
184  // Create timestamp
185  char buf[80];
186  time_t rawtime;
187  time(&rawtime);
188  struct tm * timeinfo = localtime(&rawtime);
189  strftime(buf, 80, "%Y%m%d_%H%M%S", timeinfo);
190  return string(buf);
191 }
192 
193 
194 bool cISLogger::InitSave(eLogType logType, const string& directory, int numDevices, float maxDiskSpacePercent, uint32_t maxFileSize, uint32_t maxChunkSize, bool useSubFolderTimestamp)
195 {
196  m_timeStamp = CreateCurrentTimestamp();
197  return InitSaveCommon(logType, directory, g_emptyString, numDevices, maxDiskSpacePercent, maxFileSize, maxChunkSize, useSubFolderTimestamp);
198 }
199 
200 
201 bool cISLogger::InitSaveTimestamp(const string& timeStamp, const string& directory, const string& subDirectory, int numDevices, eLogType logType, float maxDiskSpacePercent, uint32_t maxFileSize, uint32_t maxChunkSize, bool useSubFolderTimestamp)
202 {
203  if (timeStamp.length() == 0)
204  {
205  m_timeStamp = CreateCurrentTimestamp();
206  }
207  else
208  {
209  // Only use first 15 characters for the timestamp
210  m_timeStamp = timeStamp.substr(0, IS_LOG_TIMESTAMP_LENGTH);
211  }
212 
213  return InitSaveCommon(logType, directory, subDirectory, numDevices, maxDiskSpacePercent, maxFileSize, maxChunkSize, useSubFolderTimestamp);
214 }
215 
216 
217 bool cISLogger::InitDevicesForWriting(int numDevices)
218 {
219  Cleanup();
220 
221  // Add devices
222  m_devices.resize(numDevices);
223 
224  // Create and init new devices
225  for (int i = 0; i < numDevices; i++)
226  {
227  switch (m_logType)
228  {
229  default:
230  case LOGTYPE_DAT: m_devices[i] = new cDeviceLogSerial(); break;
231  case LOGTYPE_SDAT: m_devices[i] = new cDeviceLogSorted(); break;
232  case LOGTYPE_CSV: m_devices[i] = new cDeviceLogCSV(); break;
233  case LOGTYPE_KML: m_devices[i] = new cDeviceLogKML(); break;
234  }
235 
236  m_devices[i]->InitDeviceForWriting(i, m_timeStamp, m_directory, m_maxDiskSpace, m_maxFileSize, m_maxChunkSize);
237  }
238 
239 #ifdef _MSC_VER
240 
241  fopen_s(&m_errorFile, (m_directory + "/errors.txt").c_str(), "wb");
242 
243 #else
244 
245  m_errorFile = fopen((m_directory + "/errors.txt").c_str(), "wb");
246 
247 #endif
248 
249  struct stat sb;
250  return (stat(m_directory.c_str(), &sb) == 0 && S_ISDIR(sb.st_mode));
251 }
252 
253 
254 bool cISLogger::GetAllFilesInDirectory(const string& directory, bool recursive, vector<string>& files)
255 {
256  return GetAllFilesInDirectory(directory, recursive, g_emptyString, files);
257 }
258 
259 bool cISLogger::GetAllFilesInDirectory(const string& directory, bool recursive, const string& regexPattern, vector<string>& files)
260 {
261  size_t startSize = files.size();
262  regex* rePtr = NULL;
263  regex re;
264  if (regexPattern.length() != 0)
265  {
266  re = regex(regexPattern, regex::icase);
267  rePtr = &re;
268  }
269 
270 #if PLATFORM_IS_WINDOWS
271 
272  HANDLE dir;
273  WIN32_FIND_DATAA file_data;
274  if ((dir = FindFirstFileA((directory + "/*").c_str(), &file_data)) == INVALID_HANDLE_VALUE)
275  {
276  return false;
277  }
278  do
279  {
280  string file_name = file_data.cFileName;
281  string full_file_name = directory + "/" + file_name;
282  if (file_name[0] == '.' || (rePtr != NULL && !regex_search(full_file_name, re)))
283  {
284  continue;
285  }
286  else if ((file_data.dwFileAttributes & FILE_ATTRIBUTE_DIRECTORY) != 0)
287  {
288  if (recursive)
289  {
290  GetAllFilesInDirectory(full_file_name, true, files);
291  }
292  continue;
293  }
294 
295  files.push_back(full_file_name);
296  } while (FindNextFileA(dir, &file_data));
297  FindClose(dir);
298 
299 #else
300 
301  class dirent* ent;
302  class stat st;
303  DIR* dir = opendir(directory.c_str());
304 
305  if (dir == NULL)
306  {
307  return false;
308  }
309 
310  while ((ent = readdir(dir)) != NULL)
311  {
312  const string file_name = ent->d_name;
313  const string full_file_name = directory + "/" + file_name;
314 
315  // if file is current path or does not exist (-1) then continue
316  if (file_name[0] == '.' || stat(full_file_name.c_str(), &st) == -1 || (rePtr != NULL && !regex_search(full_file_name, re)))
317  {
318  continue;
319  }
320  else if ((st.st_mode & S_IFDIR) != 0)
321  {
322  if (recursive)
323  {
324  GetAllFilesInDirectory(full_file_name, true, files);
325  }
326  continue;
327  }
328 
329  files.push_back(full_file_name);
330  }
331  closedir(dir);
332 
333 #endif
334 
335  return (files.size() != startSize);
336 }
337 
338 
339 void cISLogger::DeleteDirectory(const string& directory, bool recursive)
340 {
341 
342 #if PLATFORM_IS_WINDOWS
343 
344  HANDLE dir;
345  WIN32_FIND_DATAA file_data;
346  if ((dir = FindFirstFileA((directory + "/*").c_str(), &file_data)) == INVALID_HANDLE_VALUE)
347  {
348  return;
349  }
350  do
351  {
352  const string file_name = file_data.cFileName;
353  const string full_file_name = directory + "/" + file_name;
354  const bool is_directory = (file_data.dwFileAttributes & FILE_ATTRIBUTE_DIRECTORY) != 0;
355  if (file_name[0] == '.')
356  {
357  continue;
358  }
359  else if (is_directory)
360  {
361  if (recursive)
362  {
363  DeleteDirectory(full_file_name);
364  }
365  continue;
366  }
367  remove(full_file_name.c_str());
368  } while (FindNextFileA(dir, &file_data));
369  FindClose(dir);
370 
371 #else
372 
373  class dirent* ent;
374  class stat st;
375 
376  DIR* dir;
377  if ((dir = opendir(directory.c_str())) == NULL)
378  {
379  return;
380  }
381 
382  while ((ent = readdir(dir)) != NULL)
383  {
384  const string file_name = ent->d_name;
385  const string full_file_name = directory + "/" + file_name;
386 
387  // if file is current path or does not exist (-1) then continue
388  if (file_name[0] == '.' || stat(full_file_name.c_str(), &st) == -1)
389  {
390  continue;
391  }
392  else if ((st.st_mode & S_IFDIR) != 0)
393  {
394  if (recursive)
395  {
396  DeleteDirectory(full_file_name.c_str());
397  }
398  continue;
399  }
400  remove(full_file_name.c_str());
401  }
402  closedir(dir);
403 
404 #endif
405 
406  _RMDIR(directory.c_str());
407 }
408 
409 
410 uint64_t cISLogger::GetDirectorySpaceUsed(const string& directory, bool recursive)
411 {
412  vector<file_info_t> files;
413  return GetDirectorySpaceUsed(directory, "", files, true, recursive);
414 }
415 
416 
417 uint64_t cISLogger::GetDirectorySpaceUsed(const string& directory, vector<file_info_t>& files, bool sortByDate, bool recursive)
418 {
419  return GetDirectorySpaceUsed(directory, "", files, sortByDate, recursive);
420 }
421 
422 
423 uint64_t cISLogger::GetDirectorySpaceUsed(const string& directory, string regexPattern, vector<file_info_t>& files, bool sortByDate, bool recursive)
424 {
425  vector<string> fileNames;
426  GetAllFilesInDirectory(directory, recursive, regexPattern, fileNames);
427  uint64_t spaceUsed = 0;
428  for (unsigned int i = 0; i < fileNames.size(); i++)
429  {
430  file_info_t info;
431  info.name = fileNames[i];
432  struct stat st;
433  stat(info.name.c_str(), &st);
434  info.size = st.st_size;
435  info.lastModificationDate = st.st_mtime;
436  files.push_back(info);
437  spaceUsed += info.size;
438  }
439 
440  if (sortByDate)
441  {
442  struct
443  {
444  bool operator()(const file_info_t& a, const file_info_t& b)
445  {
446  int compare = (a.lastModificationDate == b.lastModificationDate ? 0 : (a.lastModificationDate < b.lastModificationDate ? -1 : 1));
447  if (compare == 0)
448  {
449  compare = a.name.compare(b.name);
450  }
451  return compare < 0;
452  }
453  } customSortDate;
454  sort(files.begin(), files.end(), customSortDate);
455  }
456  else
457  {
458  struct
459  {
460  bool operator()(const file_info_t& a, const file_info_t& b)
461  {
462  return a.name < b.name;
463  }
464  } customSortName;
465  sort(files.begin(), files.end(), customSortName);
466  }
467 
468  return spaceUsed;
469 }
470 
471 
472 uint64_t cISLogger::GetDirectorySpaceAvailable(const string& directory)
473 {
474 
475 #if PLATFORM_IS_WINDOWS
476 
477  ULARGE_INTEGER space;
478  memset(&space, 0, sizeof(space));
479  char fullPath[MAX_PATH];
480  GetFullPathNameA(directory.c_str(), MAX_PATH, fullPath, NULL);
481  bool created = (_MKDIR(fullPath) == 0);
482  GetDiskFreeSpaceExA(fullPath, &space, NULL, NULL);
483  if (created)
484  {
485  _RMDIR(fullPath);
486  }
487  return (uint64_t)space.QuadPart;
488 
489 #else
490 
491  struct statvfs stat;
492  memset(&stat, 0, sizeof(stat));
493  char fullPath[PATH_MAX];
494  if (realpath(directory.c_str(), fullPath) == NULL)
495  {
496  return 0;
497  }
498  bool created = (_MKDIR(fullPath) == 0);
499  statvfs(fullPath, &stat);
500  if (created)
501  {
502  _RMDIR(fullPath);
503  }
504  return (uint64_t)stat.f_bsize * (uint64_t)stat.f_bavail;
505 
506 #endif
507 
508 }
509 
510 string cISLogger::GetFileName(const string& path)
511 {
512  size_t lastSepIndex = path.find_last_of("\\/");
513  if (lastSepIndex != string::npos)
514  {
515  return path.substr(lastSepIndex + 1);
516  }
517  return path;
518 }
519 
520 bool cISLogger::LoadFromDirectory(const string& directory, eLogType logType)
521 {
522  // Delete and clear prior devices
523  Cleanup();
524  m_logType = logType;
525  string fileExtensionRegex;
526  set<string> serialNumbers;
527 
528  switch (logType)
529  {
530  default:
531  case cISLogger::LOGTYPE_DAT: fileExtensionRegex = "\\.dat$"; break;
532  case cISLogger::LOGTYPE_SDAT: fileExtensionRegex = "\\.sdat$"; break;
533  case cISLogger::LOGTYPE_CSV: fileExtensionRegex = "\\.csv$"; break;
534  case cISLogger::LOGTYPE_KML: return false; // fileExtensionRegex = "\\.kml$"; break; // kml read not supported
535  }
536 
537  // get all files, sorted by name
538  vector<file_info_t> files;
539  GetDirectorySpaceUsed(directory, fileExtensionRegex, files, false, false);
540  if (files.size() == 0)
541  {
542  return false;
543  }
544 
545  for (size_t i = 0; i < files.size(); i++)
546  {
547  string name = GetFileName(files[i].name);
548 
549  // check for log file prefix
550  size_t endOfLogPrefixIndex = name.find(IS_LOG_FILE_PREFIX);
551  if (endOfLogPrefixIndex != string::npos)
552  {
553  endOfLogPrefixIndex += IS_LOG_FILE_PREFIX_LENGTH;
554  size_t serialNumberEndIndex = name.find('_', endOfLogPrefixIndex);
555  if (serialNumberEndIndex != string::npos)
556  {
557  string serialNumber = name.substr(endOfLogPrefixIndex, serialNumberEndIndex - endOfLogPrefixIndex);
558 
559  // if we don't have a timestamp yet, see if we can parse it from the file, i.e. IS_LOG_FILE_PREFIX 30013_20170103_151023_001
560  if (m_timeStamp.length() == 0)
561  {
562  // find _ at end of timestamp
563  size_t timestampIndex = name.find_last_of('_');
564  if (timestampIndex == string::npos)
565  {
566  timestampIndex = name.find_last_of('.');
567  }
568  if (timestampIndex != string::npos && timestampIndex - ++serialNumberEndIndex == IS_LOG_TIMESTAMP_LENGTH)
569  {
570  m_timeStamp = name.substr(timestampIndex - IS_LOG_TIMESTAMP_LENGTH, IS_LOG_TIMESTAMP_LENGTH);
571  }
572  }
573 
574  // check for unique serial numbers
575  if (serialNumbers.find(serialNumber) == serialNumbers.end())
576  {
577  serialNumbers.insert(serialNumber);
578 
579  // Add devices
580  switch (logType)
581  {
582  default:
583  case cISLogger::LOGTYPE_DAT: m_devices.push_back(new cDeviceLogSerial()); break;
584  case cISLogger::LOGTYPE_SDAT: m_devices.push_back(new cDeviceLogSorted()); break;
585  case cISLogger::LOGTYPE_CSV: m_devices.push_back(new cDeviceLogCSV()); break;
586  }
587  m_devices.back()->SetupReadInfo(directory, serialNumber, m_timeStamp);
588  }
589  }
590  }
591  }
592 
593  for (uint32_t i = 0; i < m_devices.size(); i++)
594  {
595  m_devices[i]->InitDeviceForReading();
596  }
597  return (m_devices.size() != 0);
598 }
599 
600 
601 bool cISLogger::LogData(unsigned int device, p_data_hdr_t* dataHdr, const uint8_t* dataBuf)
602 {
603  m_lastCommTime = time(NULLPTR);
604 
605  if (!m_enabled)
606  {
607  if (m_errorFile != NULL)
608  {
609  fprintf(m_errorFile, "Logger is not enabled\r\n");
610  }
611  return false;
612  }
613  else if (device >= m_devices.size() || dataHdr == NULL || dataBuf == NULL)
614  {
615  if (m_errorFile != NULL)
616  {
617  fprintf(m_errorFile, "Invalid device handle or NULL data\r\n");
618  }
619  return false;
620  }
621  else if (LogHeaderIsCorrupt(dataHdr))
622  {
623  if (m_errorFile != NULL)
624  {
625  fprintf(m_errorFile, "Corrupt log header, id: %lu, offset: %lu, size: %lu\r\n", (unsigned long)dataHdr->id, (unsigned long)dataHdr->offset, (unsigned long)dataHdr->size);
626  }
627  m_logStats->LogError(dataHdr);
628  }
629  else if (!m_devices[device]->SaveData(dataHdr, dataBuf))
630  {
631  if (m_errorFile != NULL)
632  {
633  fprintf(m_errorFile, "Underlying log implementation failed to save\r\n");
634  }
635  m_logStats->LogError(dataHdr);
636  }
637  else
638  {
639  double timestamp = cISDataMappings::GetTimestamp(dataHdr, dataBuf);
640  m_logStats->LogDataAndTimestamp(dataHdr->id, timestamp);
641 
642  if (dataHdr->id == DID_DIAGNOSTIC_MESSAGE)
643  {
644  // write to diagnostic text file
645  std::ofstream outfile;
646  std::ostringstream outFilePath;
647  outFilePath << m_directory << "/diagnostic_" << m_devices[device]->GetDeviceInfo()->serialNumber << ".txt";
648  outfile.open(outFilePath.str(), std::ios_base::app);
649  std::string msg = (((diag_msg_t*)dataBuf)->message);
650  outfile.write(msg.c_str(), msg.length());
651  if (msg.length() > 0 && msg[msg.length() - 1] != '\n')
652  {
653  outfile << std::endl;
654  }
655  }
656  }
657  return true;
658 }
659 
660 
661 p_data_t* cISLogger::ReadData(unsigned int device)
662 {
663  if (device >= m_devices.size())
664  {
665  return NULL;
666  }
667 
668  p_data_t* data = NULL;
669  while (LogDataIsCorrupt(data = m_devices[device]->ReadData()))
670  {
671  if (m_errorFile != NULL)
672  {
673  fprintf(m_errorFile, "Corrupt log header, id: %lu, offset: %lu, size: %lu\r\n", (unsigned long)data->hdr.id, (unsigned long)data->hdr.offset, (unsigned long)data->hdr.size);
674  }
675  m_logStats->LogError(&data->hdr);
676  data = NULL;
677  }
678  if (data != NULL)
679  {
680  double timestamp = cISDataMappings::GetTimestamp(&data->hdr, data->buf);
681  m_logStats->LogDataAndTimestamp(data->hdr.id, timestamp);
682  }
683  return data;
684 }
685 
686 
687 p_data_t* cISLogger::ReadNextData(unsigned int& device)
688 {
689  while (device < m_devices.size())
690  {
691  p_data_t* data = ReadData(device);
692  if (data == NULL)
693  {
694  ++device;
695  }
696  }
697  return NULL;
698 }
699 
700 
701 void cISLogger::CloseAllFiles()
702 {
703  for( unsigned int i = 0; i < m_devices.size(); i++ )
704  {
705  m_devices[i]->CloseAllFiles();
706  }
707 
708  m_logStats->WriteToFile(m_directory + "/stats.txt");
709  if (m_errorFile != NULL)
710  {
711  fclose(m_errorFile);
712  m_errorFile = NULL;
713  }
714 }
715 
716 
717 void cISLogger::OpenWithSystemApp()
718 {
719  for (unsigned int i = 0; i < m_devices.size(); i++)
720  {
721  m_devices[i]->OpenWithSystemApp();
722  }
723 }
724 
725 
726 uint64_t cISLogger::LogSizeAll()
727 {
728  uint64_t size = 0;
729  for (size_t i = 0; i < m_devices.size(); i++)
730  {
731  size += m_devices[i]->LogSize();
732  }
733  return size;
734 }
735 
736 
737 uint64_t cISLogger::LogSize( unsigned int device )
738 {
739  if (device >= m_devices.size())
740  {
741  return 0;
742  }
743 
744  return m_devices[device]->LogSize();
745 }
746 
747 
748 float cISLogger::LogSizeAllMB()
749 {
750  return LogSizeAll() * 0.000001f;
751 }
752 
753 
754 float cISLogger::LogSizeMB( unsigned int device )
755 {
756  if (device >= m_devices.size())
757  {
758  return 0;
759  }
760 
761  return m_devices[device]->LogSize() * 0.000001f;
762 }
763 
764 
765 float cISLogger::FileSizeMB( unsigned int device )
766 {
767  if (device >= m_devices.size())
768  {
769  return 0;
770  }
771 
772  return m_devices[device]->FileSize() * 0.000001f;
773 }
774 
775 
776 uint32_t cISLogger::FileCount( unsigned int device )
777 {
778  if (device >= m_devices.size())
779  {
780  return 0;
781  }
782 
783  return m_devices[device]->FileCount();
784 }
785 
786 bool cISLogger::SetDeviceInfo(const dev_info_t *info, unsigned int device )
787 {
788  if (device >= m_devices.size() || info == NULL)
789  {
790  return false;
791  }
792 
793  m_devices[device]->SetDeviceInfo( info );
794  return true;
795 }
796 
797 const dev_info_t* cISLogger::GetDeviceInfo( unsigned int device )
798 {
799  if (device >= m_devices.size())
800  {
801  return NULL;
802  }
803 
804  return m_devices[device]->GetDeviceInfo();
805 }
806 
807 bool cISLogger::CopyLog(cISLogger& log, const string& timestamp, const string &outputDir, eLogType logType, float maxLogSpacePercent, uint32_t maxFileSize, uint32_t maxChunkSize, bool useSubFolderTimestamp)
808 {
809  m_logStats->Clear();
810  if (!InitSaveTimestamp(timestamp, outputDir, g_emptyString, log.GetDeviceCount(), logType, maxLogSpacePercent, maxFileSize, maxChunkSize, useSubFolderTimestamp))
811  {
812  return false;
813  }
814  EnableLogging(true);
815  p_data_t* data = NULL;
816  for (unsigned int dev = 0; dev < log.GetDeviceCount(); dev++)
817  {
818  // Copy device info
819  const dev_info_t* devInfo = log.GetDeviceInfo(dev);
820  SetDeviceInfo(devInfo, dev);
821 
822  // Set KML configuration
823  m_devices[dev]->SetKmlConfig(m_showPath, m_showSample, m_showTimeStamp, m_iconUpdatePeriodSec, m_altClampToGround);
824 
825  // Copy data
826  while ((data = log.ReadData(dev)))
827  {
828  // CSV special cases
829  if (logType == eLogType::LOGTYPE_CSV)
830  {
831  if (data->hdr.id == DID_INS_2)
832  { // Convert INS2 to INS1 when creating .csv logs
833  ins_1_t ins1;
834  ins_2_t ins2;
835 
836  copyDataPToStructP(&ins2, data, sizeof(ins_2_t));
837  convertIns2ToIns1(&ins2, &ins1);
838 
839  p_data_hdr_t hdr;
840  hdr.id = DID_INS_1;
841  hdr.size = sizeof(ins_1_t);
842  hdr.offset = 0;
843  LogData(dev, &hdr, (uint8_t*)&ins1);
844  }
845  }
846 
847  // Save data
848  LogData(dev, &data->hdr, data->buf);
849  }
850  }
851  CloseAllFiles();
852  return true;
853 }
854 
855 bool cISLogger::ReadAllLogDataIntoMemory(const string& directory, map<uint32_t, vector<vector<uint8_t>>>& data)
856 {
857  cISLogger logger;
858  if (!logger.LoadFromDirectory(directory))
859  {
860  return false;
861  }
862  unsigned int deviceId = 0;
863  unsigned int lastDeviceId = 0xFFFFFEFE;
864  p_data_t* p;
865  vector<vector<uint8_t>>* currentDeviceData = NULL;
866  const dev_info_t* info;
867  uint8_t* ptr, *ptrEnd;
868  data.clear();
869 
870  // read every piece of data out of every device log
871  while ((p = logger.ReadNextData(deviceId)) != NULL)
872  {
873  // if this is a new device, we need to add the device to the map using the serial number
874  if (deviceId != lastDeviceId)
875  {
876  lastDeviceId = deviceId;
877  info = logger.GetDeviceInfo(deviceId);
878  data[info->serialNumber] = vector<vector<uint8_t>>();
879  currentDeviceData = &data[info->serialNumber];
880  }
881 
882  assert(currentDeviceData != NULL);
883 
884  // add slots until we have slots at least equal to the data id
885  while (currentDeviceData->size() < p->hdr.id)
886  {
887  currentDeviceData->push_back(vector<uint8_t>());
888  }
889 
890  // append each byte of the packet to the slot
891  ptrEnd = p->buf + p->hdr.size;
892  vector<uint8_t>& stream = (*currentDeviceData)[p->hdr.id];
893  for (ptr = p->buf; ptr != ptrEnd; ptr++)
894  {
895  stream.push_back(*ptr);
896  }
897  }
898  return true;
899 }
900 
901 cLogStatDataId::cLogStatDataId()
902 {
903  count = 0;
904  errorCount = 0;
905  averageTimeDelta = 0.0;
906  totalTimeDelta = 0.0;
907  lastTimestamp = 0.0;
908  lastTimestampDelta = 0.0;
909  maxTimestampDelta = 0.0;
910  timestampDeltaCount = 0;
911  timestampDropCount = 0;
912 }
913 
914 void cLogStatDataId::LogTimestamp(double timestamp)
915 {
916  // check for corrupt data
917  if (_ISNAN(timestamp) || timestamp < 0.0 || timestamp > 999999999999.0)
918  {
919  return;
920  }
921  else if (lastTimestamp > 0.0)
922  {
923  double delta = fabs(timestamp - lastTimestamp);
924  maxTimestampDelta = _MAX(delta, maxTimestampDelta);
925  totalTimeDelta += delta;
926  averageTimeDelta = (totalTimeDelta / (double)++timestampDeltaCount);
927  if (lastTimestampDelta != 0.0 && (fabs(delta - lastTimestampDelta) > (lastTimestampDelta * 0.5)))
928  {
929  timestampDropCount++;
930  }
931  lastTimestampDelta = delta;
932  }
933  lastTimestamp = timestamp;
934 }
935 
936 void cLogStatDataId::Printf()
937 {
938  printf(" Count: %llu\r\n", (unsigned long long)count);
939  printf(" Errors: %llu\r\n", (unsigned long long)errorCount);
940  printf(" Time delta avg: %f\r\n", averageTimeDelta);
941  printf(" Max time delta: %f\r\n", maxTimestampDelta);
942  printf(" Time delta drop: %llu\r\n", (unsigned long long)timestampDropCount);
943 }
944 
945 cLogStats::cLogStats()
946 {
947  Clear();
948 }
949 
950 void cLogStats::Clear()
951 {
952  dataIdStats.clear();
953  errorCount = 0;
954  count = 0;
955 }
956 
957 void cLogStats::LogError(const p_data_hdr_t* hdr)
958 {
959  errorCount++;
960  if (hdr != NULL)
961  {
962  cLogStatDataId& d = dataIdStats[hdr->id];
963  d.errorCount++;
964  }
965 }
966 
967 void cLogStats::LogData(uint32_t dataId)
968 {
969  cLogStatDataId& d = dataIdStats[dataId];
970  d.count++;
971  count++;
972 }
973 
974 void cLogStats::LogDataAndTimestamp(uint32_t dataId, double timestamp)
975 {
976  cLogStatDataId& d = dataIdStats[dataId];
977  d.count++;
978  count++;
979  if (timestamp != 0.0)
980  {
981  d.LogTimestamp(timestamp);
982  }
983 }
984 
985 void cLogStats::Printf()
986 {
987  printf("LOG STATS\r\n");
988  printf("----------");
989  printf("Count: %llu\r\n", (unsigned long long)count);
990  printf("Errors: %llu\r\n", (unsigned long long)errorCount);
991  for (map<uint32_t, cLogStatDataId>::iterator i = dataIdStats.begin(); i != dataIdStats.end(); i++)
992  {
993  printf(" DID: %d\r\n", i->first);
994  i->second.Printf();
995  printf("\r\n");
996  }
997 }
998 
999 void cLogStats::WriteToFile(const string &fileName)
1000 {
1001  if (count != 0)
1002  {
1003  // flush log stats to disk
1004  ofstream stats;
1005  string newline = "\r\n";
1006  stats << fixed << setprecision(6);
1007  stats.open(fileName, ios::out | ios::binary);
1008  stats << "Count: " << count << newline;
1009  stats << "Errors: " << errorCount << newline << newline;
1010  for (map<uint32_t, cLogStatDataId>::iterator i = dataIdStats.begin(); i != dataIdStats.end(); i++)
1011  {
1012  stats << "Data Id: " << i->first << " - " << cISDataMappings::GetDataSetName(i->first) << newline;
1013  stats << "Count: " << i->second.count << newline;
1014  stats << "Errors: " << i->second.errorCount << newline;
1015  stats << "Average Timestamp Delta: " << i->second.averageTimeDelta << newline;
1016  stats << "Max Timestamp Delta: " << i->second.maxTimestampDelta << newline;
1017  stats << "Timestamp Drops: " << i->second.timestampDropCount << newline;
1018  stats << newline;
1019  }
1020  stats.close();
1021  }
1022 }
1023 
1024 #if defined(ENABLE_IS_PYTHON_WRAPPER)
1025 
1026 void cISLogger::SetPyDisplay(cInertialSenseDisplay display)
1027 {
1028  m_pyDisplay = display;
1029 }
1030 
1031 namespace py = pybind11;
1032 
1033 py::dict cISLogger::PyReadData(unsigned int device)
1034 {
1035  py::dict dOut;
1036  if (device >= m_devices.size())
1037  {
1038  return dOut;
1039  }
1040 
1041  p_data_t* data = NULL;
1042  while (LogDataIsCorrupt(data = m_devices[device]->ReadData()))
1043  {
1044  perror("Corrupt data read from log file");
1045  m_logStats->LogError(&data->hdr);
1046  data = NULL;
1047  }
1048  if (data != NULL)
1049  {
1050  double timestamp = cISDataMappings::GetTimestamp(&data->hdr, data->buf);
1051  m_logStats->LogDataAndTimestamp(data->hdr.id, timestamp);
1052  m_pyDisplay.ProcessData(data, true, 1.0);
1053  dOut = py_dataHandling(data);
1054  }
1055 
1056  return dOut;
1057 }
1058 
1059 test_initializer logger([](py::module &m) {
1060  py::module m2 = m.def_submodule("logger");
1061 
1062  py::class_<cISLogger> log(m2, "cISLogger");
1063  log.def(py::init<>());
1064  log.def("LoadFromDirectory", &cISLogger::LoadFromDirectory);
1065  log.def("ReadData", &cISLogger::ReadData);
1066  log.def("PyReadData", &cISLogger::PyReadData);
1067 
1068  py::enum_<cISLogger::eLogType>(log, "eLogType")
1069  .value("LOGTYPE_DAT", cISLogger::eLogType::LOGTYPE_DAT)
1070  .value("LOGTYPE_SDAT",cISLogger::eLogType::LOGTYPE_SDAT)
1071  .value("LOGTYPE_CSV", cISLogger::eLogType::LOGTYPE_CSV)
1072  .value("LOGTYPE_KML", cISLogger::eLogType::LOGTYPE_KML)
1073  .export_values();
1074 
1075 });
1076 
1077 #endif
cISDataMappings::GetSize
static uint32_t GetSize(uint32_t dataId)
Definition: ISDataMappings.cpp:1270
-
cISLogger::LogSizeAllMB
float LogSizeAllMB()
Definition: ISLogger.cpp:748
-
cLogStats::Printf
void Printf()
Definition: ISLogger.cpp:985
-
cLogStats::errorCount
uint64_t errorCount
Definition: ISLogger.h:237
-
cISLogger::OpenWithSystemApp
void OpenWithSystemApp()
Definition: ISLogger.cpp:717
-
cLogStats::LogDataAndTimestamp
void LogDataAndTimestamp(uint32_t dataId, double timestamp)
Definition: ISLogger.cpp:974
-
cLogStatDataId::maxTimestampDelta
double maxTimestampDelta
Definition: ISLogger.h:223
-
_MIN
#define _MIN(a, b)
Definition: ISConstants.h:269
- +Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <ctime>
14 #include <sstream>
15 #include <sys/types.h>
16 #include <sys/stat.h>
17 #include <algorithm>
18 #include <iomanip>
19 #include <iostream>
20 #include <fstream>
21 #include <stdio.h>
22 #include <stdlib.h>
23 #include <stddef.h>
24 #include <regex>
25 #include <set>
26 #include <sstream>
27 
28 #include "ISLogger.h"
29 #include "ISDataMappings.h"
30 #include "ISUtilities.h"
31 
32 #if PLATFORM_IS_LINUX || PLATFORM_IS_APPLE
33 
34 #include <sys/statvfs.h>
35 
36 #endif
37 
38 const string cISLogger::g_emptyString;
39 
40 bool cISLogger::LogHeaderIsCorrupt(const p_data_hdr_t* hdr)
41 {
42  bool corrupt = (hdr != NULL &&
43  (
44  hdr->size == 0 ||
45  hdr->offset + hdr->size > MAX_DATASET_SIZE ||
46  hdr->id == 0 ||
47  hdr->id >= DID_COUNT ||
48  hdr->offset % 4 != 0 ||
49  hdr->size % 4 != 0 ||
50  (cISDataMappings::GetSize(hdr->id) > 0 && hdr->offset + hdr->size > cISDataMappings::GetSize(hdr->id))
51  ));
52  return corrupt;
53 }
54 
55 bool cISLogger::LogDataIsCorrupt(const p_data_t* data)
56 {
57  return (data != NULL && LogHeaderIsCorrupt(&data->hdr));
58 }
59 
60 cISLogger::cISLogger()
61 {
62  m_enabled = false;
63  m_logStats = new cLogStats;
64  m_logStats->Clear();
65  m_errorFile = NULL;
66  m_lastCommTime = 0;
67  m_timeoutFlushSeconds = 0;
68 }
69 
70 
71 cISLogger::~cISLogger()
72 {
73  Cleanup();
74  delete m_logStats;
75 }
76 
77 
78 void cISLogger::Cleanup()
79 {
80  // Delete old devices
81  for (unsigned int i = 0; i < m_devices.size(); i++)
82  {
83  if (m_devices[i] != NULL)
84  {
85  delete m_devices[i];
86  }
87  }
88  m_devices.clear();
89  m_logStats->Clear();
90  if (m_errorFile != NULL)
91  {
92  fclose(m_errorFile);
93  m_errorFile = NULL;
94  }
95 }
96 
97 
98 void cISLogger::Update()
99 {
100  // if we have a timeout param and the time has elapsed, shutdown
101  if (m_lastCommTime == 0)
102  {
103  m_lastCommTime = time(NULLPTR);
104  }
105  else if (m_timeoutFlushSeconds > 0 && time(NULLPTR) - m_lastCommTime >= m_timeoutFlushSeconds)
106  {
107  for (unsigned int i = 0; i < m_devices.size(); i++)
108  {
109  m_devices[i]->Flush();
110  }
111  }
112  _UTIMEBUF buf{ time(NULL), time(NULL) };
113  _UTIME((m_directory + "/stats.txt").c_str(), &buf);
114 }
115 
116 
117 bool cISLogger::InitSaveCommon(eLogType logType, const string& directory, const string& subDirectory, int numDevices, float maxDiskSpacePercent, uint32_t maxFileSize, uint32_t maxChunkSize, bool useSubFolderTimestamp)
118 {
119  static const int minFileCount = 50;
120  static const int maxFileCount = 10000;
121 
122  // Close any open files
123  CloseAllFiles();
124 
125  m_logType = logType;
126  m_directory = (directory.empty() ? DEFAULT_LOGS_DIRECTORY : directory);
127  maxDiskSpacePercent = _CLAMP(maxDiskSpacePercent, 0.01f, 0.99f);
128  uint64_t availableSpace = cISLogger::GetDirectorySpaceAvailable(m_directory);
129  m_maxDiskSpace = (maxDiskSpacePercent <= 0.0f ? availableSpace : (uint64_t)(availableSpace * maxDiskSpacePercent));
130 
131  // ensure there are between min and max file count
132  if (maxFileSize > m_maxDiskSpace / minFileCount)
133  {
134  m_maxFileSize = (uint32_t)(m_maxDiskSpace / minFileCount);
135  }
136  else if (maxFileSize < m_maxDiskSpace / maxFileCount)
137  {
138  m_maxFileSize = (uint32_t)(m_maxDiskSpace / maxFileCount);
139  }
140  else
141  {
142  m_maxFileSize = maxFileSize;
143  }
144 
145  // make sure chunk size is valid
146  if (maxChunkSize > m_maxFileSize)
147  {
148  m_maxChunkSize = _MIN(m_maxFileSize, MAX_CHUNK_SIZE);
149  }
150  else
151  {
152  m_maxChunkSize = _MIN(maxChunkSize, MAX_CHUNK_SIZE);
153  }
154 
155  // create root dir
156  _MKDIR(m_directory.c_str());
157 
158  if (useSubFolderTimestamp)
159  {
160  // create time stamp dir
161  m_directory = directory + "/" + m_timeStamp;
162  _MKDIR(m_directory.c_str());
163 
164  if (!subDirectory.empty())
165  {
166  // create sub dir
167  m_directory += "/" + subDirectory;
168  _MKDIR(m_directory.c_str());
169  }
170  }
171 
172  // create empty stats file to track timestamps
173  fstream fs;
174  fs.open((m_directory + "/stats.txt").c_str(), ios::out);
175  fs.close();
176 
177  // Initialize devices
178  return InitDevicesForWriting(numDevices);
179 }
180 
181 
182 string cISLogger::CreateCurrentTimestamp()
183 {
184  // Create timestamp
185  char buf[80];
186  time_t rawtime;
187  time(&rawtime);
188  struct tm * timeinfo = localtime(&rawtime);
189  strftime(buf, 80, "%Y%m%d_%H%M%S", timeinfo);
190  return string(buf);
191 }
192 
193 
194 bool cISLogger::InitSave(eLogType logType, const string& directory, int numDevices, float maxDiskSpacePercent, uint32_t maxFileSize, uint32_t maxChunkSize, bool useSubFolderTimestamp)
195 {
196  m_timeStamp = CreateCurrentTimestamp();
197  return InitSaveCommon(logType, directory, g_emptyString, numDevices, maxDiskSpacePercent, maxFileSize, maxChunkSize, useSubFolderTimestamp);
198 }
199 
200 
201 bool cISLogger::InitSaveTimestamp(const string& timeStamp, const string& directory, const string& subDirectory, int numDevices, eLogType logType, float maxDiskSpacePercent, uint32_t maxFileSize, uint32_t maxChunkSize, bool useSubFolderTimestamp)
202 {
203  if (timeStamp.length() == 0)
204  {
205  m_timeStamp = CreateCurrentTimestamp();
206  }
207  else
208  {
209  // Only use first 15 characters for the timestamp
210  m_timeStamp = timeStamp.substr(0, IS_LOG_TIMESTAMP_LENGTH);
211  }
212 
213  return InitSaveCommon(logType, directory, subDirectory, numDevices, maxDiskSpacePercent, maxFileSize, maxChunkSize, useSubFolderTimestamp);
214 }
215 
216 
217 bool cISLogger::InitDevicesForWriting(int numDevices)
218 {
219  Cleanup();
220 
221  // Add devices
222  m_devices.resize(numDevices);
223 
224  // Create and init new devices
225  for (int i = 0; i < numDevices; i++)
226  {
227  switch (m_logType)
228  {
229  default:
230  case LOGTYPE_DAT: m_devices[i] = new cDeviceLogSerial(); break;
231  case LOGTYPE_SDAT: m_devices[i] = new cDeviceLogSorted(); break;
232  case LOGTYPE_CSV: m_devices[i] = new cDeviceLogCSV(); break;
233  case LOGTYPE_JSON: m_devices[i] = new cDeviceLogJSON(); break;
234  case LOGTYPE_KML: m_devices[i] = new cDeviceLogKML(); break;
235  }
236 
237  m_devices[i]->InitDeviceForWriting(i, m_timeStamp, m_directory, m_maxDiskSpace, m_maxFileSize, m_maxChunkSize);
238  }
239 
240 #ifdef _MSC_VER
241 
242  fopen_s(&m_errorFile, (m_directory + "/errors.txt").c_str(), "wb");
243 
244 #else
245 
246  m_errorFile = fopen((m_directory + "/errors.txt").c_str(), "wb");
247 
248 #endif
249 
250  struct stat sb;
251  return (stat(m_directory.c_str(), &sb) == 0 && S_ISDIR(sb.st_mode));
252 }
253 
254 
255 bool cISLogger::GetAllFilesInDirectory(const string& directory, bool recursive, vector<string>& files)
256 {
257  return GetAllFilesInDirectory(directory, recursive, g_emptyString, files);
258 }
259 
260 bool cISLogger::GetAllFilesInDirectory(const string& directory, bool recursive, const string& regexPattern, vector<string>& files)
261 {
262  size_t startSize = files.size();
263  regex* rePtr = NULL;
264  regex re;
265  if (regexPattern.length() != 0)
266  {
267  re = regex(regexPattern, regex::icase);
268  rePtr = &re;
269  }
270 
271 #if PLATFORM_IS_WINDOWS
272 
273  HANDLE dir;
274  WIN32_FIND_DATAA file_data;
275  if ((dir = FindFirstFileA((directory + "/*").c_str(), &file_data)) == INVALID_HANDLE_VALUE)
276  {
277  return false;
278  }
279  do
280  {
281  string file_name = file_data.cFileName;
282  string full_file_name = directory + "/" + file_name;
283  if (file_name[0] == '.' || (rePtr != NULL && !regex_search(full_file_name, re)))
284  {
285  continue;
286  }
287  else if ((file_data.dwFileAttributes & FILE_ATTRIBUTE_DIRECTORY) != 0)
288  {
289  if (recursive)
290  {
291  GetAllFilesInDirectory(full_file_name, true, files);
292  }
293  continue;
294  }
295 
296  files.push_back(full_file_name);
297  } while (FindNextFileA(dir, &file_data));
298  FindClose(dir);
299 
300 #else
301 
302  class dirent* ent;
303  class stat st;
304  DIR* dir = opendir(directory.c_str());
305 
306  if (dir == NULL)
307  {
308  return false;
309  }
310 
311  while ((ent = readdir(dir)) != NULL)
312  {
313  const string file_name = ent->d_name;
314  const string full_file_name = directory + "/" + file_name;
315 
316  // if file is current path or does not exist (-1) then continue
317  if (file_name[0] == '.' || stat(full_file_name.c_str(), &st) == -1 || (rePtr != NULL && !regex_search(full_file_name, re)))
318  {
319  continue;
320  }
321  else if ((st.st_mode & S_IFDIR) != 0)
322  {
323  if (recursive)
324  {
325  GetAllFilesInDirectory(full_file_name, true, files);
326  }
327  continue;
328  }
329 
330  files.push_back(full_file_name);
331  }
332  closedir(dir);
333 
334 #endif
335 
336  return (files.size() != startSize);
337 }
338 
339 
340 void cISLogger::DeleteDirectory(const string& directory, bool recursive)
341 {
342 
343 #if PLATFORM_IS_WINDOWS
344 
345  HANDLE dir;
346  WIN32_FIND_DATAA file_data;
347  if ((dir = FindFirstFileA((directory + "/*").c_str(), &file_data)) == INVALID_HANDLE_VALUE)
348  {
349  return;
350  }
351  do
352  {
353  const string file_name = file_data.cFileName;
354  const string full_file_name = directory + "/" + file_name;
355  const bool is_directory = (file_data.dwFileAttributes & FILE_ATTRIBUTE_DIRECTORY) != 0;
356  if (file_name[0] == '.')
357  {
358  continue;
359  }
360  else if (is_directory)
361  {
362  if (recursive)
363  {
364  DeleteDirectory(full_file_name);
365  }
366  continue;
367  }
368  remove(full_file_name.c_str());
369  } while (FindNextFileA(dir, &file_data));
370  FindClose(dir);
371 
372 #else
373 
374  class dirent* ent;
375  class stat st;
376 
377  DIR* dir;
378  if ((dir = opendir(directory.c_str())) == NULL)
379  {
380  return;
381  }
382 
383  while ((ent = readdir(dir)) != NULL)
384  {
385  const string file_name = ent->d_name;
386  const string full_file_name = directory + "/" + file_name;
387 
388  // if file is current path or does not exist (-1) then continue
389  if (file_name[0] == '.' || stat(full_file_name.c_str(), &st) == -1)
390  {
391  continue;
392  }
393  else if ((st.st_mode & S_IFDIR) != 0)
394  {
395  if (recursive)
396  {
397  DeleteDirectory(full_file_name.c_str());
398  }
399  continue;
400  }
401  remove(full_file_name.c_str());
402  }
403  closedir(dir);
404 
405 #endif
406 
407  _RMDIR(directory.c_str());
408 }
409 
410 
411 uint64_t cISLogger::GetDirectorySpaceUsed(const string& directory, bool recursive)
412 {
413  vector<file_info_t> files;
414  return GetDirectorySpaceUsed(directory, "", files, true, recursive);
415 }
416 
417 
418 uint64_t cISLogger::GetDirectorySpaceUsed(const string& directory, vector<file_info_t>& files, bool sortByDate, bool recursive)
419 {
420  return GetDirectorySpaceUsed(directory, "", files, sortByDate, recursive);
421 }
422 
423 
424 uint64_t cISLogger::GetDirectorySpaceUsed(const string& directory, string regexPattern, vector<file_info_t>& files, bool sortByDate, bool recursive)
425 {
426  vector<string> fileNames;
427  GetAllFilesInDirectory(directory, recursive, regexPattern, fileNames);
428  uint64_t spaceUsed = 0;
429  for (unsigned int i = 0; i < fileNames.size(); i++)
430  {
431  file_info_t info;
432  info.name = fileNames[i];
433  struct stat st;
434  stat(info.name.c_str(), &st);
435  info.size = st.st_size;
436  info.lastModificationDate = st.st_mtime;
437  files.push_back(info);
438  spaceUsed += info.size;
439  }
440 
441  if (sortByDate)
442  {
443  struct
444  {
445  bool operator()(const file_info_t& a, const file_info_t& b)
446  {
447  int compare = (a.lastModificationDate == b.lastModificationDate ? 0 : (a.lastModificationDate < b.lastModificationDate ? -1 : 1));
448  if (compare == 0)
449  {
450  compare = a.name.compare(b.name);
451  }
452  return compare < 0;
453  }
454  } customSortDate;
455  sort(files.begin(), files.end(), customSortDate);
456  }
457  else
458  {
459  struct
460  {
461  bool operator()(const file_info_t& a, const file_info_t& b)
462  {
463  return a.name < b.name;
464  }
465  } customSortName;
466  sort(files.begin(), files.end(), customSortName);
467  }
468 
469  return spaceUsed;
470 }
471 
472 
473 uint64_t cISLogger::GetDirectorySpaceAvailable(const string& directory)
474 {
475 
476 #if PLATFORM_IS_WINDOWS
477 
478  ULARGE_INTEGER space;
479  memset(&space, 0, sizeof(space));
480  char fullPath[MAX_PATH];
481  GetFullPathNameA(directory.c_str(), MAX_PATH, fullPath, NULL);
482  bool created = (_MKDIR(fullPath) == 0);
483  GetDiskFreeSpaceExA(fullPath, &space, NULL, NULL);
484  if (created)
485  {
486  _RMDIR(fullPath);
487  }
488  return (uint64_t)space.QuadPart;
489 
490 #else
491 
492  struct statvfs stat;
493  memset(&stat, 0, sizeof(stat));
494  char fullPath[PATH_MAX];
495  if (realpath(directory.c_str(), fullPath) == NULL)
496  {
497  return 0;
498  }
499  bool created = (_MKDIR(fullPath) == 0);
500  statvfs(fullPath, &stat);
501  if (created)
502  {
503  _RMDIR(fullPath);
504  }
505  return (uint64_t)stat.f_bsize * (uint64_t)stat.f_bavail;
506 
507 #endif
508 
509 }
510 
511 string cISLogger::GetFileName(const string& path)
512 {
513  size_t lastSepIndex = path.find_last_of("\\/");
514  if (lastSepIndex != string::npos)
515  {
516  return path.substr(lastSepIndex + 1);
517  }
518  return path;
519 }
520 
521 bool cISLogger::LoadFromDirectory(const string& directory, eLogType logType)
522 {
523  // Delete and clear prior devices
524  Cleanup();
525  m_logType = logType;
526  string fileExtensionRegex;
527  set<string> serialNumbers;
528 
529  switch (logType)
530  {
531  default:
532  case cISLogger::LOGTYPE_DAT: fileExtensionRegex = "\\.dat$"; break;
533  case cISLogger::LOGTYPE_SDAT: fileExtensionRegex = "\\.sdat$"; break;
534  case cISLogger::LOGTYPE_CSV: fileExtensionRegex = "\\.csv$"; break;
535  case cISLogger::LOGTYPE_JSON: fileExtensionRegex = "\\.json$"; break;
536  case cISLogger::LOGTYPE_KML: return false; // fileExtensionRegex = "\\.kml$"; break; // kml read not supported
537  }
538 
539  // get all files, sorted by name
540  vector<file_info_t> files;
541  GetDirectorySpaceUsed(directory, fileExtensionRegex, files, false, false);
542  if (files.size() == 0)
543  {
544  return false;
545  }
546 
547  for (size_t i = 0; i < files.size(); i++)
548  {
549  string name = GetFileName(files[i].name);
550 
551  // check for log file prefix
552  size_t endOfLogPrefixIndex = name.find(IS_LOG_FILE_PREFIX);
553  if (endOfLogPrefixIndex != string::npos)
554  {
555  endOfLogPrefixIndex += IS_LOG_FILE_PREFIX_LENGTH;
556  size_t serialNumberEndIndex = name.find('_', endOfLogPrefixIndex);
557  if (serialNumberEndIndex != string::npos)
558  {
559  string serialNumber = name.substr(endOfLogPrefixIndex, serialNumberEndIndex - endOfLogPrefixIndex);
560 
561  // if we don't have a timestamp yet, see if we can parse it from the file, i.e. IS_LOG_FILE_PREFIX 30013_20170103_151023_001
562  if (m_timeStamp.length() == 0)
563  {
564  // find _ at end of timestamp
565  size_t timestampIndex = name.find_last_of('_');
566  if (timestampIndex == string::npos)
567  {
568  timestampIndex = name.find_last_of('.');
569  }
570  if (timestampIndex != string::npos && timestampIndex - ++serialNumberEndIndex == IS_LOG_TIMESTAMP_LENGTH)
571  {
572  m_timeStamp = name.substr(timestampIndex - IS_LOG_TIMESTAMP_LENGTH, IS_LOG_TIMESTAMP_LENGTH);
573  }
574  }
575 
576  // check for unique serial numbers
577  if (serialNumbers.find(serialNumber) == serialNumbers.end())
578  {
579  serialNumbers.insert(serialNumber);
580 
581  // Add devices
582  switch (logType)
583  {
584  default:
585  case cISLogger::LOGTYPE_DAT: m_devices.push_back(new cDeviceLogSerial()); break;
586  case cISLogger::LOGTYPE_SDAT: m_devices.push_back(new cDeviceLogSorted()); break;
587  case cISLogger::LOGTYPE_CSV: m_devices.push_back(new cDeviceLogCSV()); break;
588  case cISLogger::LOGTYPE_JSON: m_devices.push_back(new cDeviceLogJSON()); break;
589  }
590  m_devices.back()->SetupReadInfo(directory, serialNumber, m_timeStamp);
591  }
592  }
593  }
594  }
595 
596  for (uint32_t i = 0; i < m_devices.size(); i++)
597  {
598  m_devices[i]->InitDeviceForReading();
599  }
600  return (m_devices.size() != 0);
601 }
602 
603 
604 bool cISLogger::LogData(unsigned int device, p_data_hdr_t* dataHdr, const uint8_t* dataBuf)
605 {
606  m_lastCommTime = time(NULLPTR);
607 
608  if (!m_enabled)
609  {
610  if (m_errorFile != NULL)
611  {
612  fprintf(m_errorFile, "Logger is not enabled\r\n");
613  }
614  return false;
615  }
616  else if (device >= m_devices.size() || dataHdr == NULL || dataBuf == NULL)
617  {
618  if (m_errorFile != NULL)
619  {
620  fprintf(m_errorFile, "Invalid device handle or NULL data\r\n");
621  }
622  return false;
623  }
624  else if (LogHeaderIsCorrupt(dataHdr))
625  {
626  if (m_errorFile != NULL)
627  {
628  fprintf(m_errorFile, "Corrupt log header, id: %lu, offset: %lu, size: %lu\r\n", (unsigned long)dataHdr->id, (unsigned long)dataHdr->offset, (unsigned long)dataHdr->size);
629  }
630  m_logStats->LogError(dataHdr);
631  }
632  else if (!m_devices[device]->SaveData(dataHdr, dataBuf))
633  {
634  if (m_errorFile != NULL)
635  {
636  fprintf(m_errorFile, "Underlying log implementation failed to save\r\n");
637  }
638  m_logStats->LogError(dataHdr);
639  }
640  else
641  {
642  double timestamp = cISDataMappings::GetTimestamp(dataHdr, dataBuf);
643  m_logStats->LogDataAndTimestamp(dataHdr->id, timestamp);
644 
645  if (dataHdr->id == DID_DIAGNOSTIC_MESSAGE)
646  {
647  // write to diagnostic text file
648  std::ofstream outfile;
649  std::ostringstream outFilePath;
650  outFilePath << m_directory << "/diagnostic_" << m_devices[device]->GetDeviceInfo()->serialNumber << ".txt";
651  outfile.open(outFilePath.str(), std::ios_base::app);
652  std::string msg = (((diag_msg_t*)dataBuf)->message);
653  outfile.write(msg.c_str(), msg.length());
654  if (msg.length() > 0 && msg[msg.length() - 1] != '\n')
655  {
656  outfile << std::endl;
657  }
658  }
659  }
660  return true;
661 }
662 
663 
664 p_data_t* cISLogger::ReadData(unsigned int device)
665 {
666  if (device >= m_devices.size())
667  {
668  return NULL;
669  }
670 
671  p_data_t* data = NULL;
672  while (LogDataIsCorrupt(data = m_devices[device]->ReadData()))
673  {
674  if (m_errorFile != NULL)
675  {
676  fprintf(m_errorFile, "Corrupt log header, id: %lu, offset: %lu, size: %lu\r\n", (unsigned long)data->hdr.id, (unsigned long)data->hdr.offset, (unsigned long)data->hdr.size);
677  }
678  m_logStats->LogError(&data->hdr);
679  data = NULL;
680  }
681  if (data != NULL)
682  {
683  double timestamp = cISDataMappings::GetTimestamp(&data->hdr, data->buf);
684  m_logStats->LogDataAndTimestamp(data->hdr.id, timestamp);
685  }
686  return data;
687 }
688 
689 
690 p_data_t* cISLogger::ReadNextData(unsigned int& device)
691 {
692  while (device < m_devices.size())
693  {
694  p_data_t* data = ReadData(device);
695  if (data == NULL)
696  {
697  ++device;
698  }
699  }
700  return NULL;
701 }
702 
703 
704 void cISLogger::CloseAllFiles()
705 {
706  for( unsigned int i = 0; i < m_devices.size(); i++ )
707  {
708  m_devices[i]->CloseAllFiles();
709  }
710 
711  m_logStats->WriteToFile(m_directory + "/stats.txt");
712  if (m_errorFile != NULL)
713  {
714  fclose(m_errorFile);
715  m_errorFile = NULL;
716  }
717 }
718 
719 
720 void cISLogger::OpenWithSystemApp()
721 {
722  for (unsigned int i = 0; i < m_devices.size(); i++)
723  {
724  m_devices[i]->OpenWithSystemApp();
725  }
726 }
727 
728 
729 uint64_t cISLogger::LogSizeAll()
730 {
731  uint64_t size = 0;
732  for (size_t i = 0; i < m_devices.size(); i++)
733  {
734  size += m_devices[i]->LogSize();
735  }
736  return size;
737 }
738 
739 
740 uint64_t cISLogger::LogSize( unsigned int device )
741 {
742  if (device >= m_devices.size())
743  {
744  return 0;
745  }
746 
747  return m_devices[device]->LogSize();
748 }
749 
750 
751 float cISLogger::LogSizeAllMB()
752 {
753  return LogSizeAll() * 0.000001f;
754 }
755 
756 
757 float cISLogger::LogSizeMB( unsigned int device )
758 {
759  if (device >= m_devices.size())
760  {
761  return 0;
762  }
763 
764  return m_devices[device]->LogSize() * 0.000001f;
765 }
766 
767 
768 float cISLogger::FileSizeMB( unsigned int device )
769 {
770  if (device >= m_devices.size())
771  {
772  return 0;
773  }
774 
775  return m_devices[device]->FileSize() * 0.000001f;
776 }
777 
778 
779 uint32_t cISLogger::FileCount( unsigned int device )
780 {
781  if (device >= m_devices.size())
782  {
783  return 0;
784  }
785 
786  return m_devices[device]->FileCount();
787 }
788 
789 bool cISLogger::SetDeviceInfo(const dev_info_t *info, unsigned int device )
790 {
791  if (device >= m_devices.size() || info == NULL)
792  {
793  return false;
794  }
795 
796  m_devices[device]->SetDeviceInfo( info );
797  return true;
798 }
799 
800 const dev_info_t* cISLogger::GetDeviceInfo( unsigned int device )
801 {
802  if (device >= m_devices.size())
803  {
804  return NULL;
805  }
806 
807  return m_devices[device]->GetDeviceInfo();
808 }
809 
810 bool cISLogger::CopyLog(cISLogger& log, const string& timestamp, const string &outputDir, eLogType logType, float maxLogSpacePercent, uint32_t maxFileSize, uint32_t maxChunkSize, bool useSubFolderTimestamp)
811 {
812  m_logStats->Clear();
813  if (!InitSaveTimestamp(timestamp, outputDir, g_emptyString, log.GetDeviceCount(), logType, maxLogSpacePercent, maxFileSize, maxChunkSize, useSubFolderTimestamp))
814  {
815  return false;
816  }
817  EnableLogging(true);
818  p_data_t* data = NULL;
819  for (unsigned int dev = 0; dev < log.GetDeviceCount(); dev++)
820  {
821  // Copy device info
822  const dev_info_t* devInfo = log.GetDeviceInfo(dev);
823  SetDeviceInfo(devInfo, dev);
824 
825  // Set KML configuration
826  m_devices[dev]->SetKmlConfig(m_showPath, m_showSample, m_showTimeStamp, m_iconUpdatePeriodSec, m_altClampToGround);
827 
828  // Copy data
829  while ((data = log.ReadData(dev)))
830  {
831  // CSV special cases
832  if (logType == eLogType::LOGTYPE_CSV)
833  {
834  if (data->hdr.id == DID_INS_2)
835  { // Convert INS2 to INS1 when creating .csv logs
836  ins_1_t ins1;
837  ins_2_t ins2;
838 
839  copyDataPToStructP(&ins2, data, sizeof(ins_2_t));
840  convertIns2ToIns1(&ins2, &ins1);
841 
842  p_data_hdr_t hdr;
843  hdr.id = DID_INS_1;
844  hdr.size = sizeof(ins_1_t);
845  hdr.offset = 0;
846  LogData(dev, &hdr, (uint8_t*)&ins1);
847  }
848  }
849 
850  // Save data
851  LogData(dev, &data->hdr, data->buf);
852  }
853  }
854  CloseAllFiles();
855  return true;
856 }
857 
858 bool cISLogger::ReadAllLogDataIntoMemory(const string& directory, map<uint32_t, vector<vector<uint8_t>>>& data)
859 {
860  cISLogger logger;
861  if (!logger.LoadFromDirectory(directory))
862  {
863  return false;
864  }
865  unsigned int deviceId = 0;
866  unsigned int lastDeviceId = 0xFFFFFEFE;
867  p_data_t* p;
868  vector<vector<uint8_t>>* currentDeviceData = NULL;
869  const dev_info_t* info;
870  uint8_t* ptr, *ptrEnd;
871  data.clear();
872 
873  // read every piece of data out of every device log
874  while ((p = logger.ReadNextData(deviceId)) != NULL)
875  {
876  // if this is a new device, we need to add the device to the map using the serial number
877  if (deviceId != lastDeviceId)
878  {
879  lastDeviceId = deviceId;
880  info = logger.GetDeviceInfo(deviceId);
881  data[info->serialNumber] = vector<vector<uint8_t>>();
882  currentDeviceData = &data[info->serialNumber];
883  }
884 
885  assert(currentDeviceData != NULL);
886 
887  // add slots until we have slots at least equal to the data id
888  while (currentDeviceData->size() < p->hdr.id)
889  {
890  currentDeviceData->push_back(vector<uint8_t>());
891  }
892 
893  // append each byte of the packet to the slot
894  ptrEnd = p->buf + p->hdr.size;
895  vector<uint8_t>& stream = (*currentDeviceData)[p->hdr.id];
896  for (ptr = p->buf; ptr != ptrEnd; ptr++)
897  {
898  stream.push_back(*ptr);
899  }
900  }
901  return true;
902 }
903 
904 cLogStatDataId::cLogStatDataId()
905 {
906  count = 0;
907  errorCount = 0;
908  averageTimeDelta = 0.0;
909  totalTimeDelta = 0.0;
910  lastTimestamp = 0.0;
911  lastTimestampDelta = 0.0;
912  maxTimestampDelta = 0.0;
913  timestampDeltaCount = 0;
914  timestampDropCount = 0;
915 }
916 
917 void cLogStatDataId::LogTimestamp(double timestamp)
918 {
919  // check for corrupt data
920  if (_ISNAN(timestamp) || timestamp < 0.0 || timestamp > 999999999999.0)
921  {
922  return;
923  }
924  else if (lastTimestamp > 0.0)
925  {
926  double delta = fabs(timestamp - lastTimestamp);
927  maxTimestampDelta = _MAX(delta, maxTimestampDelta);
928  totalTimeDelta += delta;
929  averageTimeDelta = (totalTimeDelta / (double)++timestampDeltaCount);
930  if (lastTimestampDelta != 0.0 && (fabs(delta - lastTimestampDelta) > (lastTimestampDelta * 0.5)))
931  {
932  timestampDropCount++;
933  }
934  lastTimestampDelta = delta;
935  }
936  lastTimestamp = timestamp;
937 }
938 
939 void cLogStatDataId::Printf()
940 {
941  printf(" Count: %llu\r\n", (unsigned long long)count);
942  printf(" Errors: %llu\r\n", (unsigned long long)errorCount);
943  printf(" Time delta avg: %f\r\n", averageTimeDelta);
944  printf(" Max time delta: %f\r\n", maxTimestampDelta);
945  printf(" Time delta drop: %llu\r\n", (unsigned long long)timestampDropCount);
946 }
947 
948 cLogStats::cLogStats()
949 {
950  Clear();
951 }
952 
953 void cLogStats::Clear()
954 {
955  dataIdStats.clear();
956  errorCount = 0;
957  count = 0;
958 }
959 
960 void cLogStats::LogError(const p_data_hdr_t* hdr)
961 {
962  errorCount++;
963  if (hdr != NULL)
964  {
965  cLogStatDataId& d = dataIdStats[hdr->id];
966  d.errorCount++;
967  }
968 }
969 
970 void cLogStats::LogData(uint32_t dataId)
971 {
972  cLogStatDataId& d = dataIdStats[dataId];
973  d.count++;
974  count++;
975 }
976 
977 void cLogStats::LogDataAndTimestamp(uint32_t dataId, double timestamp)
978 {
979  cLogStatDataId& d = dataIdStats[dataId];
980  d.count++;
981  count++;
982  if (timestamp != 0.0)
983  {
984  d.LogTimestamp(timestamp);
985  }
986 }
987 
988 void cLogStats::Printf()
989 {
990  printf("LOG STATS\r\n");
991  printf("----------");
992  printf("Count: %llu\r\n", (unsigned long long)count);
993  printf("Errors: %llu\r\n", (unsigned long long)errorCount);
994  for (map<uint32_t, cLogStatDataId>::iterator i = dataIdStats.begin(); i != dataIdStats.end(); i++)
995  {
996  printf(" DID: %d\r\n", i->first);
997  i->second.Printf();
998  printf("\r\n");
999  }
1000 }
1001 
1002 void cLogStats::WriteToFile(const string &fileName)
1003 {
1004  if (count != 0)
1005  {
1006  // flush log stats to disk
1007  ofstream stats;
1008  string newline = "\r\n";
1009  stats << fixed << setprecision(6);
1010  stats.open(fileName, ios::out | ios::binary);
1011  stats << "Count: " << count << newline;
1012  stats << "Errors: " << errorCount << newline << newline;
1013  for (map<uint32_t, cLogStatDataId>::iterator i = dataIdStats.begin(); i != dataIdStats.end(); i++)
1014  {
1015  stats << "Data Id: " << i->first << " - " << cISDataMappings::GetDataSetName(i->first) << newline;
1016  stats << "Count: " << i->second.count << newline;
1017  stats << "Errors: " << i->second.errorCount << newline;
1018  stats << "Average Timestamp Delta: " << i->second.averageTimeDelta << newline;
1019  stats << "Max Timestamp Delta: " << i->second.maxTimestampDelta << newline;
1020  stats << "Timestamp Drops: " << i->second.timestampDropCount << newline;
1021  stats << newline;
1022  }
1023  stats.close();
1024  }
1025 }
+
cISDataMappings::GetSize
static uint32_t GetSize(uint32_t dataId)
Definition: ISDataMappings.cpp:1291
+
cISLogger::LogSizeAllMB
float LogSizeAllMB()
Definition: ISLogger.cpp:751
+
cLogStats::Printf
void Printf()
Definition: ISLogger.cpp:988
+
cLogStats::errorCount
uint64_t errorCount
Definition: ISLogger.h:221
+
cISLogger::OpenWithSystemApp
void OpenWithSystemApp()
Definition: ISLogger.cpp:720
+
cLogStats::LogDataAndTimestamp
void LogDataAndTimestamp(uint32_t dataId, double timestamp)
Definition: ISLogger.cpp:977
+
cLogStatDataId::maxTimestampDelta
double maxTimestampDelta
Definition: ISLogger.h:207
+
_MIN
#define _MIN(a, b)
Definition: ISConstants.h:266
+
dev_info_t
PUSH_PACK_1 struct PACKED dev_info_t
-
_CLAMP
#define _CLAMP(v, minV, maxV)
Definition: ISConstants.h:273
-
cLogStatDataId::totalTimeDelta
double totalTimeDelta
Definition: ISLogger.h:220
-
cISLogger::LoadFromDirectory
bool LoadFromDirectory(const string &directory, eLogType logType=LOGTYPE_DAT)
Definition: ISLogger.cpp:520
-
cLogStats::dataIdStats
map< uint32_t, cLogStatDataId > dataIdStats
Definition: ISLogger.h:235
+
_CLAMP
#define _CLAMP(v, minV, maxV)
Definition: ISConstants.h:270
+
cLogStatDataId::totalTimeDelta
double totalTimeDelta
Definition: ISLogger.h:204
+
cISLogger::LoadFromDirectory
bool LoadFromDirectory(const string &directory, eLogType logType=LOGTYPE_DAT)
Definition: ISLogger.cpp:521
+
cLogStats::dataIdStats
map< uint32_t, cLogStatDataId > dataIdStats
Definition: ISLogger.h:219
ISDataMappings.h
p_data_hdr_t::id
uint32_t id
Definition: ISComm.h:481
DID_INS_1
#define DID_INS_1
Definition: data_sets.h:38
- +
p_data_hdr_t::size
uint32_t size
Definition: ISComm.h:484
- -
cISLogger::FileCount
uint32_t FileCount(unsigned int device=0)
Definition: ISLogger.cpp:776
-
cISDataMappings::GetTimestamp
static double GetTimestamp(const p_data_hdr_t *hdr, const uint8_t *buf)
Definition: ISDataMappings.cpp:1457
+ +
cISLogger::FileCount
uint32_t FileCount(unsigned int device=0)
Definition: ISLogger.cpp:779
+
cISDataMappings::GetTimestamp
static double GetTimestamp(const p_data_hdr_t *hdr, const uint8_t *buf)
Definition: ISDataMappings.cpp:1532
IS_LOG_FILE_PREFIX_LENGTH
#define IS_LOG_FILE_PREFIX_LENGTH
Definition: DeviceLog.h:29
-
cISDataMappings::GetDataSetName
static const char * GetDataSetName(uint32_t dataId)
Definition: ISDataMappings.cpp:1174
- -
_UTIMEBUF
#define _UTIMEBUF
Definition: ISConstants.h:207
-
NULLPTR
#define NULLPTR
Definition: ISConstants.h:380
-
cLogStatDataId::LogTimestamp
void LogTimestamp(double timestamp)
Definition: ISLogger.cpp:914
+
cISDataMappings::GetDataSetName
static const char * GetDataSetName(uint32_t dataId)
Definition: ISDataMappings.cpp:1195
+ +
_UTIMEBUF
#define _UTIMEBUF
Definition: ISConstants.h:204
+
NULLPTR
#define NULLPTR
Definition: ISConstants.h:377
+
cLogStatDataId::LogTimestamp
void LogTimestamp(double timestamp)
Definition: ISLogger.cpp:917
ISLogger.h
ins_1_t
struct PACKED ins_1_t
DID_COUNT
#define DID_COUNT
Definition: data_sets.h:117
-
file_info_t
Definition: ISLogger.h:40
-
cISLogger::ReadNextData
p_data_t * ReadNextData(unsigned int &device)
Definition: ISLogger.cpp:687
-
cISLogger::LogData
bool LogData(unsigned int device, p_data_hdr_t *dataHdr, const uint8_t *dataBuf)
Definition: ISLogger.cpp:601
+
file_info_t
Definition: ISLogger.h:35
+
cISLogger::ReadNextData
p_data_t * ReadNextData(unsigned int &device)
Definition: ISLogger.cpp:690
+
cISLogger::LogData
bool LogData(unsigned int device, p_data_hdr_t *dataHdr, const uint8_t *dataBuf)
Definition: ISLogger.cpp:604
DID_INS_2
#define DID_INS_2
Definition: data_sets.h:39
-
file_info_t::name
string name
Definition: ISLogger.h:42
-
cLogStatDataId::lastTimestampDelta
double lastTimestampDelta
Definition: ISLogger.h:222
-
cLogStats::LogData
void LogData(uint32_t dataId)
Definition: ISLogger.cpp:967
+
file_info_t::name
string name
Definition: ISLogger.h:37
+
cLogStatDataId::lastTimestampDelta
double lastTimestampDelta
Definition: ISLogger.h:206
+
cLogStats::LogData
void LogData(uint32_t dataId)
Definition: ISLogger.cpp:970
cISLogger::InitSaveTimestamp
bool InitSaveTimestamp(const string &timeStamp, const string &directory=g_emptyString, const string &subDirectory=g_emptyString, int numDevices=1, eLogType logType=LOGTYPE_DAT, float maxDiskSpacePercent=0.5f, uint32_t maxFileSize=1024 *1024 *5, uint32_t maxChunkSize=131072, bool useSubFolderTimestamp=true)
Definition: ISLogger.cpp:201
- +
cISLogger::LogHeaderIsCorrupt
static bool LogHeaderIsCorrupt(const p_data_hdr_t *hdr)
Definition: ISLogger.cpp:40
cISLogger::LogDataIsCorrupt
static bool LogDataIsCorrupt(const p_data_t *data)
Definition: ISLogger.cpp:55
ISUtilities.h
-
diag_msg_t
Definition: data_sets.h:2160
-
cLogStats::LogError
void LogError(const p_data_hdr_t *hdr)
Definition: ISLogger.cpp:957
- -
cISLogger::GetAllFilesInDirectory
static bool GetAllFilesInDirectory(const string &directory, bool recursive, vector< string > &files)
Definition: ISLogger.cpp:254
+
diag_msg_t
Definition: data_sets.h:2190
+
cLogStats::LogError
void LogError(const p_data_hdr_t *hdr)
Definition: ISLogger.cpp:960
+ +
cISLogger::GetAllFilesInDirectory
static bool GetAllFilesInDirectory(const string &directory, bool recursive, vector< string > &files)
Definition: ISLogger.cpp:255
cISLogger::Update
void Update()
Definition: ISLogger.cpp:98
-
file_info_t::lastModificationDate
time_t lastModificationDate
Definition: ISLogger.h:44
-
cISLogger::CopyLog
bool CopyLog(cISLogger &log, const string &timestamp=g_emptyString, const string &outputDir=g_emptyString, eLogType logType=LOGTYPE_DAT, float maxDiskSpacePercent=0.5f, uint32_t maxFileSize=1024 *1024 *5, uint32_t maxChunkSize=131072, bool useSubFolderTimestamp=true)
Definition: ISLogger.cpp:807
-
cISLogger::SetDeviceInfo
bool SetDeviceInfo(const dev_info_t *info, unsigned int device=0)
Definition: ISLogger.cpp:786
-
cISLogger::ReadAllLogDataIntoMemory
static bool ReadAllLogDataIntoMemory(const string &directory, map< uint32_t, vector< vector< uint8_t >>> &data)
Definition: ISLogger.cpp:855
+
file_info_t::lastModificationDate
time_t lastModificationDate
Definition: ISLogger.h:39
+
cISLogger::CopyLog
bool CopyLog(cISLogger &log, const string &timestamp=g_emptyString, const string &outputDir=g_emptyString, eLogType logType=LOGTYPE_DAT, float maxDiskSpacePercent=0.5f, uint32_t maxFileSize=1024 *1024 *5, uint32_t maxChunkSize=131072, bool useSubFolderTimestamp=true)
Definition: ISLogger.cpp:810
+
cISLogger::SetDeviceInfo
bool SetDeviceInfo(const dev_info_t *info, unsigned int device=0)
Definition: ISLogger.cpp:789
+
cISLogger::ReadAllLogDataIntoMemory
static bool ReadAllLogDataIntoMemory(const string &directory, map< uint32_t, vector< vector< uint8_t >>> &data)
Definition: ISLogger.cpp:858
cISLogger::~cISLogger
virtual ~cISLogger()
Definition: ISLogger.cpp:71
-
cLogStats::WriteToFile
void WriteToFile(const string &fileName)
Definition: ISLogger.cpp:999
-
cLogStatDataId::timestampDeltaCount
uint64_t timestampDeltaCount
Definition: ISLogger.h:224
-
cLogStats::Clear
void Clear()
Definition: ISLogger.cpp:950
-
_ISNAN
#define _ISNAN(a)
Definition: ISConstants.h:289
- +
cLogStats::WriteToFile
void WriteToFile(const string &fileName)
Definition: ISLogger.cpp:1002
+
cLogStatDataId::timestampDeltaCount
uint64_t timestampDeltaCount
Definition: ISLogger.h:208
+ +
cLogStats::Clear
void Clear()
Definition: ISLogger.cpp:953
+
_ISNAN
#define _ISNAN(a)
Definition: ISConstants.h:286
+
DID_DIAGNOSTIC_MESSAGE
#define DID_DIAGNOSTIC_MESSAGE
Definition: data_sets.h:106
-
cLogStatDataId::timestampDropCount
uint64_t timestampDropCount
Definition: ISLogger.h:225
-
cISLogger::GetDeviceCount
uint32_t GetDeviceCount()
Definition: ISLogger.h:89
-
cISLogger::LogSizeAll
uint64_t LogSizeAll()
Definition: ISLogger.cpp:726
+
cLogStatDataId::timestampDropCount
uint64_t timestampDropCount
Definition: ISLogger.h:209
+
cISLogger::GetDeviceCount
uint32_t GetDeviceCount()
Definition: ISLogger.h:85
+
cISLogger::LogSizeAll
uint64_t LogSizeAll()
Definition: ISLogger.cpp:729
IS_LOG_TIMESTAMP_LENGTH
#define IS_LOG_TIMESTAMP_LENGTH
Definition: DeviceLog.h:30
- -
_RMDIR
#define _RMDIR(dir)
Definition: ISConstants.h:204
-
cISLogger::FileSizeMB
float FileSizeMB(unsigned int device=0)
Definition: ISLogger.cpp:765
+
_RMDIR
#define _RMDIR(dir)
Definition: ISConstants.h:201
+
cISLogger::FileSizeMB
float FileSizeMB(unsigned int device=0)
Definition: ISLogger.cpp:768
p_data_t::hdr
p_data_hdr_t hdr
Definition: ISComm.h:494
MAX_DATASET_SIZE
#define MAX_DATASET_SIZE
Definition: ISComm.h:180
cISLogger::CreateCurrentTimestamp
static string CreateCurrentTimestamp()
Definition: ISLogger.cpp:182
-
cISLogger::GetDeviceInfo
const dev_info_t * GetDeviceInfo(unsigned int device=0)
Definition: ISLogger.cpp:797
+
cISLogger::GetDeviceInfo
const dev_info_t * GetDeviceInfo(unsigned int device=0)
Definition: ISLogger.cpp:800
-
cISLogger::GetDirectorySpaceAvailable
static uint64_t GetDirectorySpaceAvailable(const string &directory)
Definition: ISLogger.cpp:472
+
cISLogger::GetDirectorySpaceAvailable
static uint64_t GetDirectorySpaceAvailable(const string &directory)
Definition: ISLogger.cpp:473
p_data_hdr_t
Definition: ISComm.h:478
-
DEFAULT_LOGS_DIRECTORY
#define DEFAULT_LOGS_DIRECTORY
Definition: ISLogger.h:38
-
cISLogger::g_emptyString
static const string g_emptyString
Definition: ISLogger.h:60
+
DEFAULT_LOGS_DIRECTORY
#define DEFAULT_LOGS_DIRECTORY
Definition: ISLogger.h:33
+
cISLogger::g_emptyString
static const string g_emptyString
Definition: ISLogger.h:56
IS_LOG_FILE_PREFIX
#define IS_LOG_FILE_PREFIX
Definition: DeviceLog.h:28
-
cLogStatDataId::errorCount
uint64_t errorCount
Definition: ISLogger.h:218
+
cLogStatDataId::errorCount
uint64_t errorCount
Definition: ISLogger.h:202
p_data_t
Definition: ISComm.h:491
-
cISLogger::EnableLogging
void EnableLogging(bool enabled)
Definition: ISLogger.h:77
-
cLogStats::count
uint64_t count
Definition: ISLogger.h:236
-
cISLogger::LogSize
uint64_t LogSize(unsigned int device=0)
Definition: ISLogger.cpp:737
-
cISLogger::DeleteDirectory
static void DeleteDirectory(const string &directory, bool recursive=true)
Definition: ISLogger.cpp:339
+
cISLogger::EnableLogging
void EnableLogging(bool enabled)
Definition: ISLogger.h:73
+
cLogStats::count
uint64_t count
Definition: ISLogger.h:220
+
cISLogger::LogSize
uint64_t LogSize(unsigned int device=0)
Definition: ISLogger.cpp:740
+
cISLogger::DeleteDirectory
static void DeleteDirectory(const string &directory, bool recursive=true)
Definition: ISLogger.cpp:340
convertIns2ToIns1
void convertIns2ToIns1(ins_2_t *ins2, ins_1_t *result)
Definition: ISUtilities.cpp:642
-
cLogStatDataId::averageTimeDelta
double averageTimeDelta
Definition: ISLogger.h:219
+
cLogStatDataId::averageTimeDelta
double averageTimeDelta
Definition: ISLogger.h:203
cISLogger::InitSave
bool InitSave(eLogType logType=LOGTYPE_DAT, const string &directory=g_emptyString, int numDevices=1, float maxDiskSpacePercent=0.5f, uint32_t maxFileSize=1024 *1024 *5, uint32_t maxChunkSize=131072, bool useSubFolderTimestamp=true)
Definition: ISLogger.cpp:194
p_data_t::buf
uint8_t buf[MAX_DATASET_SIZE]
Definition: ISComm.h:497
- - + +
copyDataPToStructP
char copyDataPToStructP(void *sptr, const p_data_t *data, const unsigned int maxsize)
Definition: ISComm.c:789
-
cISLogger::GetFileName
static string GetFileName(const string &path)
Definition: ISLogger.cpp:510
-
cISLogger::ReadData
p_data_t * ReadData(unsigned int device=0)
Definition: ISLogger.cpp:661
+
cISLogger::GetFileName
static string GetFileName(const string &path)
Definition: ISLogger.cpp:511
+
cISLogger::ReadData
p_data_t * ReadData(unsigned int device=0)
Definition: ISLogger.cpp:664
MAX_CHUNK_SIZE
#define MAX_CHUNK_SIZE
Definition: DataChunk.h:16
p_data_hdr_t::offset
uint32_t offset
Definition: ISComm.h:487
- -
_UTIME
#define _UTIME
Definition: ISConstants.h:206
-
cLogStatDataId::count
uint64_t count
Definition: ISLogger.h:217
+ +
_UTIME
#define _UTIME
Definition: ISConstants.h:203
+
cLogStatDataId::count
uint64_t count
Definition: ISLogger.h:201
- -
cISLogger::GetDirectorySpaceUsed
static uint64_t GetDirectorySpaceUsed(const string &directory, bool recursive=true)
Definition: ISLogger.cpp:410
-
cLogStatDataId::lastTimestamp
double lastTimestamp
Definition: ISLogger.h:221
-
_MKDIR
#define _MKDIR(dir)
Definition: ISConstants.h:203
-
cISLogger::LogSizeMB
float LogSizeMB(unsigned int device=0)
Definition: ISLogger.cpp:754
-
cISLogger::CloseAllFiles
void CloseAllFiles()
Definition: ISLogger.cpp:701
- -
_MAX
#define _MAX(a, b)
Definition: ISConstants.h:265
-
file_info_t::size
uint64_t size
Definition: ISLogger.h:43
+ +
cISLogger::GetDirectorySpaceUsed
static uint64_t GetDirectorySpaceUsed(const string &directory, bool recursive=true)
Definition: ISLogger.cpp:411
+
cLogStatDataId::lastTimestamp
double lastTimestamp
Definition: ISLogger.h:205
+
_MKDIR
#define _MKDIR(dir)
Definition: ISConstants.h:200
+
cISLogger::LogSizeMB
float LogSizeMB(unsigned int device=0)
Definition: ISLogger.cpp:757
+
cISLogger::CloseAllFiles
void CloseAllFiles()
Definition: ISLogger.cpp:704
+ +
_MAX
#define _MAX(a, b)
Definition: ISConstants.h:262
+
file_info_t::size
uint64_t size
Definition: ISLogger.h:38
diff --git a/docs/html/_i_s_logger_8h.html b/docs/html/_i_s_logger_8h.html index 03798972a..b2fa55cba 100644 --- a/docs/html/_i_s_logger_8h.html +++ b/docs/html/_i_s_logger_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -81,6 +81,7 @@ #include "DeviceLogSerial.h"
#include "DeviceLogSorted.h"
#include "DeviceLogCSV.h"
+#include "DeviceLogJSON.h"
#include "DeviceLogKML.h"
#include "ISConstants.h"
#include "ISDisplay.h"
@@ -134,7 +135,7 @@

-

Definition at line 38 of file ISLogger.h.

+

Definition at line 33 of file ISLogger.h.

diff --git a/docs/html/_i_s_logger_8h_source.html b/docs/html/_i_s_logger_8h_source.html index 807fdf4b2..d345d89ba 100644 --- a/docs/html/_i_s_logger_8h_source.html +++ b/docs/html/_i_s_logger_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,52 +72,52 @@
ISLogger.h
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef IS_LOGGER_H
14 #define IS_LOGGER_H
15 
16 #define _FILE_OFFSET_BITS 64
17 
18 #include <stdio.h>
19 #include <string>
20 #include <vector>
21 
22 #include "DeviceLogSerial.h"
23 #include "DeviceLogSorted.h"
24 #include "DeviceLogCSV.h"
25 #include "DeviceLogKML.h"
26 #include "ISConstants.h"
27 #include "ISDisplay.h"
28 
29 #if defined(ENABLE_IS_PYTHON_WRAPPER)
30 
31 #include "../pySDK/pySDK.h"
32 
33 #endif
34 
35 using namespace std;
36 
37 // default logging path if none specified
38 #define DEFAULT_LOGS_DIRECTORY "IS_logs"
39 
40 typedef struct
41 {
42  string name;
43  uint64_t size;
44  time_t lastModificationDate;
45 } file_info_t;
46 
47 class cLogStats;
48 
49 class cISLogger
50 {
51 public:
52  enum eLogType
53  {
54  LOGTYPE_DAT = 0,
55  LOGTYPE_SDAT,
56  LOGTYPE_CSV,
57  LOGTYPE_KML,
58  };
59 
60  static const string g_emptyString;
61 
62  cISLogger();
63  virtual ~cISLogger();
64 
65  // Setup logger to read from file.
66  bool LoadFromDirectory(const string& directory, eLogType logType = LOGTYPE_DAT);
67 
68  // Setup logger for writing to file.
69  bool InitSave(eLogType logType = LOGTYPE_DAT, const string& directory = g_emptyString, int numDevices = 1, float maxDiskSpacePercent = 0.5f, uint32_t maxFileSize = 1024 * 1024 * 5, uint32_t maxChunkSize = 131072, bool useSubFolderTimestamp = true);
70  bool InitSaveTimestamp(const string& timeStamp, const string& directory = g_emptyString, const string& subDirectory = g_emptyString, int numDevices = 1, eLogType logType = LOGTYPE_DAT, float maxDiskSpacePercent = 0.5f, uint32_t maxFileSize = 1024 * 1024 * 5, uint32_t maxChunkSize = 131072, bool useSubFolderTimestamp = true);
71 
72  // update internal state, handle timeouts, etc.
73  void Update();
74  bool LogData(unsigned int device, p_data_hdr_t* dataHdr, const uint8_t* dataBuf);
75  p_data_t* ReadData(unsigned int device = 0);
76  p_data_t* ReadNextData(unsigned int& device);
77  void EnableLogging(bool enabled) { m_enabled = enabled; }
78  bool Enabled() { return m_enabled; }
79  void CloseAllFiles();
80  void OpenWithSystemApp();
81  string TimeStamp() { return m_timeStamp; }
82  string LogDirectory() { return m_directory; }
83  uint64_t LogSizeAll();
84  uint64_t LogSize(unsigned int device = 0);
85  float LogSizeAllMB();
86  float LogSizeMB(unsigned int device = 0);
87  float FileSizeMB(unsigned int device = 0);
88  uint32_t FileCount(unsigned int device = 0);
89  uint32_t GetDeviceCount() { return (uint32_t)m_devices.size(); }
90  bool SetDeviceInfo(const dev_info_t *info, unsigned int device = 0);
91  const dev_info_t* GetDeviceInfo(unsigned int device = 0);
92  bool CopyLog(cISLogger& log, const string& timestamp = g_emptyString, const string& outputDir = g_emptyString, eLogType logType = LOGTYPE_DAT, float maxDiskSpacePercent = 0.5f, uint32_t maxFileSize = 1024 * 1024 * 5, uint32_t maxChunkSize = 131072, bool useSubFolderTimestamp = true);
93  const cLogStats& GetStats() { return *m_logStats; }
94  eLogType GetType() { return m_logType; }
95 
100  time_t GetTimeoutFlushSeconds() { return m_timeoutFlushSeconds; }
101 
106  void SetTimeoutFlushSeconds(time_t timeoutFlushSeconds) { m_timeoutFlushSeconds = timeoutFlushSeconds; }
107 
108  // get all files in a folder - files parameter is not cleared in this function
109  // files contains the full path to the file
110  // return false if no files found, true otherwise
111  static bool GetAllFilesInDirectory(const string& directory, bool recursive, vector<string>& files);
112  static bool GetAllFilesInDirectory(const string& directory, bool recursive, const string& regexPattern, vector<string>& files);
113 
114  // delete a directory, and optionally all files and sub-directories
115  static void DeleteDirectory(const string& directory, bool recursive = true);
116 
117  // get space used in a directory recursively - files is filled with all files in the directory, sorted by modification date, files is NOT cleared beforehand. sortByDate of false sorts by file name
118  static uint64_t GetDirectorySpaceUsed(const string& directory, bool recursive = true);
119  static uint64_t GetDirectorySpaceUsed(const string& directory, vector<file_info_t>& files, bool sortByDate = true, bool recursive = true);
120  static uint64_t GetDirectorySpaceUsed(const string& directory, string regexPattern, vector<file_info_t>& files, bool sortByDate = true, bool recursive = true);
121 
122  // get free space for the disk that the specified directory exists on
123  static uint64_t GetDirectorySpaceAvailable(const string& directory);
124 
125  // get just the file name from a path
126  static string GetFileName(const string& path);
127 
128  // check if a data header is corrupt
129  static bool LogHeaderIsCorrupt(const p_data_hdr_t* hdr);
130 
131  // create a timestamp
132  static string CreateCurrentTimestamp();
133 
134  // check if a data packet is corrupt, NULL data is OK
135  static bool LogDataIsCorrupt(const p_data_t* data);
136 
137  // read all log data into memory - if the log is over 1.5 GB this will fail on 32 bit processes
138  // the map contains device id (serial number) key and a vector containing log data for each data id, which will be an empty vector if no log data for that id
139  static bool ReadAllLogDataIntoMemory(const string& directory, map<uint32_t, vector<vector<uint8_t>>>& data);
140 
141  void SetKmlConfig(bool showPath = true, bool showSample = false, bool showTimeStamp = true, double updatePeriodSec = 1.0, bool altClampToGround = true)
142  {
143  m_showPath = showPath;
144  m_showSample = showSample;
145  m_showTimeStamp = showTimeStamp;
146  m_iconUpdatePeriodSec = updatePeriodSec;
147  m_altClampToGround = altClampToGround;
148 
149  for (unsigned int dev = 0; dev < GetDeviceCount(); dev++)
150  {
151  m_devices[dev]->SetKmlConfig(m_showPath, m_showSample, m_showTimeStamp, m_iconUpdatePeriodSec, m_altClampToGround);
152  }
153  }
154 
155  static eLogType ParseLogType(const string& logTypeString)
156  {
157  if (logTypeString == "csv")
158  {
159  return cISLogger::eLogType::LOGTYPE_CSV;
160  }
161  else if (logTypeString == "kml")
162  {
163  return cISLogger::eLogType::LOGTYPE_KML;
164  }
165  else if (logTypeString == "sdat")
166  {
167  return cISLogger::eLogType::LOGTYPE_SDAT;
168  }
169  return cISLogger::eLogType::LOGTYPE_DAT;
170  }
171 
172 private:
173  cISLogger(const cISLogger& copy); // Disable copy constructors
174  bool InitSaveCommon(eLogType logType, const string& directory, const string& subDirectory, int numDevices, float maxDiskSpacePercent, uint32_t maxFileSize, uint32_t chunkSize, bool useSubFolderTimestamp);
175  bool InitDevicesForWriting(int numDevices = 1);
176  void Cleanup();
177 
178  eLogType m_logType;
179  bool m_enabled;
180  string m_directory;
181  string m_timeStamp;
182  vector<cDeviceLog*> m_devices;
183  uint64_t m_maxDiskSpace;
184  uint32_t m_maxFileSize;
185  uint32_t m_maxChunkSize;
186  cLogStats* m_logStats;
187  FILE* m_errorFile;
188 
189  bool m_altClampToGround;
190  bool m_showSample;
191  bool m_showPath;
192  bool m_showTimeStamp;
193  double m_iconUpdatePeriodSec;
194  time_t m_lastCommTime;
195  time_t m_timeoutFlushSeconds;
196 
197 #if defined(ENABLE_IS_PYTHON_WRAPPER)
198 
199  cInertialSenseDisplay m_pyDisplay;
200 
201 public:
206  void SetPyDisplay(cInertialSenseDisplay display);
207 
208  pybind11::dict PyReadData(unsigned int device = 0);
209 
210 #endif
211 
212 };
213 
214 class cLogStatDataId
215 {
216 public:
217  uint64_t count; // count for this data id
218  uint64_t errorCount; // error count for this data id
219  double averageTimeDelta; // average time delta for the data id
220  double totalTimeDelta; // sum of all time deltas
221  double lastTimestamp;
222  double lastTimestampDelta;
223  double maxTimestampDelta;
224  uint64_t timestampDeltaCount;
225  uint64_t timestampDropCount; // count of delta timestamps > 50% different from previous delta timestamp
226 
227  cLogStatDataId();
228  void LogTimestamp(double timestamp);
229  void Printf();
230 };
231 
232 class cLogStats
233 {
234 public:
235  map<uint32_t, cLogStatDataId> dataIdStats;
236  uint64_t count; // count of all data ids
237  uint64_t errorCount; // total error count
238 
239  cLogStats();
240  void Clear();
241  void LogError(const p_data_hdr_t* hdr);
242  void LogData(uint32_t dataId);
243  void LogDataAndTimestamp(uint32_t dataId, double timestamp);
244  void Printf();
245  void WriteToFile(const string& fileName);
246 };
247 
248 #endif // IS_LOGGER_H
cLogStats::errorCount
uint64_t errorCount
Definition: ISLogger.h:237
-
cLogStatDataId::maxTimestampDelta
double maxTimestampDelta
Definition: ISLogger.h:223
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef IS_LOGGER_H
14 #define IS_LOGGER_H
15 
16 #define _FILE_OFFSET_BITS 64
17 
18 #include <stdio.h>
19 #include <string>
20 #include <vector>
21 
22 #include "DeviceLogSerial.h"
23 #include "DeviceLogSorted.h"
24 #include "DeviceLogCSV.h"
25 #include "DeviceLogJSON.h"
26 #include "DeviceLogKML.h"
27 #include "ISConstants.h"
28 #include "ISDisplay.h"
29 
30 using namespace std;
31 
32 // default logging path if none specified
33 #define DEFAULT_LOGS_DIRECTORY "IS_logs"
34 
35 typedef struct
36 {
37  string name;
38  uint64_t size;
39  time_t lastModificationDate;
40 } file_info_t;
41 
42 class cLogStats;
43 
44 class cISLogger
45 {
46 public:
47  enum eLogType
48  {
49  LOGTYPE_DAT = 0,
50  LOGTYPE_SDAT,
51  LOGTYPE_CSV,
52  LOGTYPE_KML,
53  LOGTYPE_JSON
54  };
55 
56  static const string g_emptyString;
57 
58  cISLogger();
59  virtual ~cISLogger();
60 
61  // Setup logger to read from file.
62  bool LoadFromDirectory(const string& directory, eLogType logType = LOGTYPE_DAT);
63 
64  // Setup logger for writing to file.
65  bool InitSave(eLogType logType = LOGTYPE_DAT, const string& directory = g_emptyString, int numDevices = 1, float maxDiskSpacePercent = 0.5f, uint32_t maxFileSize = 1024 * 1024 * 5, uint32_t maxChunkSize = 131072, bool useSubFolderTimestamp = true);
66  bool InitSaveTimestamp(const string& timeStamp, const string& directory = g_emptyString, const string& subDirectory = g_emptyString, int numDevices = 1, eLogType logType = LOGTYPE_DAT, float maxDiskSpacePercent = 0.5f, uint32_t maxFileSize = 1024 * 1024 * 5, uint32_t maxChunkSize = 131072, bool useSubFolderTimestamp = true);
67 
68  // update internal state, handle timeouts, etc.
69  void Update();
70  bool LogData(unsigned int device, p_data_hdr_t* dataHdr, const uint8_t* dataBuf);
71  p_data_t* ReadData(unsigned int device = 0);
72  p_data_t* ReadNextData(unsigned int& device);
73  void EnableLogging(bool enabled) { m_enabled = enabled; }
74  bool Enabled() { return m_enabled; }
75  void CloseAllFiles();
76  void OpenWithSystemApp();
77  string TimeStamp() { return m_timeStamp; }
78  string LogDirectory() { return m_directory; }
79  uint64_t LogSizeAll();
80  uint64_t LogSize(unsigned int device = 0);
81  float LogSizeAllMB();
82  float LogSizeMB(unsigned int device = 0);
83  float FileSizeMB(unsigned int device = 0);
84  uint32_t FileCount(unsigned int device = 0);
85  uint32_t GetDeviceCount() { return (uint32_t)m_devices.size(); }
86  bool SetDeviceInfo(const dev_info_t *info, unsigned int device = 0);
87  const dev_info_t* GetDeviceInfo(unsigned int device = 0);
88  bool CopyLog(cISLogger& log, const string& timestamp = g_emptyString, const string& outputDir = g_emptyString, eLogType logType = LOGTYPE_DAT, float maxDiskSpacePercent = 0.5f, uint32_t maxFileSize = 1024 * 1024 * 5, uint32_t maxChunkSize = 131072, bool useSubFolderTimestamp = true);
89  const cLogStats& GetStats() { return *m_logStats; }
90  eLogType GetType() { return m_logType; }
91 
96  time_t GetTimeoutFlushSeconds() { return m_timeoutFlushSeconds; }
97 
102  void SetTimeoutFlushSeconds(time_t timeoutFlushSeconds) { m_timeoutFlushSeconds = timeoutFlushSeconds; }
103 
104  // get all files in a folder - files parameter is not cleared in this function
105  // files contains the full path to the file
106  // return false if no files found, true otherwise
107  static bool GetAllFilesInDirectory(const string& directory, bool recursive, vector<string>& files);
108  static bool GetAllFilesInDirectory(const string& directory, bool recursive, const string& regexPattern, vector<string>& files);
109 
110  // delete a directory, and optionally all files and sub-directories
111  static void DeleteDirectory(const string& directory, bool recursive = true);
112 
113  // get space used in a directory recursively - files is filled with all files in the directory, sorted by modification date, files is NOT cleared beforehand. sortByDate of false sorts by file name
114  static uint64_t GetDirectorySpaceUsed(const string& directory, bool recursive = true);
115  static uint64_t GetDirectorySpaceUsed(const string& directory, vector<file_info_t>& files, bool sortByDate = true, bool recursive = true);
116  static uint64_t GetDirectorySpaceUsed(const string& directory, string regexPattern, vector<file_info_t>& files, bool sortByDate = true, bool recursive = true);
117 
118  // get free space for the disk that the specified directory exists on
119  static uint64_t GetDirectorySpaceAvailable(const string& directory);
120 
121  // get just the file name from a path
122  static string GetFileName(const string& path);
123 
124  // check if a data header is corrupt
125  static bool LogHeaderIsCorrupt(const p_data_hdr_t* hdr);
126 
127  // create a timestamp
128  static string CreateCurrentTimestamp();
129 
130  // check if a data packet is corrupt, NULL data is OK
131  static bool LogDataIsCorrupt(const p_data_t* data);
132 
133  // read all log data into memory - if the log is over 1.5 GB this will fail on 32 bit processes
134  // the map contains device id (serial number) key and a vector containing log data for each data id, which will be an empty vector if no log data for that id
135  static bool ReadAllLogDataIntoMemory(const string& directory, map<uint32_t, vector<vector<uint8_t>>>& data);
136 
137  void SetKmlConfig(bool showPath = true, bool showSample = false, bool showTimeStamp = true, double updatePeriodSec = 1.0, bool altClampToGround = true)
138  {
139  m_showPath = showPath;
140  m_showSample = showSample;
141  m_showTimeStamp = showTimeStamp;
142  m_iconUpdatePeriodSec = updatePeriodSec;
143  m_altClampToGround = altClampToGround;
144 
145  for (unsigned int dev = 0; dev < GetDeviceCount(); dev++)
146  {
147  m_devices[dev]->SetKmlConfig(m_showPath, m_showSample, m_showTimeStamp, m_iconUpdatePeriodSec, m_altClampToGround);
148  }
149  }
150 
151  static eLogType ParseLogType(const string& logTypeString)
152  {
153  if (logTypeString == "csv")
154  {
155  return cISLogger::eLogType::LOGTYPE_CSV;
156  }
157  else if (logTypeString == "kml")
158  {
159  return cISLogger::eLogType::LOGTYPE_KML;
160  }
161  else if (logTypeString == "sdat")
162  {
163  return cISLogger::eLogType::LOGTYPE_SDAT;
164  }
165  else if (logTypeString == "json")
166  {
167  return cISLogger::eLogType::LOGTYPE_JSON;
168  }
169  return cISLogger::eLogType::LOGTYPE_DAT;
170  }
171 
172 private:
173  cISLogger(const cISLogger& copy); // Disable copy constructors
174  bool InitSaveCommon(eLogType logType, const string& directory, const string& subDirectory, int numDevices, float maxDiskSpacePercent, uint32_t maxFileSize, uint32_t chunkSize, bool useSubFolderTimestamp);
175  bool InitDevicesForWriting(int numDevices = 1);
176  void Cleanup();
177 
178  eLogType m_logType;
179  bool m_enabled;
180  string m_directory;
181  string m_timeStamp;
182  vector<cDeviceLog*> m_devices;
183  uint64_t m_maxDiskSpace;
184  uint32_t m_maxFileSize;
185  uint32_t m_maxChunkSize;
186  cLogStats* m_logStats;
187  FILE* m_errorFile;
188 
189  bool m_altClampToGround;
190  bool m_showSample;
191  bool m_showPath;
192  bool m_showTimeStamp;
193  double m_iconUpdatePeriodSec;
194  time_t m_lastCommTime;
195  time_t m_timeoutFlushSeconds;
196 };
197 
198 class cLogStatDataId
199 {
200 public:
201  uint64_t count; // count for this data id
202  uint64_t errorCount; // error count for this data id
203  double averageTimeDelta; // average time delta for the data id
204  double totalTimeDelta; // sum of all time deltas
205  double lastTimestamp;
206  double lastTimestampDelta;
207  double maxTimestampDelta;
208  uint64_t timestampDeltaCount;
209  uint64_t timestampDropCount; // count of delta timestamps > 50% different from previous delta timestamp
210 
211  cLogStatDataId();
212  void LogTimestamp(double timestamp);
213  void Printf();
214 };
215 
216 class cLogStats
217 {
218 public:
219  map<uint32_t, cLogStatDataId> dataIdStats;
220  uint64_t count; // count of all data ids
221  uint64_t errorCount; // total error count
222 
223  cLogStats();
224  void Clear();
225  void LogError(const p_data_hdr_t* hdr);
226  void LogData(uint32_t dataId);
227  void LogDataAndTimestamp(uint32_t dataId, double timestamp);
228  void Printf();
229  void WriteToFile(const string& fileName);
230 };
231 
232 #endif // IS_LOGGER_H
cLogStats::errorCount
uint64_t errorCount
Definition: ISLogger.h:221
+
cLogStatDataId::maxTimestampDelta
double maxTimestampDelta
Definition: ISLogger.h:207
ISDisplay.h
dev_info_t
PUSH_PACK_1 struct PACKED dev_info_t
-
cLogStatDataId::totalTimeDelta
double totalTimeDelta
Definition: ISLogger.h:220
-
cLogStats::dataIdStats
map< uint32_t, cLogStatDataId > dataIdStats
Definition: ISLogger.h:235
- +
cLogStatDataId::totalTimeDelta
double totalTimeDelta
Definition: ISLogger.h:204
+
cLogStats::dataIdStats
map< uint32_t, cLogStatDataId > dataIdStats
Definition: ISLogger.h:219
+
DeviceLogSorted.h
-
cISLogger::SetKmlConfig
void SetKmlConfig(bool showPath=true, bool showSample=false, bool showTimeStamp=true, double updatePeriodSec=1.0, bool altClampToGround=true)
Definition: ISLogger.h:141
- -
cISLogger::GetTimeoutFlushSeconds
time_t GetTimeoutFlushSeconds()
Definition: ISLogger.h:100
+
cISLogger::SetKmlConfig
void SetKmlConfig(bool showPath=true, bool showSample=false, bool showTimeStamp=true, double updatePeriodSec=1.0, bool altClampToGround=true)
Definition: ISLogger.h:137
+ +
cISLogger::GetTimeoutFlushSeconds
time_t GetTimeoutFlushSeconds()
Definition: ISLogger.h:96
-
file_info_t
Definition: ISLogger.h:40
-
file_info_t::name
string name
Definition: ISLogger.h:42
-
cLogStatDataId::lastTimestampDelta
double lastTimestampDelta
Definition: ISLogger.h:222
- -
cISLogger::TimeStamp
string TimeStamp()
Definition: ISLogger.h:81
-
cISLogger::GetType
eLogType GetType()
Definition: ISLogger.h:94
-
file_info_t::lastModificationDate
time_t lastModificationDate
Definition: ISLogger.h:44
-
cLogStatDataId::timestampDeltaCount
uint64_t timestampDeltaCount
Definition: ISLogger.h:224
+
file_info_t
Definition: ISLogger.h:35
+
file_info_t::name
string name
Definition: ISLogger.h:37
+
cLogStatDataId::lastTimestampDelta
double lastTimestampDelta
Definition: ISLogger.h:206
+ +
cISLogger::TimeStamp
string TimeStamp()
Definition: ISLogger.h:77
+
cISLogger::GetType
eLogType GetType()
Definition: ISLogger.h:90
+
file_info_t::lastModificationDate
time_t lastModificationDate
Definition: ISLogger.h:39
+
cLogStatDataId::timestampDeltaCount
uint64_t timestampDeltaCount
Definition: ISLogger.h:208
DeviceLogCSV.h
- +
DeviceLogSerial.h
-
cLogStatDataId::timestampDropCount
uint64_t timestampDropCount
Definition: ISLogger.h:225
-
cISLogger::GetDeviceCount
uint32_t GetDeviceCount()
Definition: ISLogger.h:89
- +
cLogStatDataId::timestampDropCount
uint64_t timestampDropCount
Definition: ISLogger.h:209
+
cISLogger::GetDeviceCount
uint32_t GetDeviceCount()
Definition: ISLogger.h:85
+
DeviceLogJSON.h
DeviceLogKML.h
p_data_hdr_t
Definition: ISComm.h:478
-
cISLogger::g_emptyString
static const string g_emptyString
Definition: ISLogger.h:60
-
cISLogger::ParseLogType
static eLogType ParseLogType(const string &logTypeString)
Definition: ISLogger.h:155
-
cISLogger::Enabled
bool Enabled()
Definition: ISLogger.h:78
-
cLogStatDataId::errorCount
uint64_t errorCount
Definition: ISLogger.h:218
+
cISLogger::g_emptyString
static const string g_emptyString
Definition: ISLogger.h:56
+
cISLogger::ParseLogType
static eLogType ParseLogType(const string &logTypeString)
Definition: ISLogger.h:151
+
cISLogger::Enabled
bool Enabled()
Definition: ISLogger.h:74
+
cLogStatDataId::errorCount
uint64_t errorCount
Definition: ISLogger.h:202
p_data_t
Definition: ISComm.h:491
-
cISLogger::EnableLogging
void EnableLogging(bool enabled)
Definition: ISLogger.h:77
-
cLogStats::count
uint64_t count
Definition: ISLogger.h:236
-
cISLogger::SetTimeoutFlushSeconds
void SetTimeoutFlushSeconds(time_t timeoutFlushSeconds)
Definition: ISLogger.h:106
-
cLogStatDataId::averageTimeDelta
double averageTimeDelta
Definition: ISLogger.h:219
-
cISLogger::LogDirectory
string LogDirectory()
Definition: ISLogger.h:82
- - -
cLogStatDataId::count
uint64_t count
Definition: ISLogger.h:217
- -
cLogStatDataId::lastTimestamp
double lastTimestamp
Definition: ISLogger.h:221
+
cISLogger::EnableLogging
void EnableLogging(bool enabled)
Definition: ISLogger.h:73
+
cLogStats::count
uint64_t count
Definition: ISLogger.h:220
+
cISLogger::SetTimeoutFlushSeconds
void SetTimeoutFlushSeconds(time_t timeoutFlushSeconds)
Definition: ISLogger.h:102
+
cLogStatDataId::averageTimeDelta
double averageTimeDelta
Definition: ISLogger.h:203
+
cISLogger::LogDirectory
string LogDirectory()
Definition: ISLogger.h:78
+ + +
cLogStatDataId::count
uint64_t count
Definition: ISLogger.h:201
+ +
cLogStatDataId::lastTimestamp
double lastTimestamp
Definition: ISLogger.h:205
ISConstants.h
-
cISLogger::GetStats
const cLogStats & GetStats()
Definition: ISLogger.h:93
-
file_info_t::size
uint64_t size
Definition: ISLogger.h:43
+
cISLogger::GetStats
const cLogStats & GetStats()
Definition: ISLogger.h:89
+
file_info_t::size
uint64_t size
Definition: ISLogger.h:38
diff --git a/docs/html/_i_s_matrix_8c.html b/docs/html/_i_s_matrix_8c.html index 0eae665d9..b3fbbe802 100644 --- a/docs/html/_i_s_matrix_8c.html +++ b/docs/html/_i_s_matrix_8c.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_matrix_8c_source.html b/docs/html/_i_s_matrix_8c_source.html index 10e3f5cab..d423cf06e 100644 --- a/docs/html/_i_s_matrix_8c_source.html +++ b/docs/html/_i_s_matrix_8c_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -74,8 +74,8 @@
Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <string.h>
14 #include <stdlib.h>
15 #include "ISMatrix.h"
16 #include "data_sets.h"
17 
18 void LU( const f_t *M, i_t n, f_t *L, f_t *U );
19 char solve_upper( f_t *result, i_t n, f_t *A, f_t *b );
20 char solve_lower( f_t *result, i_t n, f_t *A, f_t *b );
21 
22 void mul_MatMxN( void * result, const void * A_ptr, const void * B_ptr, i_t m, i_t n, i_t p, char transpose_B, char add )
23 {
24  i_t i;
25  i_t j;
26  i_t k;
27 
28  f_t * matOut = (f_t*)result;
29  const f_t * A = (const f_t*)A_ptr;
30  const f_t * B = (const f_t*)B_ptr;
31 
32  for (i = 0; i < m; i++)
33  {
34  const f_t * A_i = A + i * n;
35  f_t * O_i = matOut + i * p;
36 
37  for (j = 0; j < p; j++)
38  {
39  f_t s = 0;
40  f_t * O_i_j = O_i + j;
41 
42  for (k = 0; k < n; k++)
43  {
44  const f_t * a = A_i + k;
45  const f_t * b;
46 
47  if (is_zero(a))
48  continue;
49 
50  if (transpose_B)
51  b = B + j * n + k;
52  else
53  b = B + k * p + j;
54 
55  if (is_zero(b))
56  continue;
57 
58  s += *a * *b;
59  }
60 
61  if (add == 0)
62  *O_i_j = s;
63  else if (add > 0)
64  *O_i_j += s;
65  else
66  *O_i_j -= s;
67  }
68  }
69 }
70 
71 #if 0
72 void addNxM(void * result, const void * A_ptr, const void * B_ptr, i_t m, i_t n, char transpose_B)
73 {
74  i_t i;
75  i_t j;
76  i_t k;
77 
78  f_t * OUT = result;
79  const f_t * A = A_ptr;
80  const f_t * B = B_ptr;
81 
82  for (i = 0; i < m; i++)
83  {
84  const f_t * A_i = A + i * n;
85  f_t * O_i = OUT + i * p;
86 
87  for (j = 0; j < p; j++)
88  {
89 // f_t s = 0;
90  f_t * O_i_j = O_i + j;
91 
92 
93  for (k = 0; k < n; k++)
94  {
95  const f_t * a = A_i + k;
96  const f_t * b;
97 
98 // if (is_zero(a))
99 // continue;
100 
101  if (transpose_B)
102  b = B + j * n + k;
103  else
104  b = B + k * p + j;
105 
106  if (is_zero(b))
107  continue;
108 
109  s += *a * *b;
110  }
111 
112  *O_i_j = s;
113  }
114  }
115 }
116 #endif
117 
118 
119 void eye_MatN( f_t *A, i_t n )
120 {
121  zero_MatMxN( A, n, n );
122 
123  // Set diagonals to 1
124  for( int i=0; i < n; i++ )
125  A[i*n + i] = 1;
126 }
127 
128 
129 // Compute the LU factorization of the square matrix A
130 void LU( const f_t *M, i_t n, f_t *L, f_t *U )
131 {
132  int in, kn;
133 
134  f_t *A = MALLOC( sizeof( f_t )*n*n );
135  if (A == 0) { return; }
136 
137  cpy_MatMxN( A, M, n, n );
138 
139  for( int k=0; k < n - 1; k++ )
140  {
141  for( int i=k + 1; i < n; i++ )
142  {
143  in = i*n;
144  kn = k*n;
145 // f_t * Ai = A + i*n;
146 
147  A[in + k] = A[in + k] / A[kn + k];
148 
149  for( int j=k + 1; j < n; j++ )
150  {
151 #ifdef NO_FPU
152  T & A_i_j( A[in + j] );
153  const T & A_i_k( A[in + k] );
154  const T & A_k_j( A[kn + j] );
155 
156  if( is_zero( A_i_k )
157  || is_zero( A_k_j )
158  )
159  continue;
160 
161  A_i_j -= A_i_k * A_k_j;
162 #else
163  A[in + j] -= A[in + k] * A[kn + j];
164 #endif
165  }
166  }
167  }
168 
169  eye_MatN( L, n );
170 
171  /* Separate the L matrix */
172  for( int j=0; j < n - 1; j++ )
173  for( int i=j + 1; i < n; i++ )
174  L[i*n + j] = A[i*n + j];
175 
176  /* Separate the M matrix */
177  zero_MatMxN( U, n, n );
178 
179  for( int i=0; i < n; i++ )
180  for( int j=i; j < n; j++ )
181  U[i*n + j] = A[i*n + j];
182 
183  FREE( A );
184 }
185 
186 // Return 0 on success, -1 on numerical error
187 char solve_upper( f_t *result, i_t n, f_t *A, f_t *b )
188 {
189  for( int i=n - 1; i >= 0; i-- )
190  {
191  f_t s = b[i];
192 
193  // Reference a row
194  f_t *A_i = &A[i*n];
195 
196  for( int j=i + 1; j < n; ++j )
197  {
198 #ifdef NO_FPU
199  const T & A_i_j( A_i[j] );
200  const T & x_j( x[j] );
201 
202  if( is_zero( A_i_j ) || is_zero( x_j ) )
203  continue;
204 
205  s -= A_i_j * x_j;
206 #else
207  s -= A_i[j] * result[j*n];
208 #endif
209  }
210 
211  // Prevent divide by zero
212  if( A_i[i]==0.0f )
213  return -1;
214 
215  result[i*n] = s / A_i[i];
216  }
217 
218  return 0;
219 }
220 
221 // Return 0 on success, -1 on numerical error
222 char solve_lower( f_t *result, i_t n, f_t *A, f_t *b )
223 {
224  for( int i=0; i < n; ++i )
225  {
226  f_t s = b[i];
227 
228  // Reference a row
229  f_t *A_i = &A[i*n];
230 
231  for( int j=0; j < i; ++j )
232  {
233 #ifdef NO_FPU
234  const T & A_i_j( A_i[j] );
235  const T & x_j( x[j] );
236 
237  if( is_zero( A_i_j )|| is_zero( x_j ) )
238  continue;
239 
240  s -= A_i_j * x_j;
241 #else
242  s -= A_i[j] * result[j*n];
243 #endif
244  }
245 
246  // Prevent divide by zero
247  if( A_i[i]==0.0f )
248  return -1;
249 
250  result[i*n] = s / A_i[i];
251  }
252 
253  return 0;
254 }
255 
256 
257 // Return 0 on success, -1 on numerical error
258 char inv_MatN( f_t *result, const f_t *M, i_t n )
259 {
260  char error = 0;
261 
262  f_t *L = MALLOC( sizeof( f_t )*n*n );
263  f_t *U = MALLOC( sizeof( f_t )*n*n );
264  f_t *invL = MALLOC( sizeof( f_t )*n*n );
265  f_t *invU = MALLOC( sizeof( f_t )*n*n );
266  f_t *identCol = MALLOC( sizeof( f_t )*n );
267  while( L==NULL || U==NULL || invL==NULL || invU==NULL || identCol==NULL ) { /* Error check malloc */ }
268  memset( identCol, 0, sizeof( f_t )*n );
269 
270  LU( M, n, L, U );
271 
272  for( int i=0; i < n; i++ )
273  {
274  identCol[i] = 1;
275  if( solve_upper( &invU[i], n, U, identCol ) || // Fill a column
276  solve_lower( &invL[i], n, L, identCol ) )
277  {
278  error = -1;
279  break;
280  }
281  identCol[i] = 0;
282  }
283 
284  // result = invU * invL
285  if( !error )
286  mul_MatMxN( result, invU, invL, n, n, n, 0, 0 );
287 
288  FREE( L );
289  FREE( U );
290  FREE( invL );
291  FREE( invU );
292  FREE( identCol );
293 
294  return error;
295 }
296 
297 
298 void trans_MatMxN( f_t *result, const f_t *M, int m, int n )
299 {
300  i_t i;
301  i_t j;
302 
303  const f_t * A = (const f_t*)M;
304 
305  for( i = 0; i < m; i++ )
306  {
307  f_t * O_i = result + i;
308 
309  for( j = 0; j < n; j++ )
310  {
311  // Copy value
312  *O_i = *A;
313 
314  // Increment pointers
315  A++;
316  O_i += m;
317  }
318  }
319 }
320 
321 
322 void mul_Mat3x3_Mat3x3( Matrix3 result, const Matrix3 m1, const Matrix3 m2 )
323 {
324  // Row 1
325  result[0] = m1[0]*m2[0] + m1[1]*m2[3] + m1[2]*m2[6];
326  result[1] = m1[0]*m2[1] + m1[1]*m2[4] + m1[2]*m2[7];
327  result[2] = m1[0]*m2[2] + m1[1]*m2[5] + m1[2]*m2[8];
328  // Row 2
329  result[3] = m1[3]*m2[0] + m1[4]*m2[3] + m1[5]*m2[6];
330  result[4] = m1[3]*m2[1] + m1[4]*m2[4] + m1[5]*m2[7];
331  result[5] = m1[3]*m2[2] + m1[4]*m2[5] + m1[5]*m2[8];
332  // Row 3
333  result[6] = m1[6]*m2[0] + m1[7]*m2[3] + m1[8]*m2[6];
334  result[7] = m1[6]*m2[1] + m1[7]*m2[4] + m1[8]*m2[7];
335  result[8] = m1[6]*m2[2] + m1[7]*m2[5] + m1[8]*m2[8];
336 }
337 
338 void mul_Mat3x3_Trans_Mat3x3( Matrix3 result, const Matrix3 m1, const Matrix3 m2 )
339 {
340  // Row 1
341  result[0] = m1[0]*m2[0] + m1[3]*m2[3] + m1[6]*m2[6];
342  result[1] = m1[0]*m2[1] + m1[3]*m2[4] + m1[6]*m2[7];
343  result[2] = m1[0]*m2[2] + m1[3]*m2[5] + m1[6]*m2[8];
344  // Row 2
345  result[3] = m1[1]*m2[0] + m1[4]*m2[3] + m1[7]*m2[6];
346  result[4] = m1[1]*m2[1] + m1[4]*m2[4] + m1[7]*m2[7];
347  result[5] = m1[1]*m2[2] + m1[4]*m2[5] + m1[7]*m2[8];
348  // Row 3
349  result[6] = m1[2]*m2[0] + m1[5]*m2[3] + m1[8]*m2[6];
350  result[7] = m1[2]*m2[1] + m1[5]*m2[4] + m1[8]*m2[7];
351  result[8] = m1[2]*m2[2] + m1[5]*m2[5] + m1[8]*m2[8];
352 }
353 
354 void mul_Mat3x3_Mat3x3_Trans( Matrix3 result, const Matrix3 m1, const Matrix3 m2 )
355 {
356  // Row 1
357  result[0] = m1[0]*m2[0] + m1[1]*m2[1] + m1[2]*m2[2];
358  result[1] = m1[0]*m2[3] + m1[1]*m2[4] + m1[2]*m2[5];
359  result[2] = m1[0]*m2[6] + m1[1]*m2[7] + m1[2]*m2[8];
360  // Row 2
361  result[3] = m1[3]*m2[0] + m1[4]*m2[1] + m1[5]*m2[2];
362  result[4] = m1[3]*m2[3] + m1[4]*m2[4] + m1[5]*m2[5];
363  result[5] = m1[3]*m2[6] + m1[4]*m2[7] + m1[5]*m2[8];
364  // Row 3
365  result[6] = m1[6]*m2[0] + m1[7]*m2[1] + m1[8]*m2[2];
366  result[7] = m1[6]*m2[3] + m1[7]*m2[4] + m1[8]*m2[5];
367  result[8] = m1[6]*m2[6] + m1[7]*m2[7] + m1[8]*m2[8];
368 }
369 
370 void mul_Mat2x2_Vec2x1( Vector2 result, const Matrix2 m, const Vector2 v )
371 {
372  result[0] = m[0]*v[0] + m[1]*v[1];
373  result[1] = m[2]*v[0] + m[3]*v[1];
374 }
375 
376 void mul_Mat2x2_Trans_Vec2x1( Vector2 result, const Matrix2 m, const Vector2 v )
377 {
378  result[0] = m[0]*v[0] + m[2]*v[1];
379  result[1] = m[1]*v[0] + m[3]*v[1];
380 }
381 
382 void mul_Mat3x3_Vec3x1( Vector3 result, const Matrix3 m, const Vector3 v )
383 {
384  result[0] = m[0]*v[0] + m[1]*v[1] + m[2]*v[2];
385  result[1] = m[3]*v[0] + m[4]*v[1] + m[5]*v[2];
386  result[2] = m[6]*v[0] + m[7]*v[1] + m[8]*v[2];
387 }
388 
389 void mul_Mat3x3_Trans_Vec3x1( Vector3 result, const Matrix3 m, const Vector3 v )
390 {
391  result[0] = m[0]*v[0] + m[3]*v[1] + m[6]*v[2];
392  result[1] = m[1]*v[0] + m[4]*v[1] + m[7]*v[2];
393  result[2] = m[2]*v[0] + m[5]*v[1] + m[8]*v[2];
394 }
395 
396 void mul_Mat4x4_Vec4x1( Vector4 result, const Matrix4 m, const Vector4 v )
397 {
398  result[0] = m[0]*v[0] + m[1]*v[1] + m[2]*v[2] + m[3]*v[3];
399  result[1] = m[4]*v[0] + m[5]*v[1] + m[6]*v[2] + m[7]*v[3];
400  result[2] = m[8]*v[0] + m[9]*v[1] + m[10]*v[2] + m[11]*v[3];
401  result[3] = m[12]*v[0] + m[13]*v[1] + m[14]*v[2] + m[15]*v[3];
402 }
403 
404 void mul_Mat4x4_Trans_Vec4x1( Vector4 result, const Matrix4 m, const Vector4 v )
405 {
406  result[0] = m[0]*v[0] + m[4]*v[1] + m[8]*v[2] + m[12]*v[3];
407  result[1] = m[1]*v[0] + m[5]*v[1] + m[9]*v[2] + m[13]*v[3];
408  result[2] = m[2]*v[0] + m[6]*v[1] + m[10]*v[2] + m[14]*v[3];
409  result[3] = m[3]*v[0] + m[7]*v[1] + m[11]*v[2] + m[15]*v[3];
410 }
411 
412 void mul_Vec3x1_Vec1x3( Matrix3 result, const Vector3 v1, const Vector3 v2 )
413 {
414  // Row 1
415  result[0] = v1[0]*v2[0];
416  result[1] = v1[0]*v2[1];
417  result[2] = v1[0]*v2[2];
418  // Row 2
419  result[3] = v1[1]*v2[0];
420  result[4] = v1[1]*v2[1];
421  result[5] = v1[1]*v2[2];
422  // Row 3
423  result[6] = v1[2]*v2[0];
424  result[7] = v1[2]*v2[1];
425  result[8] = v1[2]*v2[2];
426 }
427 
428 void mul_Vec3_Vec3( Vector3 result, const Vector3 v1, const Vector3 v2 )
429 {
430  result[0] = v1[0] * v2[0];
431  result[1] = v1[1] * v2[1];
432  result[2] = v1[2] * v2[2];
433 }
434 
435 void mul_Vec4_Vec4( Vector4 result, const Vector4 v1, const Vector4 v2 )
436 {
437  result[0] = v1[0] * v2[0];
438  result[1] = v1[1] * v2[1];
439  result[2] = v1[2] * v2[2];
440  result[3] = v1[3] * v2[3];
441 }
442 
443 void sqrt_Vec3( Vector3 result, const Vector3 v )
444 {
445  result[0] = _SQRT( v[0] );
446  result[1] = _SQRT( v[1] );
447  result[2] = _SQRT( v[2] );
448 }
449 
450 void sqrt_Vec4( Vector4 result, const Vector4 v )
451 {
452  result[0] = _SQRT( v[0] );
453  result[1] = _SQRT( v[1] );
454  result[2] = _SQRT( v[2] );
455  result[3] = _SQRT( v[3] );
456 }
457 
458 void abs_Vec2( Vector2 result, const Vector2 v )
459 {
460  result[0] = _FABS( v[0] );
461  result[1] = _FABS( v[1] );
462 }
463 
464 void abs_Vec2d(Vector2d result, const Vector2d v)
465 {
466  result[0] = fabs(v[0]);
467  result[1] = fabs(v[1]);
468 }
469 
470 void abs_Vec3( Vector3 result, const Vector3 v )
471 {
472  result[0] = _FABS( v[0] );
473  result[1] = _FABS( v[1] );
474  result[2] = _FABS( v[2] );
475 }
476 
477 void abs_Vec3d(Vector3d result, const Vector3d v)
478 {
479  result[0] = fabs(v[0]);
480  result[1] = fabs(v[1]);
481  result[2] = fabs(v[2]);
482 }
483 
484 void abs_Vec4( Vector4 result, const Vector4 v )
485 {
486  result[0] = _FABS( v[0] );
487  result[1] = _FABS( v[1] );
488  result[2] = _FABS( v[2] );
489  result[3] = _FABS( v[3] );
490 }
491 
492 void abs_Vec4d(Vector4d result, const Vector4d v)
493 {
494  result[0] = fabs(v[0]);
495  result[1] = fabs(v[1]);
496  result[2] = fabs(v[2]);
497  result[3] = fabs(v[3]);
498 }
499 
500 f_t dot_Vec2_Vec2(const Vector2 v1, const Vector2 v2 )
501 {
502  return v1[0] * v2[0] +
503  v1[1] * v2[1];
504 }
505 
506 f_t dot_Vec3_Vec3(const Vector3 v1, const Vector3 v2 )
507 {
508  return v1[0] * v2[0] +
509  v1[1] * v2[1] +
510  v1[2] * v2[2];
511 }
512 
513 double dot_Vec3d_Vec3d(const Vector3d v1, const Vector3d v2)
514 {
515  return v1[0] * v2[0] +
516  v1[1] * v2[1] +
517  v1[2] * v2[2];
518 }
519 
520 f_t dot_Vec4_Vec4(const Vector4 v1, const Vector4 v2 )
521 {
522  return v1[0] * v2[0] +
523  v1[1] * v2[1] +
524  v1[2] * v2[2] +
525  v1[3] * v2[3];
526 }
527 
528 //_______________________________________________________________________________________________
529 //observe that cross product output cannot overwrite cross product input without destroying logic
530 void cross_Vec3( Vector3 result, const Vector3 v1, const Vector3 v2 )
531 {
532  result[0] = v1[1]*v2[2] - v1[2]*v2[1];
533  result[1] = v1[2]*v2[0] - v1[0]*v2[2];
534  result[2] = v1[0]*v2[1] - v1[1]*v2[0];
535 }
536 
537 void crossd_Vec3( Vector3d result, const Vector3 v1, const Vector3 v2 )
538 {
539  result[0] = (double)(v1[1] * v2[2] - v1[2] * v2[1]);
540  result[1] = (double)(v1[2] * v2[0] - v1[0] * v2[2]);
541  result[2] = (double)(v1[0] * v2[1] - v1[1] * v2[0]);
542 }
543 
544 void mul_Vec2_X( Vector2 result, const Vector2 v, const f_t x )
545 {
546  result[0] = v[0]*x;
547  result[1] = v[1]*x;
548 }
549 
550 void mul_Vec2d_X( Vector2d result, const Vector2d v, const double x )
551 {
552  result[0] = v[0]*x;
553  result[1] = v[1]*x;
554 }
555 
556 void mul_Vec3_X( Vector3 result, const Vector3 v, const f_t x )
557 {
558  result[0] = v[0]*x;
559  result[1] = v[1]*x;
560  result[2] = v[2]*x;
561 }
562 
563 void mul_Vec3d_X( Vector3d result, const Vector3d v, const double x )
564 {
565  result[0] = v[0]*x;
566  result[1] = v[1]*x;
567  result[2] = v[2]*x;
568 }
569 
570 void mul_Vec4_X( Vector4 result, const Vector4 v, const f_t x )
571 {
572  result[0] = v[0]*x;
573  result[1] = v[1]*x;
574  result[2] = v[2]*x;
575  result[3] = v[3]*x;
576 }
577 
578 void mul_Vec4d_X( Vector4d result, const Vector4d v, const double x )
579 {
580  result[0] = v[0] * x;
581  result[1] = v[1] * x;
582  result[2] = v[2] * x;
583  result[3] = v[3] * x;
584 }
585 
586 void div_Vec3_X( Vector3 result, const Vector3 v, const f_t x )
587 {
588  f_t d = (f_t)1.0/x;
589  result[0] = v[0]*d;
590  result[1] = v[1]*d;
591  result[2] = v[2]*d;
592 }
593 
594 void div_Vec4_X( Vector4 result, const Vector4 v, const f_t x )
595 {
596  f_t d = (f_t)1.0/x;
597  result[0] = v[0]*d;
598  result[1] = v[1]*d;
599  result[2] = v[2]*d;
600  result[3] = v[3]*d;
601 }
602 void div_Vec4d_X( Vector4d result, const Vector4d v, const double x )
603 {
604  double d = 1.0 / x;
605  result[0] = v[0] * d;
606  result[1] = v[1] * d;
607  result[2] = v[2] * d;
608  result[3] = v[3] * d;
609 }
610 
611 void add_Vec3_Vec3( Vector3 result, const Vector3 v1, const Vector3 v2 )
612 {
613  result[0] = v1[0] + v2[0];
614  result[1] = v1[1] + v2[1];
615  result[2] = v1[2] + v2[2];
616 }
617 
618 void add_Vec3d_Vec3d( Vector3d result, const Vector3d v1, const Vector3d v2 )
619 {
620  result[0] = v1[0] + v2[0];
621  result[1] = v1[1] + v2[1];
622  result[2] = v1[2] + v2[2];
623 }
624 
625 void add_Vec4_Vec4( Vector4 result, const Vector4 v1, const Vector4 v2 )
626 {
627  result[0] = v1[0] + v2[0];
628  result[1] = v1[1] + v2[1];
629  result[2] = v1[2] + v2[2];
630  result[3] = v1[3] + v2[3];
631 }
632 
633 void add_Vec4d_Vec4d( Vector4d result, const Vector4d v1, const Vector4d v2 )
634 {
635  result[0] = v1[0] + v2[0];
636  result[1] = v1[1] + v2[1];
637  result[2] = v1[2] + v2[2];
638  result[3] = v1[3] + v2[3];
639 }
640 
641 void sub_Vec3_Vec3( Vector3 result, const Vector3 v1, const Vector3 v2 )
642 {
643  result[0] = v1[0] - v2[0];
644  result[1] = v1[1] - v2[1];
645  result[2] = v1[2] - v2[2];
646 }
647 
648 void sub_Vec3d_Vec3d( Vector3d result, const Vector3d v1, const Vector3d v2 )
649 {
650  result[0] = v1[0] - v2[0];
651  result[1] = v1[1] - v2[1];
652  result[2] = v1[2] - v2[2];
653 }
654 
655 void sub_Vec4_Vec4( Vector4 result, const Vector4 v1, const Vector4 v2 )
656 {
657  result[0] = v1[0] - v2[0];
658  result[1] = v1[1] - v2[1];
659  result[2] = v1[2] - v2[2];
660  result[3] = v1[3] - v2[3];
661 }
662 
663 void div_Vec3_Vec3( Vector3 result, const Vector3 v1, const Vector3 v2 )
664 {
665  result[0] = v1[0] / v2[0];
666  result[1] = v1[1] / v2[1];
667  result[2] = v1[2] / v2[2];
668 }
669 
670 void div_Vec4_Vec4( Vector4 result, const Vector4 v1, const Vector4 v2 )
671 {
672  result[0] = v1[0] / v2[0];
673  result[1] = v1[1] / v2[1];
674  result[2] = v1[2] / v2[2];
675  result[3] = v1[3] / v2[3];
676 }
677 
678 void cpy_MatRxC_MatMxN( f_t *result, i_t r, i_t c, i_t r_offset, i_t c_offset, f_t *A, i_t m, i_t n )
679 {
680  // Ensure source matrix A fits within result matrix
681  if( (m + r_offset) > r || (n + c_offset) > c )
682  return;
683 
684  // Set result pointer to first location
685  result += c*r_offset + c_offset;
686 
687  int rowSize = sizeof( f_t )*n;
688  for( int mi=0; mi<m; mi++ )
689  {
690  // Copy row
691  memcpy( result, A, rowSize );
692 
693  // Update to next row
694  A += n;
695  result += c;
696  }
697 }
698 
699 
700 void transpose_Mat2( Matrix2 result, const Matrix2 m )
701 {
702  // Row 1
703  result[0] = m[0];
704  result[1] = m[2];
705  // Row 2
706  result[2] = m[1];
707  result[3] = m[3];
708 }
709 
710 void transpose_Mat3( Matrix3 result, const Matrix3 m )
711 {
712  // Row 1
713  result[0] = m[0];
714  result[1] = m[3];
715  result[2] = m[6];
716  // Row 2
717  result[3] = m[1];
718  result[4] = m[4];
719  result[5] = m[7];
720  // Row 3
721  result[6] = m[2];
722  result[7] = m[5];
723  result[8] = m[8];
724 }
725 
726 void transpose_Mat4( Matrix4 result, const Matrix4 m )
727 {
728  // Row 1
729  result[ 0] = m[ 0];
730  result[ 1] = m[ 4];
731  result[ 2] = m[ 8];
732  result[ 3] = m[12];
733  // Row 2
734  result[ 4] = m[ 1];
735  result[ 5] = m[ 5];
736  result[ 6] = m[ 9];
737  result[ 7] = m[13];
738  // Row 3
739  result[ 8] = m[ 2];
740  result[ 9] = m[ 6];
741  result[10] = m[10];
742  result[11] = m[14];
743  // Row 4
744  result[12] = m[ 3];
745  result[13] = m[ 7];
746  result[14] = m[11];
747  result[15] = m[15];
748 }
749 
750 char inv_Mat2(Matrix2 result, Matrix2 m)
751 {
752  f_t invDet, det = m[0] * m[3] - m[1] * m[2];
753 
754  if( det!=0.0f )
755  invDet = 1.0f/det;
756  else
757  return -1;
758 
759  // Row 1
760  result[0] = m[3] * ( invDet);
761  result[1] = m[1] * (-invDet);
762  // Row 2
763  result[2] = m[2] * (-invDet);
764  result[3] = m[0] * ( invDet);
765 
766  return 1;
767 }
768 
769 char inv_Mat3( Matrix3 result, const Matrix3 m )
770 {
771  // | m[0] m[1] m[2] |-1 | m[8]m[4]-m[7]m[5] -(m[8]m[1]-m[7]m[2]) m[5]m[1]-m[4]m[2] |
772  // | m[3] m[4] m[5] | = 1/det * | -(m[8]m[3]-m[6]m[5]) m[8]m[0]-m[6]m[2] -(m[5]m[0]-m[3]m[2]) |
773  // | m[6] m[7] m[8] | | m[7]m[3]-m[6]m[4] -(m[7]m[0]-m[6]m[1]) m[4]m[0]-m[3]m[1] |
774 
775  f_t invDet, det = m[0]*(m[8]*m[4]-m[7]*m[5]) - m[3]*(m[8]*m[1]-m[7]*m[2]) + m[6]*(m[5]*m[1]-m[4]*m[2]);
776 
777  if( det!=0 )
778  invDet = 1/det;
779  else
780  return -1;
781 
782  // Row 1
783  result[0] = invDet * (m[8]*m[4]-m[7]*m[5]);
784  result[1] = invDet * (m[7]*m[2]-m[8]*m[1]);
785  result[2] = invDet * (m[5]*m[1]-m[4]*m[2]);
786  // Row 2
787  result[3] = invDet * (m[6]*m[5]-m[8]*m[3]);
788  result[4] = invDet * (m[8]*m[0]-m[6]*m[2]);
789  result[5] = invDet * (m[3]*m[2]-m[5]*m[0]);
790  // Row 3
791  result[6] = invDet * (m[7]*m[3]-m[6]*m[4]);
792  result[7] = invDet * (m[6]*m[1]-m[7]*m[0]);
793  result[8] = invDet * (m[4]*m[0]-m[3]*m[1]);
794 
795  return 0;
796 }
797 
798 char inv_Mat4( Matrix4 result, const Matrix4 m )
799 {
800  f_t inv[16], det;
801  int i;
802 
803  inv[0] =
804  m[5] * m[10] * m[15] -
805  m[5] * m[11] * m[14] -
806  m[9] * m[6] * m[15] +
807  m[9] * m[7] * m[14] +
808  m[13] * m[6] * m[11] -
809  m[13] * m[7] * m[10];
810 
811  inv[4] =
812  -m[4] * m[10] * m[15] +
813  m[4] * m[11] * m[14] +
814  m[8] * m[6] * m[15] -
815  m[8] * m[7] * m[14] -
816  m[12] * m[6] * m[11] +
817  m[12] * m[7] * m[10];
818 
819  inv[8] =
820  m[4] * m[9] * m[15] -
821  m[4] * m[11] * m[13] -
822  m[8] * m[5] * m[15] +
823  m[8] * m[7] * m[13] +
824  m[12] * m[5] * m[11] -
825  m[12] * m[7] * m[9];
826 
827  inv[12] =
828  -m[4] * m[9] * m[14] +
829  m[4] * m[10] * m[13] +
830  m[8] * m[5] * m[14] -
831  m[8] * m[6] * m[13] -
832  m[12] * m[5] * m[10] +
833  m[12] * m[6] * m[9];
834 
835  inv[1] =
836  -m[1] * m[10] * m[15] +
837  m[1] * m[11] * m[14] +
838  m[9] * m[2] * m[15] -
839  m[9] * m[3] * m[14] -
840  m[13] * m[2] * m[11] +
841  m[13] * m[3] * m[10];
842 
843  inv[5] =
844  m[0] * m[10] * m[15] -
845  m[0] * m[11] * m[14] -
846  m[8] * m[2] * m[15] +
847  m[8] * m[3] * m[14] +
848  m[12] * m[2] * m[11] -
849  m[12] * m[3] * m[10];
850 
851  inv[9] =
852  -m[0] * m[9] * m[15] +
853  m[0] * m[11] * m[13] +
854  m[8] * m[1] * m[15] -
855  m[8] * m[3] * m[13] -
856  m[12] * m[1] * m[11] +
857  m[12] * m[3] * m[9];
858 
859  inv[13] =
860  m[0] * m[9] * m[14] -
861  m[0] * m[10] * m[13] -
862  m[8] * m[1] * m[14] +
863  m[8] * m[2] * m[13] +
864  m[12] * m[1] * m[10] -
865  m[12] * m[2] * m[9];
866 
867  inv[2] =
868  m[1] * m[6] * m[15] -
869  m[1] * m[7] * m[14] -
870  m[5] * m[2] * m[15] +
871  m[5] * m[3] * m[14] +
872  m[13] * m[2] * m[7] -
873  m[13] * m[3] * m[6];
874 
875  inv[6] =
876  -m[0] * m[6] * m[15] +
877  m[0] * m[7] * m[14] +
878  m[4] * m[2] * m[15] -
879  m[4] * m[3] * m[14] -
880  m[12] * m[2] * m[7] +
881  m[12] * m[3] * m[6];
882 
883  inv[10] =
884  m[0] * m[5] * m[15] -
885  m[0] * m[7] * m[13] -
886  m[4] * m[1] * m[15] +
887  m[4] * m[3] * m[13] +
888  m[12] * m[1] * m[7] -
889  m[12] * m[3] * m[5];
890 
891  inv[14] =
892  -m[0] * m[5] * m[14] +
893  m[0] * m[6] * m[13] +
894  m[4] * m[1] * m[14] -
895  m[4] * m[2] * m[13] -
896  m[12] * m[1] * m[6] +
897  m[12] * m[2] * m[5];
898 
899  inv[3] =
900  -m[1] * m[6] * m[11] +
901  m[1] * m[7] * m[10] +
902  m[5] * m[2] * m[11] -
903  m[5] * m[3] * m[10] -
904  m[9] * m[2] * m[7] +
905  m[9] * m[3] * m[6];
906 
907  inv[7] =
908  m[0] * m[6] * m[11] -
909  m[0] * m[7] * m[10] -
910  m[4] * m[2] * m[11] +
911  m[4] * m[3] * m[10] +
912  m[8] * m[2] * m[7] -
913  m[8] * m[3] * m[6];
914 
915  inv[11] =
916  -m[0] * m[5] * m[11] +
917  m[0] * m[7] * m[9] +
918  m[4] * m[1] * m[11] -
919  m[4] * m[3] * m[9] -
920  m[8] * m[1] * m[7] +
921  m[8] * m[3] * m[5];
922 
923  inv[15] =
924  m[0] * m[5] * m[10] -
925  m[0] * m[6] * m[9] -
926  m[4] * m[1] * m[10] +
927  m[4] * m[2] * m[9] +
928  m[8] * m[1] * m[6] -
929  m[8] * m[2] * m[5];
930 
931  det = m[0] * inv[0] + m[1] * inv[4] + m[2] * inv[8] + m[3] * inv[12];
932 
933  if (det == 0)
934  return -1;
935 
936  det = (f_t)1.0 / det;
937 
938  for (i = 0; i < 16; i++)
939  result[i] = inv[i] * det;
940 
941  return 0;
942 }
943 
944 // Initialize Alpha Filter alpha and beta values
945 void LPFO0_init_Vec3( sLpfO0 *lpf, f_t dt, f_t cornerFreqHz, const Vector3 initVal )
946 {
947  f_t dc;
948 
949  memset( lpf, 0, sizeof(sLpfO0) );
950  cpy_Vec3_Vec3( lpf->v, initVal );
951 
952  dc = dt * cornerFreqHz;
953  lpf->alpha = dc / (1.0f + dc);
954  lpf->beta = 1.0f - lpf->alpha;
955 }
956 
957 // Low-Pass Alpha Filter
958 void LPFO0_Vec3( sLpfO0 *lpf, const Vector3 input )
959 {
960  // v[n+1] = beta*v[n] + alpha*input
961  O0_LPF_Vec3( lpf->v, input, lpf->alpha, lpf->beta );
962 }
963 
964 
965 
div_Vec3_Vec3
void div_Vec3_Vec3(Vector3 result, const Vector3 v1, const Vector3 v2)
Definition: ISMatrix.c:663
mul_Mat3x3_Mat3x3
void mul_Mat3x3_Mat3x3(Matrix3 result, const Matrix3 m1, const Matrix3 m2)
Definition: ISMatrix.c:322
-
f_t
float f_t
Definition: ISConstants.h:722
-
Vector2d
double Vector2d[3]
Definition: ISConstants.h:724
+
f_t
float f_t
Definition: ISConstants.h:719
+
Vector2d
double Vector2d[3]
Definition: ISConstants.h:721
abs_Vec2d
void abs_Vec2d(Vector2d result, const Vector2d v)
Definition: ISMatrix.c:464
mul_Vec4_Vec4
void mul_Vec4_Vec4(Vector4 result, const Vector4 v1, const Vector4 v2)
Definition: ISMatrix.c:435
abs_Vec4
void abs_Vec4(Vector4 result, const Vector4 v)
Definition: ISMatrix.c:484
@@ -83,8 +83,8 @@
sub_Vec3d_Vec3d
void sub_Vec3d_Vec3d(Vector3d result, const Vector3d v1, const Vector3d v2)
Definition: ISMatrix.c:648
sqrt_Vec4
void sqrt_Vec4(Vector4 result, const Vector4 v)
Definition: ISMatrix.c:450
mul_Mat2x2_Trans_Vec2x1
void mul_Mat2x2_Trans_Vec2x1(Vector2 result, const Matrix2 m, const Vector2 v)
Definition: ISMatrix.c:376
-
_FABS
#define _FABS
Definition: ISConstants.h:713
-
i_t
int i_t
Definition: ISConstants.h:723
+
_FABS
#define _FABS
Definition: ISConstants.h:710
+
i_t
int i_t
Definition: ISConstants.h:720
add_Vec3d_Vec3d
void add_Vec3d_Vec3d(Vector3d result, const Vector3d v1, const Vector3d v2)
Definition: ISMatrix.c:618
abs_Vec4d
void abs_Vec4d(Vector4d result, const Vector4d v)
Definition: ISMatrix.c:492
abs_Vec2
void abs_Vec2(Vector2 result, const Vector2 v)
Definition: ISMatrix.c:458
@@ -96,7 +96,7 @@
sub_Vec4_Vec4
void sub_Vec4_Vec4(Vector4 result, const Vector4 v1, const Vector4 v2)
Definition: ISMatrix.c:655
mul_Vec3x1_Vec1x3
void mul_Vec3x1_Vec1x3(Matrix3 result, const Vector3 v1, const Vector3 v2)
Definition: ISMatrix.c:412
cpy_MatRxC_MatMxN
void cpy_MatRxC_MatMxN(f_t *result, i_t r, i_t c, i_t r_offset, i_t c_offset, f_t *A, i_t m, i_t n)
Definition: ISMatrix.c:678
-
Vector4
f_t Vector4[4]
Definition: ISConstants.h:729
+
Vector4
f_t Vector4[4]
Definition: ISConstants.h:726
LU
void LU(const f_t *M, i_t n, f_t *L, f_t *U)
Definition: ISMatrix.c:130
crossd_Vec3
void crossd_Vec3(Vector3d result, const Vector3 v1, const Vector3 v2)
Definition: ISMatrix.c:537
div_Vec4_Vec4
void div_Vec4_Vec4(Vector4 result, const Vector4 v1, const Vector4 v2)
Definition: ISMatrix.c:670
@@ -112,17 +112,17 @@
inv_Mat4
char inv_Mat4(Matrix4 result, const Matrix4 m)
Definition: ISMatrix.c:798
mul_Vec3_Vec3
void mul_Vec3_Vec3(Vector3 result, const Vector3 v1, const Vector3 v2)
Definition: ISMatrix.c:428
-
Vector2
f_t Vector2[3]
Definition: ISConstants.h:725
+
Vector2
f_t Vector2[3]
Definition: ISConstants.h:722
sLpfO0::beta
f_t beta
Definition: ISMatrix.h:68
mul_Vec4d_X
void mul_Vec4d_X(Vector4d result, const Vector4d v, const double x)
Definition: ISMatrix.c:578
add_Vec3_Vec3
void add_Vec3_Vec3(Vector3 result, const Vector3 v1, const Vector3 v2)
Definition: ISMatrix.c:611
trans_MatMxN
void trans_MatMxN(f_t *result, const f_t *M, int m, int n)
Definition: ISMatrix.c:298
dot_Vec4_Vec4
f_t dot_Vec4_Vec4(const Vector4 v1, const Vector4 v2)
Definition: ISMatrix.c:520
-
FREE
#define FREE(m)
Definition: ISConstants.h:134
-
MALLOC
#define MALLOC(m)
Definition: ISConstants.h:133
-
Vector3
f_t Vector3[3]
Definition: ISConstants.h:727
+
FREE
#define FREE(m)
Definition: ISConstants.h:135
+
MALLOC
#define MALLOC(m)
Definition: ISConstants.h:134
+
Vector3
f_t Vector3[3]
Definition: ISConstants.h:724
inv_Mat3
char inv_Mat3(Matrix3 result, const Matrix3 m)
Definition: ISMatrix.c:769
-
_SQRT
#define _SQRT
Definition: ISConstants.h:712
+
_SQRT
#define _SQRT
Definition: ISConstants.h:709
data_sets.h
mul_Mat3x3_Trans_Mat3x3
void mul_Mat3x3_Trans_Mat3x3(Matrix3 result, const Matrix3 m1, const Matrix3 m2)
Definition: ISMatrix.c:338
sLpfO0::v
Vector3 v
Definition: ISMatrix.h:66
@@ -131,23 +131,23 @@
dot_Vec2_Vec2
f_t dot_Vec2_Vec2(const Vector2 v1, const Vector2 v2)
Definition: ISMatrix.c:500
inv_Mat2
char inv_Mat2(Matrix2 result, Matrix2 m)
Definition: ISMatrix.c:750
mul_Mat3x3_Trans_Vec3x1
void mul_Mat3x3_Trans_Vec3x1(Vector3 result, const Matrix3 m, const Vector3 v)
Definition: ISMatrix.c:389
-
Matrix3
f_t Matrix3[9]
Definition: ISConstants.h:735
+
Matrix3
f_t Matrix3[9]
Definition: ISConstants.h:732
sqrt_Vec3
void sqrt_Vec3(Vector3 result, const Vector3 v)
Definition: ISMatrix.c:443
mul_Mat4x4_Trans_Vec4x1
void mul_Mat4x4_Trans_Vec4x1(Vector4 result, const Matrix4 m, const Vector4 v)
Definition: ISMatrix.c:404
abs_Vec3d
void abs_Vec3d(Vector3d result, const Vector3d v)
Definition: ISMatrix.c:477
-
Matrix4
f_t Matrix4[16]
Definition: ISConstants.h:736
-
Matrix2
f_t Matrix2[4]
Definition: ISConstants.h:734
+
Matrix4
f_t Matrix4[16]
Definition: ISConstants.h:733
+
Matrix2
f_t Matrix2[4]
Definition: ISConstants.h:731
solve_upper
char solve_upper(f_t *result, i_t n, f_t *A, f_t *b)
Definition: ISMatrix.c:187
inv_MatN
char inv_MatN(f_t *result, const f_t *M, i_t n)
Definition: ISMatrix.c:258
mul_Vec2d_X
void mul_Vec2d_X(Vector2d result, const Vector2d v, const double x)
Definition: ISMatrix.c:550
mul_Mat3x3_Mat3x3_Trans
void mul_Mat3x3_Mat3x3_Trans(Matrix3 result, const Matrix3 m1, const Matrix3 m2)
Definition: ISMatrix.c:354
-
Vector4d
double Vector4d[4]
Definition: ISConstants.h:728
+
Vector4d
double Vector4d[4]
Definition: ISConstants.h:725
div_Vec3_X
void div_Vec3_X(Vector3 result, const Vector3 v, const f_t x)
Definition: ISMatrix.c:586
dot_Vec3d_Vec3d
double dot_Vec3d_Vec3d(const Vector3d v1, const Vector3d v2)
Definition: ISMatrix.c:513
mul_Mat3x3_Vec3x1
void mul_Mat3x3_Vec3x1(Vector3 result, const Matrix3 m, const Vector3 v)
Definition: ISMatrix.c:382
mul_Vec2_X
void mul_Vec2_X(Vector2 result, const Vector2 v, const f_t x)
Definition: ISMatrix.c:544
solve_lower
char solve_lower(f_t *result, i_t n, f_t *A, f_t *b)
Definition: ISMatrix.c:222
-
Vector3d
double Vector3d[3]
Definition: ISConstants.h:726
+
Vector3d
double Vector3d[3]
Definition: ISConstants.h:723
div_Vec4d_X
void div_Vec4d_X(Vector4d result, const Vector4d v, const double x)
Definition: ISMatrix.c:602
transpose_Mat4
void transpose_Mat4(Matrix4 result, const Matrix4 m)
Definition: ISMatrix.c:726
transpose_Mat2
void transpose_Mat2(Matrix2 result, const Matrix2 m)
Definition: ISMatrix.c:700
diff --git a/docs/html/_i_s_matrix_8h.html b/docs/html/_i_s_matrix_8h.html index 80fdce0e8..2ccd09c85 100644 --- a/docs/html/_i_s_matrix_8h.html +++ b/docs/html/_i_s_matrix_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_matrix_8h_source.html b/docs/html/_i_s_matrix_8h_source.html index 7af4baa84..1f7d6dcf1 100644 --- a/docs/html/_i_s_matrix_8h_source.html +++ b/docs/html/_i_s_matrix_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -76,19 +76,19 @@
abs_Vec3
void abs_Vec3(Vector3 result, const Vector3 v)
Definition: ISMatrix.c:470
inv_Mat4
char inv_Mat4(Matrix4 result, const Matrix4 m)
Definition: ISMatrix.c:798
sub_Vec3d_Vec3d
void sub_Vec3d_Vec3d(Vector3d result, const Vector3d v1, const Vector3d v2)
Definition: ISMatrix.c:648
-
f_t
float f_t
Definition: ISConstants.h:722
+
f_t
float f_t
Definition: ISConstants.h:719
sLpfO1::beta
f_t beta
Definition: ISMatrix.h:77
-
Vector2d
double Vector2d[3]
Definition: ISConstants.h:724
+
Vector2d
double Vector2d[3]
Definition: ISConstants.h:721
mul_Mat3x3_Vec3x1
void mul_Mat3x3_Vec3x1(Vector3 result, const Matrix3 m, const Vector3 v)
Definition: ISMatrix.c:382
mul_Vec2_X
void mul_Vec2_X(Vector2 result, const Vector2 v, const f_t x)
Definition: ISMatrix.c:544
mul_Mat4x4_Vec4x1
void mul_Mat4x4_Vec4x1(Vector4 result, const Matrix4 m, const Vector4 v)
Definition: ISMatrix.c:396
mul_Mat3x3_Mat3x3
void mul_Mat3x3_Mat3x3(Matrix3 result, const Matrix3 m1, const Matrix3 m2)
Definition: ISMatrix.c:322
-
_MIN
#define _MIN(a, b)
Definition: ISConstants.h:269
+
_MIN
#define _MIN(a, b)
Definition: ISConstants.h:266
div_Vec4_X
void div_Vec4_X(Vector4 result, const Vector4 v, const f_t x)
Definition: ISMatrix.c:594
dot_Vec3_Vec3
f_t dot_Vec3_Vec3(const Vector3 v1, const Vector3 v2)
Definition: ISMatrix.c:506
-
_LIMIT2
#define _LIMIT2(x, xmin, xmax)
Definition: ISConstants.h:285
+
_LIMIT2
#define _LIMIT2(x, xmin, xmax)
Definition: ISConstants.h:282
add_Vec4_Vec4
void add_Vec4_Vec4(Vector4 result, const Vector4 v1, const Vector4 v2)
Definition: ISMatrix.c:625
-
i_t
int i_t
Definition: ISConstants.h:723
+
i_t
int i_t
Definition: ISConstants.h:720
div_Vec3_Vec3
void div_Vec3_Vec3(Vector3 result, const Vector3 v1, const Vector3 v2)
Definition: ISMatrix.c:663
sLpfO1::alpha
f_t alpha
Definition: ISMatrix.h:76
eye_MatN
void eye_MatN(f_t *A, i_t n)
Definition: ISMatrix.c:119
@@ -98,7 +98,7 @@
crossd_Vec3
void crossd_Vec3(Vector3d result, const Vector3 v1, const Vector3 v2)
Definition: ISMatrix.c:537
inv_Mat2
char inv_Mat2(Matrix2 result, Matrix2 m)
Definition: ISMatrix.c:750
sub_Vec3_Vec3
void sub_Vec3_Vec3(Vector3 result, const Vector3 v1, const Vector3 v2)
Definition: ISMatrix.c:641
-
Vector4
f_t Vector4[4]
Definition: ISConstants.h:729
+
Vector4
f_t Vector4[4]
Definition: ISConstants.h:726
transpose_Mat3
void transpose_Mat3(Matrix3 result, const Matrix3 m)
Definition: ISMatrix.c:710
div_Vec4d_X
void div_Vec4d_X(Vector4d result, const Vector4d v, const double x)
Definition: ISMatrix.c:602
trans_MatMxN
void trans_MatMxN(f_t *result, const f_t *M, int m, int n)
Definition: ISMatrix.c:298
@@ -108,7 +108,7 @@
inv_Mat3
char inv_Mat3(Matrix3 result, const Matrix3 m)
Definition: ISMatrix.c:769
sLpfO0::alpha
f_t alpha
Definition: ISMatrix.h:67
LPFO0_Vec3
void LPFO0_Vec3(sLpfO0 *lpf, const Vector3 input)
Definition: ISMatrix.c:958
-
_LIMIT
#define _LIMIT(x, lim)
Definition: ISConstants.h:281
+
_LIMIT
#define _LIMIT(x, lim)
Definition: ISConstants.h:278
mul_Vec2d_X
void mul_Vec2d_X(Vector2d result, const Vector2d v, const double x)
Definition: ISMatrix.c:550
cross_Vec3
void cross_Vec3(Vector3 result, const Vector3 v1, const Vector3 v2)
Definition: ISMatrix.c:530
add_Vec4d_Vec4d
void add_Vec4d_Vec4d(Vector4d result, const Vector4d v1, const Vector4d v2)
Definition: ISMatrix.c:633
@@ -120,7 +120,7 @@
abs_Vec2d
void abs_Vec2d(Vector2d result, const Vector2d v)
Definition: ISMatrix.c:464
sub_Vec4_Vec4
void sub_Vec4_Vec4(Vector4 result, const Vector4 v1, const Vector4 v2)
Definition: ISMatrix.c:655
-
Vector2
f_t Vector2[3]
Definition: ISConstants.h:725
+
Vector2
f_t Vector2[3]
Definition: ISConstants.h:722
dot_Vec4_Vec4
f_t dot_Vec4_Vec4(const Vector4 v1, const Vector4 v2)
Definition: ISMatrix.c:520
sLpfO0::beta
f_t beta
Definition: ISMatrix.h:68
mul_Vec3_Vec3
void mul_Vec3_Vec3(Vector3 result, const Vector3 v1, const Vector3 v2)
Definition: ISMatrix.c:428
@@ -129,24 +129,24 @@
sqrt_Vec3
void sqrt_Vec3(Vector3 result, const Vector3 v)
Definition: ISMatrix.c:443
mul_Mat4x4_Trans_Vec4x1
void mul_Mat4x4_Trans_Vec4x1(Vector4 result, const Matrix4 m, const Vector4 v)
Definition: ISMatrix.c:404
abs_Vec3d
void abs_Vec3d(Vector3d result, const Vector3d v)
Definition: ISMatrix.c:477
-
Vector3
f_t Vector3[3]
Definition: ISConstants.h:727
+
Vector3
f_t Vector3[3]
Definition: ISConstants.h:724
sLpfO0::v
Vector3 v
Definition: ISMatrix.h:66
recipNorm_Vec4
#define recipNorm_Vec4(v)
Definition: ISMatrix.h:43
add_Vec3_Vec3
void add_Vec3_Vec3(Vector3 result, const Vector3 v1, const Vector3 v2)
Definition: ISMatrix.c:611
-
Matrix3
f_t Matrix3[9]
Definition: ISConstants.h:735
+
Matrix3
f_t Matrix3[9]
Definition: ISConstants.h:732
-
Matrix4
f_t Matrix4[16]
Definition: ISConstants.h:736
-
Matrix2
f_t Matrix2[4]
Definition: ISConstants.h:734
+
Matrix4
f_t Matrix4[16]
Definition: ISConstants.h:733
+
Matrix2
f_t Matrix2[4]
Definition: ISConstants.h:731
mul_Mat3x3_Trans_Mat3x3
void mul_Mat3x3_Trans_Mat3x3(Matrix3 result, const Matrix3 m1, const Matrix3 m2)
Definition: ISMatrix.c:338
dot_Vec3d_Vec3d
double dot_Vec3d_Vec3d(const Vector3d v1, const Vector3d v2)
Definition: ISMatrix.c:513
abs_Vec2
void abs_Vec2(Vector2 result, const Vector2 v)
Definition: ISMatrix.c:458
-
Vector4d
double Vector4d[4]
Definition: ISConstants.h:728
+
Vector4d
double Vector4d[4]
Definition: ISConstants.h:725
mul_Mat3x3_Mat3x3_Trans
void mul_Mat3x3_Mat3x3_Trans(Matrix3 result, const Matrix3 m1, const Matrix3 m2)
Definition: ISMatrix.c:354
mul_MatMxN
void mul_MatMxN(void *result, const void *A_ptr, const void *B_ptr, i_t m, i_t n, i_t p, char transpose_B, char add)
Definition: ISMatrix.c:22
mul_Vec3x1_Vec1x3
void mul_Vec3x1_Vec1x3(Matrix3 result, const Vector3 v1, const Vector3 v2)
Definition: ISMatrix.c:412
mul_Vec4_Vec4
void mul_Vec4_Vec4(Vector4 result, const Vector4 v1, const Vector4 v2)
Definition: ISMatrix.c:435
transpose_Mat4
void transpose_Mat4(Matrix4 result, const Matrix4 m)
Definition: ISMatrix.c:726
-
Vector3d
double Vector3d[3]
Definition: ISConstants.h:726
+
Vector3d
double Vector3d[3]
Definition: ISConstants.h:723
mul_Mat3x3_Trans_Vec3x1
void mul_Mat3x3_Trans_Vec3x1(Vector3 result, const Matrix3 m, const Vector3 v)
Definition: ISMatrix.c:389
sqrt_Vec4
void sqrt_Vec4(Vector4 result, const Vector4 v)
Definition: ISMatrix.c:450
recipNorm_Vec2
#define recipNorm_Vec2(v)
Definition: ISMatrix.h:41
@@ -156,7 +156,7 @@
mul_Vec3d_X
void mul_Vec3d_X(Vector3d result, const Vector3d v, const double x)
Definition: ISMatrix.c:563
div_Vec3_X
void div_Vec3_X(Vector4 result, const Vector4 v, const f_t x)
sLpfO1::c1
Vector3 c1
Definition: ISMatrix.h:75
-
_MAX
#define _MAX(a, b)
Definition: ISConstants.h:265
+
_MAX
#define _MAX(a, b)
Definition: ISConstants.h:262
ISConstants.h
diff --git a/docs/html/_i_s_pose_8c.html b/docs/html/_i_s_pose_8c.html index edd1c5296..15fb457e0 100644 --- a/docs/html/_i_s_pose_8c.html +++ b/docs/html/_i_s_pose_8c.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_pose_8c_source.html b/docs/html/_i_s_pose_8c_source.html index 850ae243a..aeb803633 100644 --- a/docs/html/_i_s_pose_8c_source.html +++ b/docs/html/_i_s_pose_8c_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -74,12 +74,12 @@
Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #define _MATH_DEFINES_DEFINED
14 #include <math.h>
15 
16 // #include "misc/debug.h"
17 #include "ISConstants.h"
18 #include "ISPose.h"
19 #include "ISEarth.h"
20 
21 //_____ M A C R O S ________________________________________________________
22 
23 //_____ D E F I N I T I O N S ______________________________________________
24 
25 //_____ G L O B A L S ______________________________________________________
26 
27 //_____ L O C A L P R O T O T Y P E S ____________________________________
28 
29 //_____ F U N C T I O N S __________________________________________________
30 
31 /*
32  * Initialize Quaternion q = [w, x, y, z]
33  */
34 void quat_init(Quat_t q)
35 {
36 #if 1
37  q[0] = 1.0;
38  q[1] = q[2] = q[3] = 0.0;
39 #else
40  Euler_t theta = { 0, 0, 0 };
41  euler2quat(theta, q);
42 #endif
43 }
44 
45 
46 /* Quaternion Conjugate: q* = [ w, -x, -y, -z ] of quaterion q = [ w, x, y, z ]
47  * Rotation in opposite direction.
48  */
49 void quatConj(Quat_t result, const Quat_t q)
50 {
51  result[0] = q[0];
52  result[1] = -q[1];
53  result[2] = -q[2];
54  result[3] = -q[3];
55 }
56 
57 
58 /*
59  * Product of two Quaternions. Order of q1 and q2 matters (same as applying two successive DCMs)!!!
60  * Combines two quaternion rotations into one rotation.
61  * result = q1 * q2
62  * Reference: http://www.mathworks.com/help/aeroblks/quaternionmultiplication.html
63  */
64 void mul_Quat_Quat(Quat_t result, const Quat_t q1, const Quat_t q2)
65 {
66  result[0] = q1[0]*q2[0] - q1[1]*q2[1] - q1[2]*q2[2] - q1[3]*q2[3];
67  result[1] = q1[0]*q2[1] + q1[1]*q2[0] - q1[2]*q2[3] + q1[3]*q2[2];
68  result[2] = q1[0]*q2[2] + q1[1]*q2[3] + q1[2]*q2[0] - q1[3]*q2[1];
69  result[3] = q1[0]*q2[3] - q1[1]*q2[2] + q1[2]*q2[1] + q1[3]*q2[0];
70 }
71 
72 /*
73 * Product of two Quaternions. Order of q1 and q2 matters (same as applying two successive DCMs)!!!
74 * Combines two quaternion rotations into one rotation.
75 * result = quatConj(q1) * q2
76 * Reference: http://www.mathworks.com/help/aeroblks/quaternionmultiplication.html
77 */
78 void mul_ConjQuat_Quat(Quat_t result, const Quat_t qc, const Quat_t q2)
79 {
80  result[0] = qc[0]*q2[0] + qc[1]*q2[1] + qc[2]*q2[2] + qc[3]*q2[3];
81  result[1] = qc[0]*q2[1] - qc[1]*q2[0] + qc[2]*q2[3] - qc[3]*q2[2];
82  result[2] = qc[0]*q2[2] - qc[1]*q2[3] - qc[2]*q2[0] + qc[3]*q2[1];
83  result[3] = qc[0]*q2[3] + qc[1]*q2[2] - qc[2]*q2[1] - qc[3]*q2[0];
84 }
85 
86 /*
87 * Product of two Quaternions. Order of q1 and q2 matters (same as applying two successive DCMs)!!!
88 * Combines two quaternion rotations into one rotation.
89 * result = q1 * quatConj(q2)
90 * Reference: http://www.mathworks.com/help/aeroblks/quaternionmultiplication.html
91 */
92 void mul_Quat_ConjQuat(Quat_t result, const Quat_t q1, const Quat_t qc)
93 {
94  result[0] = q1[0]*qc[0] + q1[1]*qc[1] + q1[2]*qc[2] + q1[3]*qc[3];
95  result[1] = -q1[0]*qc[1] + q1[1]*qc[0] + q1[2]*qc[3] - q1[3]*qc[2];
96  result[2] = -q1[0]*qc[2] - q1[1]*qc[3] + q1[2]*qc[0] + q1[3]*qc[1];
97  result[3] = -q1[0]*qc[3] + q1[1]*qc[2] - q1[2]*qc[1] + q1[3]*qc[0];
98 }
99 
100 /*
101  * Division of two Quaternions. Order matters!!!
102  * result = q1 / q2.
103  * Reference: http://www.mathworks.com/help/aeroblks/quaterniondivision.html
104  */
105 void div_Quat_Quat(Quat_t result, const Quat_t q1, const Quat_t q2)
106 {
107  q_t d = (q_t)1.0 / (q1[0] * q1[0] + q1[1] * q1[1] + q1[2] * q1[2] + q1[3] * q1[3]);
108 
109  result[0] = (q1[0]*q2[0] + q1[1]*q2[1] + q1[2]*q2[2] + q1[3]*q2[3]) * d;
110  result[1] = (q1[0]*q2[1] - q1[1]*q2[0] - q1[2]*q2[3] + q1[3]*q2[2]) * d;
111  result[2] = (q1[0]*q2[2] + q1[1]*q2[3] - q1[2]*q2[0] - q1[3]*q2[1]) * d;
112  result[3] = (q1[0]*q2[3] - q1[1]*q2[2] + q1[2]*q2[1] - q1[3]*q2[0]) * d;
113 }
114 
115 
116 /* Quaternion rotation from vector v1 to vector v2.
117  */
118 void quat_Vec3_Vec3(Quat_t result, const Vector3_t v1, const Vector3_t v2)
119 {
120  Vector3_t w1, w2;
121 
122  // Normalize input vectors
123  mul_Vec3_X( w1, v1, recipNorm_Vec3(v1) );
124  mul_Vec3_X( w2, v2, recipNorm_Vec3(v2) );
125 
126  // q[1:3]
127  cross_Vec3( &result[1], w1, w2 );
128 
129  // q[0]
130  result[0] = (q_t)(_SQRT( dot_Vec3(w1) * dot_Vec3(w1) ) + dot_Vec3_Vec3(w1, w2));
131 
132  // Normalize quaternion
133  div_Vec4_X( result, result, mag_Vec4(result) );
134 }
135 
136 
137 /* Computationally simple means to apply quaternion rotation to a vector.
138  * Requires quaternion be normalized first.
139  * If quaternion describes current attitude, then rotation is body -> inertial frame.
140  * Equivalent to a DCM.T * vector multiply.
141  */
142 void quatRot(Vector3_t result, const Quat_t q, const Vector3_t v)
143 {
144  Vector3_t t;
145  cross_Vec3( t, &q[1], v );
146  mul_Vec3_X( t, t, (f_t)2.0 );
147 
148  cross_Vec3( result, &q[1], t );
149  mul_Vec3_X( t, t, q[0] );
150  add_Vec3_Vec3( result, result, t );
151  add_Vec3_Vec3( result, result, v );
152 }
153 
154 
155 /* Computationally simple means to apply quaternion conjugate (opposite) rotation to a vector
156  * (18 multiplies, 6 subtracts, 6 adds). Using a DCM uses (27 multiplies, 12 adds, 6 subtracts).
157  * Requires quaternion be normalized first.
158  * If quaternion describes current attitude, then rotation is inertial -> body frame.
159  * Equivalent to a DCM * vector multiply.
160  */
161 void quatConjRot(Vector3_t result, const Quat_t q, const Vector3_t v)
162 {
163  Quat_t qC;
164  Vector3_t t;
165 
166  // Rotation in opposite direction
167  quatConj( qC, q );
168 
169  cross_Vec3( t, &qC[1], v );
170  mul_Vec3_X( t, t, (f_t)2.0 );
171 
172  cross_Vec3( result, &qC[1], t );
173  mul_Vec3_X( t, t, qC[0] );
174  add_Vec3_Vec3( result, result, t );
175  add_Vec3_Vec3( result, result, v );
176 }
177 
178 
179 /*
180  * This will convert from quaternions to euler angles
181  * q(W,X,Y,Z) -> euler(phi,theta,psi) (rad)
182  *
183  * Reference: http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
184  */
185 void quat2euler(const Quat_t q, Euler_t theta)
186 {
187  float sinang = 2 * (q[0] * q[2] - q[3] * q[1]);
188  if (sinang > 1.0f) { sinang = 1.0f; }
189  if (sinang < -1.0f) { sinang = -1.0f; }
190 
191  theta[0] = _ATAN2(2 * (q[0]*q[1] + q[2]*q[3]), 1 - 2 * (q[1]*q[1] + q[2]*q[2]));
192  theta[1] = _ASIN (sinang);
193  theta[2] = _ATAN2(2 * (q[0]*q[3] + q[1]*q[2]), 1 - 2 * (q[2]*q[2] + q[3]*q[3]));
194 }
195 void quat2phiTheta(const Quat_t q, f_t *phi, f_t *theta)
196 {
197  float sinang = 2 * (q[0] * q[2] - q[3] * q[1]);
198  if (sinang > 1.0f) { sinang = 1.0f; }
199  if (sinang < -1.0f) { sinang = -1.0f; }
200 
201  *phi = _ATAN2( 2 * (q[0] * q[1] + q[2] * q[3]), 1 - 2 * (q[1] * q[1] + q[2] * q[2]) );
202  *theta = _ASIN (sinang);
203 }
204 void quat2psi(const Quat_t q, f_t *psi)
205 {
206  float sinang = 2 * (q[0] * q[2] - q[3] * q[1]);
207  if (sinang > 1.0f) { sinang = 1.0f; }
208  if (sinang < -1.0f) { sinang = -1.0f; }
209 
210  *psi = _ATAN2(2 * (q[0]*q[3] + q[1]*q[2]), 1 - 2 * (q[2]*q[2] + q[3]*q[3]));
211 }
212 
213 
214 /*
215  * This will convert from euler angles to quaternion vector
216  * euler(phi,theta,psi) (rad) -> q(W,X,Y,Z)
217  */
218 void euler2quat(const Euler_t euler, Quat_t q)
219 {
220  f_t hphi = euler[0] * (f_t)0.5;
221  f_t hthe = euler[1] * (f_t)0.5;
222  f_t hpsi = euler[2] * (f_t)0.5;
223 
224  f_t shphi = _SIN(hphi);
225  f_t chphi = _COS(hphi);
226 
227  f_t shthe = _SIN(hthe);
228  f_t chthe = _COS(hthe);
229 
230  f_t shpsi = _SIN(hpsi);
231  f_t chpsi = _COS(hpsi);
232 
233  q[0] = chphi * chthe * chpsi + shphi * shthe * shpsi;
234  q[1] = shphi * chthe * chpsi - chphi * shthe * shpsi;
235  q[2] = chphi * shthe * chpsi + shphi * chthe * shpsi;
236  q[3] = chphi * chthe * shpsi - shphi * shthe * chpsi;
237 }
238 
239 
240 /*
241 * Quaternion rotation to NED with respect to ECEF at specified LLA
242 */
243 void quatEcef2Ned(Vector4 Qe2n, const Vector3d lla)
244 {
245  Vector3 Ee2nLL;
246  Vector4 Qe2n0LL, Qe2nLL;
247 
248  //Qe2n0LL is reference attitude [NED w/r/t ECEF] at zero latitude and longitude (elsewhere qned0)
249  Qe2n0LL[0] = cosf(-C_PIDIV4_F);
250  Qe2n0LL[1] = 0.0f;
251  Qe2n0LL[2] = sinf(-C_PIDIV4_F);
252  Qe2n0LL[3] = 0.0f;
253 
254  //Qe2nLL is delta reference attitude [NED w/r/t ECEF] accounting for latitude and longitude (elsewhere qned)
255  Ee2nLL[0] = 0.0f;
256  Ee2nLL[1] = (float)(-lla[0]);
257  Ee2nLL[2] = (float)(lla[1]);
258 
259  euler2quat(Ee2nLL, Qe2nLL);
260 
261  //Qe2b=Qe2n*Qn2b is vehicle attitude [BOD w/r/t ECEF]
262  mul_Quat_Quat(Qe2n, Qe2n0LL, Qe2nLL);
263 }
264 
265 
266 /*
267 * Convert ECEF quaternion to NED euler at specified ECEF
268 */
269 void qe2b2EulerNedEcef(Vector3 eul, const Vector4 qe2b, const Vector3d ecef)
270 {
271  Vector3d lla;
272 
273 // ecef2lla_d(ecef, lla);
274  ecef2lla(ecef, lla, 1, 5);
275  qe2b2EulerNedLLA(eul, qe2b, lla);
276 }
277 
278 
279 /*
280 * Convert ECEF quaternion to NED euler at specified LLA (rad)
281 */
282 void qe2b2EulerNedLLA(Vector3 eul, const Vector4 qe2b, const Vector3d lla)
283 {
284  Vector3 eulned;
285  Vector4 qe2n;
286  Vector4 qn2b;
287 
288  eulned[0] = 0.0f;
289  eulned[1] = ((float)-lla[0]) - 0.5f * C_PI_F;
290  eulned[2] = (float)lla[1];
291  euler2quat(eulned, qe2n);
292  mul_Quat_ConjQuat(qn2b, qe2b, qe2n);
293  quat2euler(qn2b, eul);
294 }
295 
296 
297 /*
298  * This will construct a direction cosine matrix from
299  * the psi angle - rotates from NE to body frame
300  *
301  * body = tBL(2,2)*NE
302  *
303  */
304 void psiDCM(const f_t psi, Matrix2_t m)
305 {
306  f_t cpsi = _COS(psi); // cos(psi)
307  f_t spsi = _SIN(psi); // sin(psi)
308 
309  // Row 1
310  m[0] = cpsi;
311  m[1] = spsi;
312  // Row 2
313  m[2] = -spsi;
314  m[3] = cpsi;
315 }
316 
317 
318 /*
319 * This will extract the psi euler angle from a direction cosine matrix in the
320 * standard rotation sequence, for either a 2x2 or 3x3 DCM matrix.
321 * [phi][theta][psi] from NED to body frame
322 *
323 * body = tBL(2,2)*NE
324 * body = tBL(3,3)*NED
325 *
326 * reference: http://en.wikipedia.org/wiki/Rotation_representation_%28mathematics%29
327 */
328 f_t DCMpsi(const f_t *m )
329 {
330  return _ATAN2( m[1], m[0] );
331 }
332 
333 
334 /*
335  * This will construct a direction cosine matrix from
336  * euler angles in the standard rotation sequence
337  * [phi][theta][psi] from NED to body frame
338  *
339  * body = tBL(3,3)*NED
340  *
341  * reference: http://en.wikipedia.org/wiki/Rotation_representation_%28mathematics%29
342  */
343 void eulerDCM(const Euler_t euler, Matrix3_t m)
344 {
345  f_t cphi = _COS(euler[0]); // cos(phi)
346  f_t cthe = _COS(euler[1]); // cos(theta)
347  f_t cpsi = _COS(euler[2]); // cos(psi)
348 
349  f_t sphi = _SIN(euler[0]); // sin(phi)
350  f_t sthe = _SIN(euler[1]); // sin(theta)
351  f_t spsi = _SIN(euler[2]); // sin(psi)
352 
353  // Row 1
354  m[0] = cpsi*cthe;
355  m[1] = spsi*cthe;
356  m[2] = -sthe;
357  // Row 2
358  m[3] = -spsi*cphi + cpsi*sthe*sphi;
359  m[4] = cpsi*cphi + spsi*sthe*sphi;
360  m[5] = cthe*sphi;
361  // Row 3
362  m[6] = spsi*sphi + cpsi*sthe*cphi;
363  m[7] = -cpsi*sphi + spsi*sthe*cphi;
364  m[8] = cthe*cphi;
365 }
366 
367 
368 void phiThetaDCM(const Euler_t euler, Matrix3_t m )
369 {
370  f_t cphi = _COS( euler[0] ); // cos(phi)
371  f_t cthe = _COS( euler[1] ); // cos(theta)
372 
373  f_t sphi = _SIN( euler[0] ); // sin(phi)
374  f_t sthe = _SIN( euler[1] ); // sin(theta)
375 
376  // Row 1
377  m[0] = cthe;
378  m[1] = 0.0f;
379  m[2] = -sthe;
380  // Row 2
381  m[3] = sthe*sphi;
382  m[4] = cphi;
383  m[5] = cthe*sphi;
384  // Row 3
385  m[6] = sthe*cphi;
386  m[7] = -sphi;
387  m[8] = cthe*cphi;
388 }
389 
390 
391 /*
392 * This will construct the transpose matrix of
393 * the direction cosine matrix from
394 * euler angles in the standard rotation sequence
395 * [phi][theta][psi] from NED to body frame
396 *
397 * body = tBL(3,3)*NED
398 *
399 * reference: http://en.wikipedia.org/wiki/Rotation_representation_%28mathematics%29
400 */
401 void eulerDCM_Trans(const Euler_t euler, Matrix3_t m )
402 {
403  f_t cphi = _COS( euler[0] ); // cos(phi)
404  f_t cthe = _COS( euler[1] ); // cos(theta)
405  f_t cpsi = _COS( euler[2] ); // cos(psi)
406 
407  f_t sphi = _SIN( euler[0] ); // sin(phi)
408  f_t sthe = _SIN( euler[1] ); // sin(theta)
409  f_t spsi = _SIN( euler[2] ); // sin(psi)
410 
411  // Col 1
412  m[0] = cpsi*cthe;
413  m[3] = spsi*cthe;
414  m[6] = -sthe;
415  // Col 2
416  m[1] = -spsi*cphi + cpsi*sthe*sphi;
417  m[4] = cpsi*cphi + spsi*sthe*sphi;
418  m[7] = cthe*sphi;
419  // Col 3
420  m[2] = spsi*sphi + cpsi*sthe*cphi;
421  m[5] = -cpsi*sphi + spsi*sthe*cphi;
422  m[8] = cthe*cphi;
423 }
424 
425 
426 /*
427  * This will extract euler angles from a direction cosine matrix in the
428  * standard rotation sequence.
429  * [phi][theta][psi] from NED to body frame
430  *
431  * body = tBL(3,3)*NED
432  *
433  * reference: http://en.wikipedia.org/wiki/Rotation_representation_%28mathematics%29
434  */
435 void DCMeuler(const Matrix3_t m, Euler_t euler)
436 {
437  euler[0] = _ATAN2( m[5], m[8] ); // phi
438  euler[1] = _ASIN( -m[2] ); // theta
439  euler[2] = _ATAN2( m[1], m[0] ); // psi
440 }
441 
442 
443 /*
444  * This will construct a direction cosine matrix from
445  * quaternions in the standard rotation sequence
446  * [phi][theta][psi] from NED to body frame
447  * (18 multiplies, 6 adds, 6 subtracts)
448  *
449  * body = tBL(3,3)*NED
450  * q(4,1)
451  *
452  * Reference: http://en.wikipedia.org/wiki/Rotation_representation_%28mathematics%29
453  */
454 void quatDCM(const Quat_t q, Matrix3_t mat)
455 {
456  f_t q0q1 = q[0]*q[1];
457  f_t q0q2 = q[0]*q[2];
458  f_t q0q3 = q[0]*q[3];
459  f_t q1q1 = q[1]*q[1];
460  f_t q1q2 = q[1]*q[2];
461  f_t q1q3 = q[1]*q[3];
462  f_t q2q2 = q[2]*q[2];
463  f_t q2q3 = q[2]*q[3];
464  f_t q3q3 = q[3]*q[3];
465 
466  // Row 1
467  mat[0] = (f_t)1.0 - (f_t)2 * (q2q2 + q3q3);
468  mat[1] = (f_t)2 * (q1q2 + q0q3);
469  mat[2] = (f_t)2 * (q1q3 - q0q2);
470  // Row 2
471  mat[3] = (f_t)2 * (q1q2 - q0q3);
472  mat[4] = (f_t)1.0 - (f_t)2 * (q1q1 + q3q3);
473  mat[5] = (f_t)2 * (q2q3 + q0q1);
474  // Row 3
475  mat[6] = (f_t)2 * (q1q3 + q0q2);
476  mat[7] = (f_t)2 * (q2q3 - q0q1);
477  mat[8] = (f_t)1.0 - (f_t)2 * (q1q1 + q2q2);
478 }
479 void quatdDCM(const Vector4d q, Matrix3_t mat )
480 {
481  f_t q0q1 = (f_t)(q[0] * q[1]);
482  f_t q0q2 = (f_t)(q[0] * q[2]);
483  f_t q0q3 = (f_t)(q[0] * q[3]);
484  f_t q1q1 = (f_t)(q[1] * q[1]);
485  f_t q1q2 = (f_t)(q[1] * q[2]);
486  f_t q1q3 = (f_t)(q[1] * q[3]);
487  f_t q2q2 = (f_t)(q[2] * q[2]);
488  f_t q2q3 = (f_t)(q[2] * q[3]);
489  f_t q3q3 = (f_t)(q[3] * q[3]);
490 
491  // Row 1
492  mat[0] = (f_t)1.0 - (f_t)2.0 * (q2q2 + q3q3);
493  mat[1] = (f_t)2.0 * (q1q2 + q0q3);
494  mat[2] = (f_t)2.0 * (q1q3 - q0q2);
495  // Row 2
496  mat[3] = (f_t)2.0 * (q1q2 - q0q3);
497  mat[4] = (f_t)1.0 - (f_t)2.0 * (q1q1 + q3q3);
498  mat[5] = (f_t)2.0 * (q2q3 + q0q1);
499  // Row 3
500  mat[6] = (f_t)2.0 * (q1q3 + q0q2);
501  mat[7] = (f_t)2.0 * (q2q3 - q0q1);
502  mat[8] = (f_t)1.0 - (f_t)2.0 * (q1q1 + q2q2);
503 }
504 
505 /*
506  * This will construct quaternions from a direction cosine
507  * matrix in the standard rotation sequence.
508  * [phi][theta][psi] from NED to body frame
509  *
510  * body = tBL(3,3)*NED
511  * q(4,1)
512  *
513  * Reference: http://en.wikipedia.org/wiki/Rotation_representation_%28mathematics%29
514  */
515 void DCMquat(const Matrix3_t mat, Quat_t q)
516 {
517  f_t d;
518 
519  q[0] = (f_t)0.5 * _SQRT((f_t)1.0 + mat[0] + mat[4] + mat[8]);
520 
521  d = (f_t)1.0 / ((f_t)4.0 * q[0]);
522 
523  q[1] = d * (mat[5] - mat[7]);
524  q[2] = d * (mat[6] - mat[2]);
525  q[3] = d * (mat[1] - mat[3]);
526 }
527 
528 /*
529  * This will construct the euler omega-cross matrix
530  * wx(3,3)
531  * p, q, r (rad/sec)
532  */
533 void eulerWx(const Euler_t euler, Matrix3_t mat)
534 {
535  f_t p = euler[0];
536  f_t q = euler[1];
537  f_t r = euler[2];
538 
539  // Row 1
540  mat[0] = 0;
541  mat[1] = -r;
542  mat[2] = q;
543  // Row 2
544  mat[3] = r;
545  mat[4] = 0;
546  mat[5] = -p;
547  // Row 3
548  mat[6] = -q;
549  mat[7] = p;
550  mat[8] = 0;
551 }
552 
553 /*
554  * This will construct the quaternion omega matrix
555  * W(4,4)
556  * p, q, r (rad/sec)
557  */
558 void quatW(const Euler_t euler, Matrix4_t mat)
559 {
560  f_t p = euler[0] * (f_t)0.5;
561  f_t q = euler[1] * (f_t)0.5;
562  f_t r = euler[2] * (f_t)0.5;
563 
564  // Row 1
565  mat[0] = 0;
566  mat[1] = -p;
567  mat[2] = -q;
568  mat[3] = -r;
569  // Row 2
570  mat[4] = p;
571  mat[5] = 0;
572  mat[6] = r;
573  mat[7] = -q;
574  // Row 3
575  mat[8] = q;
576  mat[9] = -r;
577  mat[10] = 0;
578  mat[11] = p;
579  // Row 4
580  mat[12] = r;
581  mat[13] = q;
582  mat[14] = -p;
583  mat[15] = 0;
584 }
585 
586 
587 /*
588 * Convert quaternion to rotation axis (and angle). Quaternion must be normalized.
589 */
590 void quatRotAxis(const Quat_t q, Vector3_t pqr)
591 {
592  // Normalize quaternion
593 // mul_Vec4_X( q, q, 1/mag_Vec4(q) );
594 
595 // f_t theta = _ACOS( q[0] ) * (f_t)2.0;
596  f_t sin_a, d;
597 
598  sin_a = _SQRT( (f_t)1.0 - q[0] * q[0] );
599 
600  if ( _FABS( sin_a ) < (f_t)0.0005 )
601  sin_a = (f_t)1.0;
602 
603  d = (f_t)1.0 / sin_a;
604 
605  pqr[0] = q[1] * d;
606  pqr[1] = q[2] * d;
607  pqr[2] = q[3] * d;
608 }
609 
610 
611 /*
612  * Compute the derivative of the Euler_t angle psi with respect
613  * to the quaternion Q. The result is a row vector
614  *
615  * d(psi)/d(q0)
616  * d(psi)/d(q1)
617  * d(psi)/d(q2)
618  * d(psi)/d(q3)
619  */
620 void dpsi_dq(const Quat_t q, Quat_t dq)
621 {
622  f_t t1 = 1 - 2 * (q[2]*q[2] + q[3]*q[2]);
623  f_t t2 = 2 * (q[1]*q[2] + q[0]*q[3]);
624  f_t err = 2 / ( t1*t1 + t2*t2 );
625 
626  dq[0] = err * (q[3]*t1);
627  dq[1] = err * (q[2]*t1);
628  dq[2] = err * (q[1]*t1 + 2 * q[2]*t2);
629  dq[3] = err * (q[0]*t1 + 2 * q[3]*t2);
630 }
631 
632 
633 /*
634  * NED to Euler_t
635  */
636 void nedEuler(const Vector3_t ned, Euler_t e)
637 {
638  e[0] = 0;
639  e[1] = _ATAN2( -ned[2], _SQRT( ned[0] * ned[0] + ned[1] * ned[1] ) );
640  e[2] = _ATAN2( ned[1], ned[0] );
641 }
642 
643 
644 /*
645  * Euler_t to NED
646  */
647 void eulerNed(const Euler_t e, Vector3_t ned)
648 {
649  Vector3_t v = { 1, 0, 0};
650 
651  vectorBodyToReference( v, e, ned );
652 }
653 
654 
655 /*
656  * Rotate eulers from body to inertial frame by ins eulers, in order: phi, theta, psi
657  */
658 void eulerBodyToReference(const Euler_t e, const Euler_t rot, Euler_t result)
659 {
660  Matrix3_t Ai, At, AiAt;
661  // Create DCMs (rotation matrices)
662  eulerDCM(rot, Ai);
663  eulerDCM(e, At);
664 
665  // Apply INS Rotation to Desired Target vector
666  mul_Mat3x3_Mat3x3(AiAt, At, Ai); // Apply rotation
667  DCMeuler(AiAt, result); // Pull out new eulers
668 }
669 
670 
671 /*
672  * Rotate eulers from inertial to body frame by ins eulers, in order: psi, theta, phi
673  */
674 void eulerReferenceToBody(const Euler_t e, const Euler_t rot, Euler_t result)
675 {
676  Matrix3_t Ai, At, AiAt;
677  // Create DCMs (rotation matrices)
678  eulerDCM(rot, Ai);
679  eulerDCM(e, At);
680 
681  // Apply INS Rotation to Desired Target vector
682  mul_Mat3x3_Mat3x3_Trans(AiAt, At, Ai); // Apply rotation
683  DCMeuler(AiAt, result); // Pull out new eulers
684 }
685 
686 
687 /*
688  * Rotate vector from body to inertial frame by euler angles, in order: phi, theta, psi
689  * Rotates unit vector (1,0,0) from current frame to result in IF frame.
690  */
691 void vectorBodyToReference(const Vector3_t v, const Euler_t rot, Vector3_t result)
692 {
693  Matrix3_t DCM;
694 
695  // Create DCM (rotation matrix)
696  eulerDCM(rot, DCM);
697 
698  // Apply rotation to vector
699  mul_Mat3x3_Trans_Vec3x1( result, DCM, v );
700 }
701 
702 
703 /*
704  * Rotate vector from inertial to body frame by euler angles, in order: psi, theta, phi
705  */
706 void vectorReferenceToBody(const Vector3_t v, const Euler_t rot, Vector3_t result)
707 {
708  Matrix3_t DCM;
709 
710  // Create DCM (rotation matrix)
711  eulerDCM(rot, DCM);
712 
713  // Apply rotation to vector
714  mul_Mat3x3_Vec3x1( result, DCM, v );
715 }
716 
717 
718 
div_Quat_Quat
void div_Quat_Quat(Quat_t result, const Quat_t q1, const Quat_t q2)
Definition: ISPose.c:105
mul_Mat3x3_Mat3x3
void mul_Mat3x3_Mat3x3(Matrix3 result, const Matrix3 m1, const Matrix3 m2)
Definition: ISMatrix.c:322
-
f_t
float f_t
Definition: ISConstants.h:722
+
f_t
float f_t
Definition: ISConstants.h:719
nedEuler
void nedEuler(const Vector3_t ned, Euler_t e)
Definition: ISPose.c:636
quatW
void quatW(const Euler_t euler, Matrix4_t mat)
Definition: ISPose.c:558
phiThetaDCM
void phiThetaDCM(const Euler_t euler, Matrix3_t m)
Definition: ISPose.c:368
quatdDCM
void quatdDCM(const Vector4d q, Matrix3_t mat)
Definition: ISPose.c:479
-
_FABS
#define _FABS
Definition: ISConstants.h:713
+
_FABS
#define _FABS
Definition: ISConstants.h:710
quatDCM
void quatDCM(const Quat_t q, Matrix3_t mat)
Definition: ISPose.c:454
quatRot
void quatRot(Vector3_t result, const Quat_t q, const Vector3_t v)
Definition: ISPose.c:142
Euler_t
Vector3_t Euler_t
Definition: ISPose.h:35
@@ -90,7 +90,7 @@
qe2b2EulerNedLLA
void qe2b2EulerNedLLA(Vector3 eul, const Vector4 qe2b, const Vector3d lla)
Definition: ISPose.c:282
mul_ConjQuat_Quat
void mul_ConjQuat_Quat(Quat_t result, const Quat_t qc, const Quat_t q2)
Definition: ISPose.c:78
div_Vec4_X
void div_Vec4_X(Vector4 result, const Vector4 v, const f_t x)
Definition: ISMatrix.c:594
-
Vector4
f_t Vector4[4]
Definition: ISConstants.h:729
+
Vector4
f_t Vector4[4]
Definition: ISConstants.h:726
quat_init
void quat_init(Quat_t q)
Definition: ISPose.c:34
euler2quat
void euler2quat(const Euler_t euler, Quat_t q)
Definition: ISPose.c:218
dot_Vec3_Vec3
f_t dot_Vec3_Vec3(const Vector3 v1, const Vector3 v2)
Definition: ISMatrix.c:506
@@ -108,40 +108,40 @@
quatEcef2Ned
void quatEcef2Ned(Vector4 Qe2n, const Vector3d lla)
Definition: ISPose.c:243
DCMquat
void DCMquat(const Matrix3_t mat, Quat_t q)
Definition: ISPose.c:515
add_Vec3_Vec3
void add_Vec3_Vec3(Vector3 result, const Vector3 v1, const Vector3 v2)
Definition: ISMatrix.c:611
-
C_PI_F
#define C_PI_F
Definition: ISConstants.h:495
-
Vector3
f_t Vector3[3]
Definition: ISConstants.h:727
+
C_PI_F
#define C_PI_F
Definition: ISConstants.h:492
+
Vector3
f_t Vector3[3]
Definition: ISConstants.h:724
mul_Quat_Quat
void mul_Quat_Quat(Quat_t result, const Quat_t q1, const Quat_t q2)
Definition: ISPose.c:64
-
_SQRT
#define _SQRT
Definition: ISConstants.h:712
+
_SQRT
#define _SQRT
Definition: ISConstants.h:709
eulerDCM_Trans
void eulerDCM_Trans(const Euler_t euler, Matrix3_t m)
Definition: ISPose.c:401
quat_Vec3_Vec3
void quat_Vec3_Vec3(Quat_t result, const Vector3_t v1, const Vector3_t v2)
Definition: ISPose.c:118
-
_COS
#define _COS
Definition: ISConstants.h:707
+
_COS
#define _COS
Definition: ISConstants.h:704
Matrix4_t
Matrix4 Matrix4_t
Definition: ISPose.h:40
mul_Mat3x3_Trans_Vec3x1
void mul_Mat3x3_Trans_Vec3x1(Vector3 result, const Matrix3 m, const Vector3 v)
Definition: ISMatrix.c:389
qe2b2EulerNedEcef
void qe2b2EulerNedEcef(Vector3 eul, const Vector4 qe2b, const Vector3d ecef)
Definition: ISPose.c:269
eulerNed
void eulerNed(const Euler_t e, Vector3_t ned)
Definition: ISPose.c:647
vectorReferenceToBody
void vectorReferenceToBody(const Vector3_t v, const Euler_t rot, Vector3_t result)
Definition: ISPose.c:706
-
C_PIDIV4_F
#define C_PIDIV4_F
Definition: ISConstants.h:493
+
C_PIDIV4_F
#define C_PIDIV4_F
Definition: ISConstants.h:490
ISEarth.h
mul_Quat_ConjQuat
void mul_Quat_ConjQuat(Quat_t result, const Quat_t q1, const Quat_t qc)
Definition: ISPose.c:92
mul_Mat3x3_Mat3x3_Trans
void mul_Mat3x3_Mat3x3_Trans(Matrix3 result, const Matrix3 m1, const Matrix3 m2)
Definition: ISMatrix.c:354
-
_ASIN
#define _ASIN
Definition: ISConstants.h:709
+
_ASIN
#define _ASIN
Definition: ISConstants.h:706
ISPose.h
quat2phiTheta
void quat2phiTheta(const Quat_t q, f_t *phi, f_t *theta)
Definition: ISPose.c:195
q_t
f_t q_t
Definition: ISPose.h:37
-
Vector4d
double Vector4d[4]
Definition: ISConstants.h:728
+
Vector4d
double Vector4d[4]
Definition: ISConstants.h:725
quatConjRot
void quatConjRot(Vector3_t result, const Quat_t q, const Vector3_t v)
Definition: ISPose.c:161
DCMeuler
void DCMeuler(const Matrix3_t m, Euler_t euler)
Definition: ISPose.c:435
-
_ATAN2
#define _ATAN2
Definition: ISConstants.h:711
+
_ATAN2
#define _ATAN2
Definition: ISConstants.h:708
dot_Vec3
#define dot_Vec3(v)
Definition: ISMatrix.h:29
mul_Mat3x3_Vec3x1
void mul_Mat3x3_Vec3x1(Vector3 result, const Matrix3 m, const Vector3 v)
Definition: ISMatrix.c:382
DCMpsi
f_t DCMpsi(const f_t *m)
Definition: ISPose.c:328
-
Vector3d
double Vector3d[3]
Definition: ISConstants.h:726
+
Vector3d
double Vector3d[3]
Definition: ISConstants.h:723
vectorBodyToReference
void vectorBodyToReference(const Vector3_t v, const Euler_t rot, Vector3_t result)
Definition: ISPose.c:691
eulerWx
void eulerWx(const Euler_t euler, Matrix3_t mat)
Definition: ISPose.c:533
Vector3_t
Vector3 Vector3_t
Definition: ISPose.h:33
recipNorm_Vec3
#define recipNorm_Vec3(v)
Definition: ISMatrix.h:42
cross_Vec3
void cross_Vec3(Vector3 result, const Vector3 v1, const Vector3 v2)
Definition: ISMatrix.c:530
-
_SIN
#define _SIN
Definition: ISConstants.h:706
+
_SIN
#define _SIN
Definition: ISConstants.h:703
ISConstants.h
diff --git a/docs/html/_i_s_pose_8h.html b/docs/html/_i_s_pose_8h.html index 8904d0889..d582bf45d 100644 --- a/docs/html/_i_s_pose_8h.html +++ b/docs/html/_i_s_pose_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_pose_8h_source.html b/docs/html/_i_s_pose_8h_source.html index a1911db9c..24a988c51 100644 --- a/docs/html/_i_s_pose_8h_source.html +++ b/docs/html/_i_s_pose_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -75,7 +75,7 @@ Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef POSE_H_
14 #define POSE_H_
15 
16 #ifdef __cplusplus
17 extern "C" {
18 #endif
19 
20 
21 #include "ISMatrix.h"
22 #include "ISConstants.h"
23 
24 //_____ M A C R O S ________________________________________________________
25 
26 //_____ D E F I N I T I O N S ______________________________________________
27 
28 //typedef f_t Quat_t[4]; // [w, x, y, z]
29 //typedef f_t Euler_t[3];
30 
31 #if 1
32 typedef Vector2 Vector2_t;
33 typedef Vector3 Vector3_t;
34 typedef Vector4 Vector4_t;
35 typedef Vector3_t Euler_t; // phi, theta, psi (roll, pitch, yaw)
36 typedef Vector4_t Quat_t; // [w, x, y, z]
37 typedef f_t q_t;
38 typedef Matrix2 Matrix2_t;
39 typedef Matrix3 Matrix3_t;
40 typedef Matrix4 Matrix4_t;
41 #else
42 
43 #endif
44 
45 
46 #if (!defined (__cplusplus) && (!defined (inline)))
47 # define inline __inline // allow "inline" keyword to work in windows w/ c program
48 #endif
49 
50 
51 //_____ G L O B A L S ______________________________________________________
52 
53 //_____ P R O T O T Y P E S ________________________________________________
54 
55 
56 
57 /*
58  * Initialize Quaternion q = [w, x, y, z]
59  */
60 void quat_init( Quat_t q );
61 
62 /* Quaternion Conjugate: q* = [ w, -x, -y, -z ] of quaterion q = [ w, x, y, z ]
63  * Rotation in opposite direction.
64  */
65 void quatConj( Quat_t result, const Quat_t q );
66 
67 /*
68 * Product of two Quaternions. Order of q1 and q2 matters (same as applying two successive DCMs)!!!
69 * Combines two quaternion rotations into one rotation.
70 * result = q1 * q2.
71 * Reference: http://www.mathworks.com/help/aeroblks/quaternionmultiplication.html
72 */
73 void mul_Quat_Quat( Quat_t result, const Quat_t q1, const Quat_t q2 );
74 
75 /*
76 * Product of two Quaternions. Order of q1 and q2 matters (same as applying two successive DCMs)!!!
77 * Combines two quaternion rotations into one rotation.
78 * result = quatConj(q1) * q2.
79 * Reference: http://www.mathworks.com/help/aeroblks/quaternionmultiplication.html
80 */
81 void mul_ConjQuat_Quat( Quat_t result, const Quat_t qc, const Quat_t q2 );
82 
83 /*
84 * Product of two Quaternions. Order of q1 and q2 matters (same as applying two successive DCMs)!!!
85 * Combines two quaternion rotations into one rotation.
86 * result = q1 * quatConj(q2)
87 * Reference: http://www.mathworks.com/help/aeroblks/quaternionmultiplication.html
88 */
89 void mul_Quat_ConjQuat(Quat_t result, const Quat_t q1, const Quat_t qc);
90 
91 /*
92  * Division of two Quaternions. Order matters!!!
93  * result = q1 / q2.
94  * Reference: http://www.mathworks.com/help/aeroblks/quaterniondivision.html
95  */
96 void div_Quat_Quat( Quat_t result, const Quat_t q1, const Quat_t q2 );
97 
98 /*
99  * Quaternion rotation from vector v1 to vector v2.
100  */
101 void quat_Vec3_Vec3( Quat_t result, const Vector3_t v1, const Vector3_t v2 );
102 
103 /* Computationally simple means to apply quaternion rotation to a vector.
104  * Requires quaternion be normalized first.
105  * If quaternion describes current attitude, then rotation is body frame -> reference frame.
106  */
107 void quatRot( Vector3_t result, const Quat_t q, const Vector3_t v );
108 
109 /* Computationally simple means to apply quaternion conjugate (opposite) rotation to a vector
110  * Requires quaternion be normalized first
111  * If quaternion describes current attitude, then rotation is reference frame -> body frame.
112  */
113 void quatConjRot( Vector3_t result, const Quat_t q, const Vector3_t v );
114 
115 /*
116  * This will convert from quaternions to euler angles
117  * q(W,X,Y,Z) -> euler(phi,theta,psi) (rad)
118  *
119  * Reference: http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
120  */
121 void quat2euler(const Quat_t q, Euler_t theta);
122 void quat2phiTheta(const Quat_t q, f_t *phi, f_t *theta);
123 void quat2psi(const Quat_t q, f_t *psi);
124 
125 /*
126  * This will convert from euler angles to quaternion vector
127  * euler(phi,theta,psi) (rad) -> q(W,X,Y,Z)
128  */
129 void euler2quat(const Euler_t euler, Quat_t q );
130 
131 
132 /*
133  * Quaternion rotation to NED with respect to ECEF at specified LLA
134  */
135 void quatEcef2Ned(Vector4 Qe2n, const Vector3d lla);
136 
137 /*
138 * Convert ECEF quaternion to NED euler at specified ECEF
139 */
140 void qe2b2EulerNedEcef(Vector3 theta, const Vector4 qe2b, const Vector3d ecef);
141 void qe2b2EulerNedLLA(Vector3 eul, const Vector4 qe2b, const Vector3d lla);
142 
143 /*
144  * This will construct a direction cosine matrix from
145  * the psi angle - rotates from NE to body frame
146  *
147  * body = tBL(2,2)*NE
148  *
149  */
150 void psiDCM(const f_t psi, Matrix2_t m);
151 
152 /*
153 * This will extract the psi euler angle from a direction cosine matrix in the
154 * standard rotation sequence, for either a 2x2 or 3x3 DCM matrix.
155 * [phi][theta][psi] from NED to body frame
156 *
157 * body = tBL(2,2)*NE
158 * body = tBL(3,3)*NED
159 *
160 * reference: http://en.wikipedia.org/wiki/Rotation_representation_%28mathematics%29
161 */
162 f_t DCMpsi(const f_t *m );
163 
164 /*
165  * This will construct a direction cosine matrix from
166  * euler angles in the standard rotation sequence
167  * [phi][theta][psi] from NED to body frame
168  *
169  * body = tBL(3,3)*NED
170  *
171  * Reference: http://en.wikipedia.org/wiki/Rotation_representation_%28mathematics%29
172  */
173 //const Matrix<3,3> eulerDCM( const Vector<3> & euler )
174 void eulerDCM(const Euler_t euler, Matrix3_t m );
175 // Only use phi and theta (exclude psi) in rotation
176 void phiThetaDCM(const Euler_t euler, Matrix3_t m );
177 
178 /*
179  * This will construct the transpose matrix of
180  * the direction cosine matrix from
181  * euler angles in the standard rotation sequence
182  * [phi][theta][psi] from NED to body frame
183  *
184  * body = tBL(3,3)*NED
185  *
186  * reference: http://en.wikipedia.org/wiki/Rotation_representation_%28mathematics%29
187  */
188 void eulerDCM_Trans(const Euler_t euler, Matrix3_t m );
189 
190 /*
191  * This will extract euler angles from a direction cosine matrix in the
192  * standard rotation sequence.
193  * [phi][theta][psi] from NED to body frame
194  *
195  * body = tBL(3,3)*NED
196  *
197  * Reference: http://en.wikipedia.org/wiki/Rotation_representation_%28mathematics%29
198  */
199 void DCMeuler(const Matrix3_t m, Euler_t euler);
200 
201 
202 /*
203  * This will construct a direction cosine matrix from
204  * quaternions in the standard rotation sequence
205  * [phi][theta][psi] from NED to body frame
206  *
207  * body = tBL(3,3)*NED
208  * q(4,1)
209  *
210  * Reference: http://en.wikipedia.org/wiki/Rotation_representation_%28mathematics%29
211  */
212 void quatDCM(const Quat_t q, Matrix3_t mat);
213 void quatdDCM(const Vector4d q, Matrix3_t mat);
214 
215 /*
216  * This will construct a quaternion from direction
217  * cosine matrix in the standard rotation sequence
218  * [phi][theta][psi] from NED to body frame
219  *
220  * body = tBL(3,3)*NED
221  * q(4,1)
222  *
223  * Reference: http://en.wikipedia.org/wiki/Rotation_representation_%28mathematics%29
224  */
225 void DCMquat(const Matrix3_t mat, Quat_t q);
226 
227 /*
228  * This will construct the euler omega-cross matrix
229  * wx(3,3)
230  * p, q, r (rad/sec)
231  */
232 void eulerWx(const Euler_t euler, Matrix3_t mat);
233 
234 /*
235  * This will construct the quaternion omega matrix
236  * W(4,4)
237  * p, q, r (rad/sec)
238  */
239 void quatW(const Euler_t euler, Matrix4_t mat);
240 
241 /*
242 * Convert quaternion to rotation axis (and angle). Quaternion must be normalized.
243 */
244 void quatRotAxis(const Quat_t q, Vector3_t pqr);
245 
246 /*
247  * Compute the derivative of the Euler_t angle psi with respect
248  * to the quaternion Q. The result is a row vector
249  *
250  * d(psi)/d(q0)
251  * d(psi)/d(q1)
252  * d(psi)/d(q2)
253  * d(psi)/d(q3)
254  */
255 void dpsi_dq(const Quat_t q, Quat_t dq);
256 
257 /*
258  * NED to Euler_t
259  */
260 void nedEuler(const Vector3_t ned, Euler_t e);
261 
262 /*
263  * Euler_t to NED
264  */
265 void eulerNed(const Euler_t e, Vector3_t ned);
266 
267 /*
268  * Rotate theta eulers from body frame to reference frame by eulers, in order: phi, theta, psi
269  */
270 void eulerBodyToReference(const Euler_t e, const Euler_t rot, Euler_t result);
271 
272 /*
273  * Rotate theta eulers from reference frame to body frame by eulers, in order: psi, theta, phi
274  */
275 void eulerReferenceToBody(const Euler_t e, const Euler_t rot, Euler_t result);
276 
277 /*
278  * Rotate vector from body frame to reference frame by euler angles, in order: phi, theta, psi
279  */
280 void vectorBodyToReference(const Vector3_t v, const Euler_t rot, Vector3_t result);
281 
282 /*
283  * Rotate vector from reference frame to body frame by euler angles, in order: psi, theta, phi
284  */
285 void vectorReferenceToBody(const Vector3_t v, const Euler_t rot, Vector3_t result);
286 
287 
288 #ifdef __cplusplus
289 }
290 #endif
291 
292 #endif /* POSE_H_ */
vectorBodyToReference
void vectorBodyToReference(const Vector3_t v, const Euler_t rot, Vector3_t result)
Definition: ISPose.c:691
quatDCM
void quatDCM(const Quat_t q, Matrix3_t mat)
Definition: ISPose.c:454
quat_Vec3_Vec3
void quat_Vec3_Vec3(Quat_t result, const Vector3_t v1, const Vector3_t v2)
Definition: ISPose.c:118
-
f_t
float f_t
Definition: ISConstants.h:722
+
f_t
float f_t
Definition: ISConstants.h:719
vectorReferenceToBody
void vectorReferenceToBody(const Vector3_t v, const Euler_t rot, Vector3_t result)
Definition: ISPose.c:706
psiDCM
void psiDCM(const f_t psi, Matrix2_t m)
Definition: ISPose.c:304
Vector4_t
Vector4 Vector4_t
Definition: ISPose.h:34
@@ -89,7 +89,7 @@
quatConj
void quatConj(Quat_t result, const Quat_t q)
Definition: ISPose.c:49
eulerReferenceToBody
void eulerReferenceToBody(const Euler_t e, const Euler_t rot, Euler_t result)
Definition: ISPose.c:674
DCMpsi
f_t DCMpsi(const f_t *m)
Definition: ISPose.c:328
-
Vector4
f_t Vector4[4]
Definition: ISConstants.h:729
+
Vector4
f_t Vector4[4]
Definition: ISConstants.h:726
quatRot
void quatRot(Vector3_t result, const Quat_t q, const Vector3_t v)
Definition: ISPose.c:142
Matrix2_t
Matrix2 Matrix2_t
Definition: ISPose.h:38
euler2quat
void euler2quat(const Euler_t euler, Quat_t q)
Definition: ISPose.c:218
@@ -99,27 +99,27 @@
eulerBodyToReference
void eulerBodyToReference(const Euler_t e, const Euler_t rot, Euler_t result)
Definition: ISPose.c:658
qe2b2EulerNedEcef
void qe2b2EulerNedEcef(Vector3 theta, const Vector4 qe2b, const Vector3d ecef)
Definition: ISPose.c:269
mul_ConjQuat_Quat
void mul_ConjQuat_Quat(Quat_t result, const Quat_t qc, const Quat_t q2)
Definition: ISPose.c:78
-
Vector2
f_t Vector2[3]
Definition: ISConstants.h:725
+
Vector2
f_t Vector2[3]
Definition: ISConstants.h:722
mul_Quat_Quat
void mul_Quat_Quat(Quat_t result, const Quat_t q1, const Quat_t q2)
Definition: ISPose.c:64
quat2euler
void quat2euler(const Quat_t q, Euler_t theta)
Definition: ISPose.c:185
quatEcef2Ned
void quatEcef2Ned(Vector4 Qe2n, const Vector3d lla)
Definition: ISPose.c:243
-
Vector3
f_t Vector3[3]
Definition: ISConstants.h:727
+
Vector3
f_t Vector3[3]
Definition: ISConstants.h:724
DCMquat
void DCMquat(const Matrix3_t mat, Quat_t q)
Definition: ISPose.c:515
ISMatrix.h
eulerDCM_Trans
void eulerDCM_Trans(const Euler_t euler, Matrix3_t m)
Definition: ISPose.c:401
Matrix4_t
Matrix4 Matrix4_t
Definition: ISPose.h:40
quat2phiTheta
void quat2phiTheta(const Quat_t q, f_t *phi, f_t *theta)
Definition: ISPose.c:195
quatRotAxis
void quatRotAxis(const Quat_t q, Vector3_t pqr)
Definition: ISPose.c:590
-
Matrix3
f_t Matrix3[9]
Definition: ISConstants.h:735
+
Matrix3
f_t Matrix3[9]
Definition: ISConstants.h:732
quatConjRot
void quatConjRot(Vector3_t result, const Quat_t q, const Vector3_t v)
Definition: ISPose.c:161
phiThetaDCM
void phiThetaDCM(const Euler_t euler, Matrix3_t m)
Definition: ISPose.c:368
-
Matrix4
f_t Matrix4[16]
Definition: ISConstants.h:736
-
Matrix2
f_t Matrix2[4]
Definition: ISConstants.h:734
+
Matrix4
f_t Matrix4[16]
Definition: ISConstants.h:733
+
Matrix2
f_t Matrix2[4]
Definition: ISConstants.h:731
eulerWx
void eulerWx(const Euler_t euler, Matrix3_t mat)
Definition: ISPose.c:533
qe2b2EulerNedLLA
void qe2b2EulerNedLLA(Vector3 eul, const Vector4 qe2b, const Vector3d lla)
Definition: ISPose.c:282
q_t
f_t q_t
Definition: ISPose.h:37
-
Vector4d
double Vector4d[4]
Definition: ISConstants.h:728
-
Vector3d
double Vector3d[3]
Definition: ISConstants.h:726
+
Vector4d
double Vector4d[4]
Definition: ISConstants.h:725
+
Vector3d
double Vector3d[3]
Definition: ISConstants.h:723
div_Quat_Quat
void div_Quat_Quat(Quat_t result, const Quat_t q1, const Quat_t q2)
Definition: ISPose.c:105
eulerNed
void eulerNed(const Euler_t e, Vector3_t ned)
Definition: ISPose.c:647
Vector3_t
Vector3 Vector3_t
Definition: ISPose.h:33
diff --git a/docs/html/_i_s_serial_port_8cpp.html b/docs/html/_i_s_serial_port_8cpp.html index 1994ff6c9..a0ccb19ec 100644 --- a/docs/html/_i_s_serial_port_8cpp.html +++ b/docs/html/_i_s_serial_port_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_serial_port_8cpp_source.html b/docs/html/_i_s_serial_port_8cpp_source.html index 07f29c198..890632efe 100644 --- a/docs/html/_i_s_serial_port_8cpp_source.html +++ b/docs/html/_i_s_serial_port_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -76,16 +76,16 @@
cISSerialPort::Open
bool Open(const std::string &portName, int baudRate=BAUDRATE_3000000, int timeout=0, bool blocking=false)
Definition: ISSerialPort.cpp:34
cISSerialPort::Read
int Read(void *data, int dataLength) OVERRIDE
Definition: ISSerialPort.cpp:46
cISSerialPort::Close
int Close() OVERRIDE
Definition: ISSerialPort.cpp:41
-
NULLPTR
#define NULLPTR
Definition: ISConstants.h:380
+
NULLPTR
#define NULLPTR
Definition: ISConstants.h:377
ISLogger.h
cISSerialPort::Write
int Write(const void *data, int dataLength) OVERRIDE
Definition: ISSerialPort.cpp:51
serialPortClose
int serialPortClose(serial_port_t *serialPort)
Definition: serialPort.c:55
-
cISLogger::GetAllFilesInDirectory
static bool GetAllFilesInDirectory(const string &directory, bool recursive, vector< string > &files)
Definition: ISLogger.cpp:254
+
cISLogger::GetAllFilesInDirectory
static bool GetAllFilesInDirectory(const string &directory, bool recursive, vector< string > &files)
Definition: ISLogger.cpp:255
serialPortReadTimeout
int serialPortReadTimeout(serial_port_t *serialPort, unsigned char *buffer, int readCount, int timeoutMilliseconds)
Definition: serialPort.c:78
cISSerialPort::GetComPorts
static void GetComPorts(vector< string > &ports)
Definition: ISSerialPort.cpp:56
serial_port_t
Definition: serialPort.h:64
-
SNPRINTF
#define SNPRINTF
Definition: ISConstants.h:171
+
SNPRINTF
#define SNPRINTF
Definition: ISConstants.h:142
serialPortPlatformInit
int serialPortPlatformInit(serial_port_t *serialPort)
Definition: serialPortPlatform.c:716
cISSerialPort::~cISSerialPort
virtual ~cISSerialPort()
Definition: ISSerialPort.cpp:29
ISSerialPort.h
diff --git a/docs/html/_i_s_serial_port_8h.html b/docs/html/_i_s_serial_port_8h.html index 8a409275f..e755c3c4b 100644 --- a/docs/html/_i_s_serial_port_8h.html +++ b/docs/html/_i_s_serial_port_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_serial_port_8h_source.html b/docs/html/_i_s_serial_port_8h_source.html index e034e726d..1fcda1b14 100644 --- a/docs/html/_i_s_serial_port_8h_source.html +++ b/docs/html/_i_s_serial_port_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -73,7 +73,7 @@
Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef __ISSERIALPORT_H__
14 #define __ISSERIALPORT_H__
15 
16 #include <inttypes.h>
17 #include <string>
18 #include <vector>
19 
20 #include "ISStream.h"
21 #include "serialPortPlatform.h"
22 
23 using namespace std;
24 
25 class cISSerialPort : public cISStream
26 {
27 private:
28  cISSerialPort(const cISSerialPort& copy); // disable copy constructor
29 
30  serial_port_t m_serial;
31  int m_timeout;
32  bool m_blocking;
33 
34 public:
39  cISSerialPort(serial_port_t* serial = NULL);
40 
44  virtual ~cISSerialPort();
45 
54  bool Open(const std::string& portName, int baudRate = BAUDRATE_3000000, int timeout = 0, bool blocking = false);
55 
60  bool IsOpen() { return (serialPortIsOpen(&m_serial) != 0); }
61 
66  int Close() OVERRIDE;
67 
74  int Read(void* data, int dataLength) OVERRIDE;
75 
82  int Write(const void* data, int dataLength) OVERRIDE;
83 
88  static void GetComPorts(vector<string>& ports);
89 };
90 
91 #endif // __ISSERIALPORT_H__
-
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:377
+
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:374
ISStream.h
BAUDRATE_3000000
#define BAUDRATE_3000000
Definition: serialPort.h:47
diff --git a/docs/html/_i_s_stream_8cpp.html b/docs/html/_i_s_stream_8cpp.html index 348aa8a88..d076f4507 100644 --- a/docs/html/_i_s_stream_8cpp.html +++ b/docs/html/_i_s_stream_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_stream_8cpp_source.html b/docs/html/_i_s_stream_8cpp_source.html index fe66cf8b5..456396532 100644 --- a/docs/html/_i_s_stream_8cpp_source.html +++ b/docs/html/_i_s_stream_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -73,7 +73,7 @@
Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include "ISStream.h"
14 #include "ISUtilities.h"
15 
16 #ifndef _FILE_OFFSET_BITS
17 #define _FILE_OFFSET_BITS 64
18 #endif
19 
20 cISStream::~cISStream()
21 {
22  Close();
23 }
24 
25 cISFileStream::cISFileStream()
26 {
27  m_file = NULLPTR;
28 }
29 
30 bool cISFileStream::Open(const std::string& path, const char* mode)
31 {
32  Close();
33  m_file = openFile(path.c_str(), mode);
34  return (m_file != NULLPTR);
35 }
36 
37 int cISFileStream::Read(void* buffer, int count)
38 {
39  if (m_file != NULLPTR)
40  {
41  return (int)fread(buffer, 1, count, m_file);
42  }
43  return -1;
44 }
45 
46 int cISFileStream::Write(const void* buffer, int count)
47 {
48  if (m_file != NULLPTR)
49  {
50  return (int)fwrite(buffer, 1, count, m_file);
51  }
52  return -1;
53 }
54 
55 int cISFileStream::Flush()
56 {
57  if (m_file != NULLPTR)
58  {
59  return fflush(m_file);
60  }
61  return -1;
62 }
63 
64 int cISFileStream::Close()
65 {
66  int status = 0;
67  if (m_file != NULLPTR)
68  {
69  status = fclose(m_file);
70  m_file = NULLPTR;
71  }
72  return status;
73 }
74 
75 long long cISFileStream::GetBytesAvailableToRead()
76 {
77  if (m_file != NULLPTR)
78  {
79 
80 #if PLATFORM_IS_WINDOWS
81 
82  long long pos = _ftelli64(m_file);
83  _fseeki64(m_file, 0, SEEK_END);
84  long long fileSize = _ftelli64(m_file);
85  _fseeki64(m_file, pos, SEEK_SET);
86  return fileSize - pos;
87 
88 #else
89 
90  long long pos = ftello(m_file);
91  fseeko(m_file, 0, SEEK_END);
92  long long fileSize = ftello(m_file);
93  fseeko(m_file, pos, SEEK_SET);
94  return fileSize - pos;
95 
96 #endif
97 
98  }
99  return 0;
100 }
101 
102 bool cISFileStream::Eof()
103 {
104  if (m_file != NULLPTR)
105  {
106  return (feof(m_file) != 0);
107  }
108  return true;
109 }
cISStream::~cISStream
virtual ~cISStream()
Definition: ISStream.cpp:20
-
NULLPTR
#define NULLPTR
Definition: ISConstants.h:380
+
NULLPTR
#define NULLPTR
Definition: ISConstants.h:377
cISFileStream::Write
int Write(const void *buffer, int count) OVERRIDE
Definition: ISStream.cpp:46
cISFileStream::Open
bool Open(const std::string &path, const char *mode)
Definition: ISStream.cpp:30
cISFileStream::Close
int Close() OVERRIDE
Definition: ISStream.cpp:64
diff --git a/docs/html/_i_s_stream_8h.html b/docs/html/_i_s_stream_8h.html index bbee0addd..5c5680372 100644 --- a/docs/html/_i_s_stream_8h.html +++ b/docs/html/_i_s_stream_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_stream_8h_source.html b/docs/html/_i_s_stream_8h_source.html index d5c85ce71..d4ce871e3 100644 --- a/docs/html/_i_s_stream_8h_source.html +++ b/docs/html/_i_s_stream_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -81,7 +81,7 @@
cISFileStream::GetBytesAvailableToRead
long long GetBytesAvailableToRead() OVERRIDE
Definition: ISStream.cpp:75
cISStream::Close
virtual int Close()
Definition: ISStream.h:65
-
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:377
+
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:374
cISFileStream::Flush
int Flush() OVERRIDE
Definition: ISStream.cpp:55
cISStream::Read
virtual int Read(void *buffer, int count)
Definition: ISStream.h:45
diff --git a/docs/html/_i_s_tcp_client_8cpp.html b/docs/html/_i_s_tcp_client_8cpp.html index 05de61d1b..5b6466bea 100644 --- a/docs/html/_i_s_tcp_client_8cpp.html +++ b/docs/html/_i_s_tcp_client_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -88,6 +88,8 @@   int ISSocketCanWrite (socket_t socket, int timeoutMilliseconds)   +int ISSocketCanRead (socket_t socket, int timeoutMilliseconds) +  int ISSocketWrite (socket_t socket, const uint8_t *data, int dataLength)   int ISSocketRead (socket_t socket, uint8_t *data, int dataLength) @@ -100,6 +102,44 @@  

Function Documentation

+ +

◆ ISSocketCanRead()

+ +
+
+ + + + + + + + + + + + + + + + + + +
int ISSocketCanRead (socket_t socket,
int timeoutMilliseconds = IS_SOCKET_DEFAULT_TIMEOUT_MS 
)
+
+

Determines if a socket can be read from

Parameters
+ + + +
socketthe socket to check for read capability
timeoutMillisecondsthe number of milliseconds to wait before aborting
+
+
+
Returns
non-zero if the socket can be read from, otherwise zero
+ +

Definition at line 86 of file ISTcpClient.cpp.

+ +
+

◆ ISSocketCanWrite()

@@ -161,7 +201,7 @@

Returns
0 if success otherwise an error code
-

Definition at line 176 of file ISTcpClient.cpp.

+

Definition at line 186 of file ISTcpClient.cpp.

@@ -246,7 +286,7 @@

Returns
the number of bytes read or less than 0 if error, in which case the socket is probably disconnected
-

Definition at line 108 of file ISTcpClient.cpp.

+

Definition at line 118 of file ISTcpClient.cpp.

@@ -284,7 +324,7 @@

Returns
0 if success otherwise an error code
-

Definition at line 135 of file ISTcpClient.cpp.

+

Definition at line 145 of file ISTcpClient.cpp.

@@ -322,7 +362,7 @@

Returns
0 if success otherwise an error code
-

Definition at line 157 of file ISTcpClient.cpp.

+

Definition at line 167 of file ISTcpClient.cpp.

@@ -367,7 +407,7 @@

Returns
the number of bytes written or less than 0 if error, in which case the socket is probably disconnected
-

Definition at line 86 of file ISTcpClient.cpp.

+

Definition at line 96 of file ISTcpClient.cpp.

diff --git a/docs/html/_i_s_tcp_client_8cpp_source.html b/docs/html/_i_s_tcp_client_8cpp_source.html index f8af6c9d7..d03a40647 100644 --- a/docs/html/_i_s_tcp_client_8cpp_source.html +++ b/docs/html/_i_s_tcp_client_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,26 +72,27 @@
ISTcpClient.cpp
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include "ISConstants.h"
14 
15 #if PLATFORM_IS_LINUX || PLATFORM_IS_APPLE
16 
17 /* Assume that any non-Windows platform uses POSIX-style sockets instead. */
18 #include <sys/socket.h>
19 #include <sys/ioctl.h>
20 #include <arpa/inet.h>
21 #include <netdb.h> /* Needed for getaddrinfo() and freeaddrinfo() */
22 #include <unistd.h> /* Needed for close() */
23 #include <fcntl.h>
24 #include <errno.h>
25 
26 #endif
27 
28 #include "ISTcpClient.h"
29 #include "ISUtilities.h"
30 
31 #if PLATFORM_IS_WINDOWS
32 
33 #include <mutex>
34 
35 static uint32_t s_socketInitialized;
36 static mutex s_socketFrameworkMutex;
37 
38 #endif
39 
40 void ISSocketFrameworkInitialize()
41 {
42 
43 #if PLATFORM_IS_WINDOWS
44 
45  lock_guard<mutex> locker(s_socketFrameworkMutex);
46  if (++s_socketInitialized != 1)
47  {
48  return;
49  }
50  WSADATA wsa_data;
51  WSAStartup(MAKEWORD(2, 2), &wsa_data);
52 
53 #endif
54 
55 }
56 
57 void ISSocketFrameworkShutdown()
58 {
59 
60 #if PLATFORM_IS_WINDOWS
61 
62  lock_guard<mutex> locker(s_socketFrameworkMutex);
63  if (s_socketInitialized == 0)
64  {
65  return;
66  }
67  else if (--s_socketInitialized == 0)
68  {
69  WSACleanup();
70  }
71 
72 #endif
73 
74 }
75 
76 int ISSocketCanWrite(socket_t socket, int timeoutMilliseconds)
77 {
78  struct timeval tv = { timeoutMilliseconds / 1000, (timeoutMilliseconds % 1000) * 1000 };
79  fd_set ws;
80  FD_ZERO(&ws);
81  FD_SET(socket, &ws);
82  int numberOfSocketsThatCanWrite = select((int)socket + 1, NULL, &ws, NULL, &tv);
83  return (numberOfSocketsThatCanWrite > 0);
84 }
85 
86 int ISSocketWrite(socket_t socket, const uint8_t* data, int dataLength)
87 {
88  int totalWriteCount = 0;
89  int writeCount;
90 
91  while (totalWriteCount < dataLength)
92  {
93  if (!ISSocketCanWrite(socket))
94  {
95  break;
96  }
97  writeCount = send(socket, (const char*)data, dataLength, 0);
98  if (writeCount < 0)
99  {
100  break;
101  }
102  totalWriteCount += writeCount;
103  }
104 
105  return totalWriteCount;
106 }
107 
108 int ISSocketRead(socket_t socket, uint8_t* data, int dataLength)
109 {
110  int count = recv(socket, (char*)data, dataLength, 0);
111  if (count < 0)
112  {
113 
114 #if PLATFORM_IS_WINDOWS
115 
116  DWORD err = GetLastError();
117  if (err == SO_RCVTIMEO || err == WSAETIMEDOUT || err == WSAEWOULDBLOCK)
118  {
119  return 0;
120  }
121 
122 #else
123 
124  if (errno == EAGAIN || errno == EWOULDBLOCK)
125  {
126  return 0;
127  }
128 
129 #endif
130 
131  }
132  return count;
133 }
134 
135 int ISSocketSetBlocking(socket_t socket, bool blocking)
136 {
137 
138 #if PLATFORM_IS_WINDOWS
139 
140  u_long blockingInt = (blocking ? 0 : 1);
141  return ioctlsocket(socket, FIONBIO, &blockingInt);
142 
143 #else
144 
145  int opts = fcntl(socket, F_GETFL);
146  if (opts < 0)
147  {
148  return -1;
149  }
150  opts = (blocking ? opts & (~O_NONBLOCK) : opts | O_NONBLOCK);
151  return fcntl(socket, F_SETFL, opts);
152 
153 #endif
154 
155 }
156 
157 int ISSocketSetReadTimeout(socket_t socket, int timeoutMilliseconds)
158 {
159 
160 #if PLATFORM_IS_WINDOWS
161 
162  DWORD timeout = timeoutMilliseconds;
163  return setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (const char*)&timeout, sizeof(timeout));
164 
165 #else
166 
167  struct timeval tv;
168  tv.tv_sec = timeoutMilliseconds / 1000;
169  tv.tv_usec = (timeoutMilliseconds % 1000) * 1000;
170  return setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (const char*)&tv, sizeof(tv));
171 
172 #endif
173 
174 }
175 
176 int ISSocketClose(socket_t& socket)
177 {
178  int status = 0;
179  if (socket != 0)
180  {
181 
182 #if PLATFORM_IS_WINDOWS
183 
184  status = shutdown(socket, SD_BOTH);
185  if (status == 0)
186  {
187  status = closesocket(socket);
188  }
189 
190 #else
191 
192  status = shutdown(socket, SHUT_RDWR);
193  if (status == 0)
194  {
195  status = close(socket);
196  }
197 
198 #endif
199 
200  }
201 
202  socket = 0;
203 
204  return status;
205 }
206 
207 cISTcpClient::cISTcpClient()
208 {
209  m_socket = 0;
210  m_port = 0;
211  m_blocking = true;
212  ISSocketFrameworkInitialize();
213 }
214 
215 cISTcpClient::~cISTcpClient()
216 {
217  Close();
218  ISSocketFrameworkShutdown();
219 }
220 
221 int cISTcpClient::Open(const string& host, int port, int timeoutMilliseconds)
222 {
223  Close();
224  int status;
225  this->m_host = host;
226  m_port = port;
227  char portString[64];
228  SNPRINTF(portString, sizeof(portString), "%ld", (long)m_port);
229  addrinfo* result = NULL;
230  addrinfo hints = addrinfo();
231  hints.ai_family = AF_INET;
232  hints.ai_socktype = SOCK_STREAM;
233  hints.ai_protocol = IPPROTO_TCP;
234 
235  // attempt to get info about the host and port
236  status = getaddrinfo(m_host.c_str(), portString, &hints, &result);
237  if (status != 0)
238  {
239  // no info, fail
240  Close();
241  return status;
242  }
243 
244  // create the socket
245  m_socket = socket(result->ai_family, result->ai_socktype, result->ai_protocol);
246  if (m_socket == 0)
247  {
248  // no socket, fail
249  freeaddrinfo(result);
250  Close();
251  return -1;
252  }
253 
254  // make non-blocking socket
255  SetBlocking(false);
256 
257  // because non-blocking, connect returns immediately
258  connect(m_socket, result->ai_addr, (int)result->ai_addrlen);
259 
260  // in order to detect connection we determine whether the socket is writeable
261  status = ISSocketCanWrite(m_socket, timeoutMilliseconds);
262 
263  // cleanup
264  freeaddrinfo(result);
265  if (status <= 0)
266  {
267  // no socket was writeable, fail
268  Close();
269  return -1;
270  }
271 
272  return 0;
273 }
274 
275 int cISTcpClient::Close()
276 {
277  return ISSocketClose(m_socket);
278 }
279 
280 int cISTcpClient::Read(void* data, int dataLength)
281 {
282  int count = ISSocketRead(m_socket, (uint8_t*)data, dataLength);
283  if (count < 0)
284  {
285  Close();
286  }
287  return count;
288 }
289 
290 int cISTcpClient::Write(const void* data, int dataLength)
291 {
292  int count = ISSocketWrite(m_socket, (const uint8_t*)data, dataLength);
293  if (count < 0)
294  {
295  Close();
296  }
297  return count;
298 }
299 
300 void cISTcpClient::HttpGet(const string& subUrl, const string& userAgent, const string& userName, const string& password)
301 {
302  string msg = "GET /" + subUrl + " HTTP/1.1\r\n";
303  msg += "User-Agent: " + userAgent + "\r\n";
304  if (userName.size() != 0 && password.size() != 0)
305  {
306  string auth = userName + ":" + password;
307  msg += "Authorization: Basic " + base64Encode((const unsigned char*)auth.data(), (int)auth.size()) + "\r\n";
308  }
309  msg += "Accept: */*\r\nConnection: close\r\n\r\n";
310  Write((uint8_t*)msg.data(), (int)msg.size());
311 }
312 
313 int cISTcpClient::SetBlocking(bool blocking)
314 {
315  m_blocking = blocking;
316  return ISSocketSetBlocking(m_socket, blocking);
317 }
cISTcpClient::Write
int Write(const void *data, int dataLength) OVERRIDE
Definition: ISTcpClient.cpp:290
-
cISTcpClient::Open
int Open(const string &host, int port, int timeoutMilliseconds=IS_SOCKET_DEFAULT_TIMEOUT_MS)
Definition: ISTcpClient.cpp:221
-
ISSocketSetBlocking
int ISSocketSetBlocking(socket_t socket, bool blocking)
Definition: ISTcpClient.cpp:135
-
cISTcpClient::~cISTcpClient
virtual ~cISTcpClient()
Definition: ISTcpClient.cpp:215
-
ISSocketSetReadTimeout
int ISSocketSetReadTimeout(socket_t socket, int timeoutMilliseconds)
Definition: ISTcpClient.cpp:157
-
cISTcpClient::SetBlocking
int SetBlocking(bool blocking)
Definition: ISTcpClient.cpp:313
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include "ISConstants.h"
14 
15 #if PLATFORM_IS_LINUX || PLATFORM_IS_APPLE
16 
17 /* Assume that any non-Windows platform uses POSIX-style sockets instead. */
18 #include <sys/socket.h>
19 #include <sys/ioctl.h>
20 #include <arpa/inet.h>
21 #include <netdb.h> /* Needed for getaddrinfo() and freeaddrinfo() */
22 #include <unistd.h> /* Needed for close() */
23 #include <fcntl.h>
24 #include <errno.h>
25 
26 #endif
27 
28 #include "ISTcpClient.h"
29 #include "ISUtilities.h"
30 
31 #if PLATFORM_IS_WINDOWS
32 
33 #include <mutex>
34 
35 static uint32_t s_socketInitialized;
36 static mutex s_socketFrameworkMutex;
37 
38 #endif
39 
40 void ISSocketFrameworkInitialize()
41 {
42 
43 #if PLATFORM_IS_WINDOWS
44 
45  lock_guard<mutex> locker(s_socketFrameworkMutex);
46  if (++s_socketInitialized != 1)
47  {
48  return;
49  }
50  WSADATA wsa_data;
51  WSAStartup(MAKEWORD(2, 2), &wsa_data);
52 
53 #endif
54 
55 }
56 
57 void ISSocketFrameworkShutdown()
58 {
59 
60 #if PLATFORM_IS_WINDOWS
61 
62  lock_guard<mutex> locker(s_socketFrameworkMutex);
63  if (s_socketInitialized == 0)
64  {
65  return;
66  }
67  else if (--s_socketInitialized == 0)
68  {
69  WSACleanup();
70  }
71 
72 #endif
73 
74 }
75 
76 int ISSocketCanWrite(socket_t socket, int timeoutMilliseconds)
77 {
78  struct timeval tv = { timeoutMilliseconds / 1000, (timeoutMilliseconds % 1000) * 1000 };
79  fd_set ws;
80  FD_ZERO(&ws);
81  FD_SET(socket, &ws);
82  int numberOfSocketsThatCanWrite = select((int)(socket + 1), NULL, &ws, NULL, &tv);
83  return (numberOfSocketsThatCanWrite > 0);
84 }
85 
86 int ISSocketCanRead(socket_t socket, int timeoutMilliseconds)
87 {
88  struct timeval tv = { timeoutMilliseconds / 1000, (timeoutMilliseconds % 1000) * 1000 };
89  fd_set rs;
90  FD_ZERO(&rs);
91  FD_SET(socket, &rs);
92  int numberOfSocketsThatCanRead = select((int)(socket + 1), &rs, NULL, NULL, &tv);
93  return (numberOfSocketsThatCanRead > 0);
94 }
95 
96 int ISSocketWrite(socket_t socket, const uint8_t* data, int dataLength)
97 {
98  int totalWriteCount = 0;
99  int writeCount;
100 
101  while (totalWriteCount < dataLength)
102  {
103  if (!ISSocketCanWrite(socket))
104  {
105  break;
106  }
107  writeCount = send(socket, (const char*)data, dataLength, 0);
108  if (writeCount < 0)
109  {
110  break;
111  }
112  totalWriteCount += writeCount;
113  }
114 
115  return totalWriteCount;
116 }
117 
118 int ISSocketRead(socket_t socket, uint8_t* data, int dataLength)
119 {
120  int count = recv(socket, (char*)data, dataLength, 0);
121  if (count < 0)
122  {
123 
124 #if PLATFORM_IS_WINDOWS
125 
126  DWORD err = GetLastError();
127  if (err == SO_RCVTIMEO || err == WSAETIMEDOUT || err == WSAEWOULDBLOCK)
128  {
129  return 0;
130  }
131 
132 #else
133 
134  if (errno == EAGAIN || errno == EWOULDBLOCK)
135  {
136  return 0;
137  }
138 
139 #endif
140 
141  }
142  return count;
143 }
144 
145 int ISSocketSetBlocking(socket_t socket, bool blocking)
146 {
147 
148 #if PLATFORM_IS_WINDOWS
149 
150  u_long blockingInt = (blocking ? 0 : 1);
151  return ioctlsocket(socket, FIONBIO, &blockingInt);
152 
153 #else
154 
155  int opts = fcntl(socket, F_GETFL);
156  if (opts < 0)
157  {
158  return -1;
159  }
160  opts = (blocking ? opts & (~O_NONBLOCK) : opts | O_NONBLOCK);
161  return fcntl(socket, F_SETFL, opts);
162 
163 #endif
164 
165 }
166 
167 int ISSocketSetReadTimeout(socket_t socket, int timeoutMilliseconds)
168 {
169 
170 #if PLATFORM_IS_WINDOWS
171 
172  DWORD timeout = timeoutMilliseconds;
173  return setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (const char*)&timeout, sizeof(timeout));
174 
175 #else
176 
177  struct timeval tv;
178  tv.tv_sec = timeoutMilliseconds / 1000;
179  tv.tv_usec = (timeoutMilliseconds % 1000) * 1000;
180  return setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (const char*)&tv, sizeof(tv));
181 
182 #endif
183 
184 }
185 
186 int ISSocketClose(socket_t& socket)
187 {
188  int status = 0;
189  if (socket != 0)
190  {
191 
192 #if PLATFORM_IS_WINDOWS
193 
194  status = shutdown(socket, SD_BOTH);
195  if (status == 0)
196  {
197  status = closesocket(socket);
198  }
199 
200 #else
201 
202  status = shutdown(socket, SHUT_RDWR);
203  if (status == 0)
204  {
205  status = close(socket);
206  }
207 
208 #endif
209 
210  }
211 
212  socket = 0;
213 
214  return status;
215 }
216 
217 cISTcpClient::cISTcpClient()
218 {
219  m_socket = 0;
220  m_port = 0;
221  m_blocking = true;
222  ISSocketFrameworkInitialize();
223 }
224 
225 cISTcpClient::~cISTcpClient()
226 {
227  Close();
228  ISSocketFrameworkShutdown();
229 }
230 
231 int cISTcpClient::Open(const string& host, int port, int timeoutMilliseconds)
232 {
233  Close();
234  int status;
235  this->m_host = host;
236  m_port = port;
237  char portString[64];
238  SNPRINTF(portString, sizeof(portString), "%ld", (long)m_port);
239  addrinfo* result = NULL;
240  addrinfo hints = addrinfo();
241  hints.ai_family = AF_INET;
242  hints.ai_socktype = SOCK_STREAM;
243  hints.ai_protocol = IPPROTO_TCP;
244 
245  // attempt to get info about the host and port
246  status = getaddrinfo(m_host.c_str(), portString, &hints, &result);
247  if (status != 0)
248  {
249  // no info, fail
250  Close();
251  return status;
252  }
253 
254  // create the socket
255  m_socket = socket(result->ai_family, result->ai_socktype, result->ai_protocol);
256  if (m_socket == 0)
257  {
258  // no socket, fail
259  freeaddrinfo(result);
260  Close();
261  return -1;
262  }
263 
264  // make non-blocking socket
265  SetBlocking(false);
266 
267  // because non-blocking, connect returns immediately
268  connect(m_socket, result->ai_addr, (int)result->ai_addrlen);
269 
270  // in order to detect connection we determine whether the socket is writeable
271  status = ISSocketCanWrite(m_socket, timeoutMilliseconds);
272 
273  // cleanup
274  freeaddrinfo(result);
275  if (status <= 0)
276  {
277  // no socket was writeable, fail
278  Close();
279  return -1;
280  }
281 
282  return 0;
283 }
284 
285 int cISTcpClient::Close()
286 {
287  return ISSocketClose(m_socket);
288 }
289 
290 int cISTcpClient::Read(void* data, int dataLength)
291 {
292  int count = ISSocketRead(m_socket, (uint8_t*)data, dataLength);
293  if (count < 0)
294  {
295  Close();
296  }
297  return count;
298 }
299 
300 int cISTcpClient::Write(const void* data, int dataLength)
301 {
302  int count = ISSocketWrite(m_socket, (const uint8_t*)data, dataLength);
303  if (count < 0)
304  {
305  Close();
306  }
307  return count;
308 }
309 
310 void cISTcpClient::HttpGet(const string& subUrl, const string& userAgent, const string& userName, const string& password)
311 {
312  string msg = "GET /" + subUrl + " HTTP/1.1\r\n";
313  msg += "User-Agent: " + userAgent + "\r\n";
314  if (userName.size() != 0 && password.size() != 0)
315  {
316  string auth = userName + ":" + password;
317  msg += "Authorization: Basic " + base64Encode((const unsigned char*)auth.data(), (int)auth.size()) + "\r\n";
318  }
319  msg += "Accept: */*\r\nConnection: close\r\n\r\n";
320  Write((uint8_t*)msg.data(), (int)msg.size());
321 }
322 
323 int cISTcpClient::SetBlocking(bool blocking)
324 {
325  m_blocking = blocking;
326  return ISSocketSetBlocking(m_socket, blocking);
327 }
cISTcpClient::Write
int Write(const void *data, int dataLength) OVERRIDE
Definition: ISTcpClient.cpp:300
+
cISTcpClient::Open
int Open(const string &host, int port, int timeoutMilliseconds=IS_SOCKET_DEFAULT_TIMEOUT_MS)
Definition: ISTcpClient.cpp:231
+
ISSocketSetBlocking
int ISSocketSetBlocking(socket_t socket, bool blocking)
Definition: ISTcpClient.cpp:145
+
cISTcpClient::~cISTcpClient
virtual ~cISTcpClient()
Definition: ISTcpClient.cpp:225
+
ISSocketSetReadTimeout
int ISSocketSetReadTimeout(socket_t socket, int timeoutMilliseconds)
Definition: ISTcpClient.cpp:167
+
cISTcpClient::SetBlocking
int SetBlocking(bool blocking)
Definition: ISTcpClient.cpp:323
ISUtilities.h
-
ISSocketWrite
int ISSocketWrite(socket_t socket, const uint8_t *data, int dataLength)
Definition: ISTcpClient.cpp:86
+
ISSocketCanRead
int ISSocketCanRead(socket_t socket, int timeoutMilliseconds)
Definition: ISTcpClient.cpp:86
+
ISSocketWrite
int ISSocketWrite(socket_t socket, const uint8_t *data, int dataLength)
Definition: ISTcpClient.cpp:96
base64Encode
string base64Encode(const unsigned char *bytes_to_encode, unsigned int in_len)
Definition: ISUtilities.cpp:48
ISSocketCanWrite
int ISSocketCanWrite(socket_t socket, int timeoutMilliseconds)
Definition: ISTcpClient.cpp:76
ISSocketFrameworkShutdown
void ISSocketFrameworkShutdown()
Definition: ISTcpClient.cpp:57
-
ISSocketRead
int ISSocketRead(socket_t socket, uint8_t *data, int dataLength)
Definition: ISTcpClient.cpp:108
-
cISTcpClient::HttpGet
void HttpGet(const string &subUrl, const string &userAgent, const string &userName, const string &password)
Definition: ISTcpClient.cpp:300
-
ISSocketClose
int ISSocketClose(socket_t &socket)
Definition: ISTcpClient.cpp:176
+
ISSocketRead
int ISSocketRead(socket_t socket, uint8_t *data, int dataLength)
Definition: ISTcpClient.cpp:118
+
cISTcpClient::HttpGet
void HttpGet(const string &subUrl, const string &userAgent, const string &userName, const string &password)
Definition: ISTcpClient.cpp:310
+
ISSocketClose
int ISSocketClose(socket_t &socket)
Definition: ISTcpClient.cpp:186
ISTcpClient.h
-
SNPRINTF
#define SNPRINTF
Definition: ISConstants.h:171
-
cISTcpClient::Read
int Read(void *data, int dataLength) OVERRIDE
Definition: ISTcpClient.cpp:280
+
SNPRINTF
#define SNPRINTF
Definition: ISConstants.h:142
+
cISTcpClient::Read
int Read(void *data, int dataLength) OVERRIDE
Definition: ISTcpClient.cpp:290
ISSocketFrameworkInitialize
void ISSocketFrameworkInitialize()
Definition: ISTcpClient.cpp:40
- -
cISTcpClient::Close
int Close() OVERRIDE
Definition: ISTcpClient.cpp:275
+ +
cISTcpClient::Close
int Close() OVERRIDE
Definition: ISTcpClient.cpp:285
ISConstants.h
diff --git a/docs/html/_i_s_tcp_client_8h.html b/docs/html/_i_s_tcp_client_8h.html index 18b525779..7a1d1a9a4 100644 --- a/docs/html/_i_s_tcp_client_8h.html +++ b/docs/html/_i_s_tcp_client_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -100,6 +100,8 @@   int ISSocketCanWrite (socket_t socket, int timeoutMilliseconds=IS_SOCKET_DEFAULT_TIMEOUT_MS)   +int ISSocketCanRead (socket_t socket, int timeoutMilliseconds=IS_SOCKET_DEFAULT_TIMEOUT_MS) +  int ISSocketWrite (socket_t socket, const uint8_t *data, int dataLength)   int ISSocketRead (socket_t socket, uint8_t *data, int dataLength) @@ -129,6 +131,44 @@

Function Documentation

+ +

◆ ISSocketCanRead()

+ +
+
+ + + + + + + + + + + + + + + + + + +
int ISSocketCanRead (socket_t socket,
int timeoutMilliseconds = IS_SOCKET_DEFAULT_TIMEOUT_MS 
)
+
+

Determines if a socket can be read from

Parameters
+ + + +
socketthe socket to check for read capability
timeoutMillisecondsthe number of milliseconds to wait before aborting
+
+
+
Returns
non-zero if the socket can be read from, otherwise zero
+ +

Definition at line 86 of file ISTcpClient.cpp.

+ +
+

◆ ISSocketCanWrite()

@@ -190,7 +230,7 @@

Returns
0 if success otherwise an error code
-

Definition at line 176 of file ISTcpClient.cpp.

+

Definition at line 186 of file ISTcpClient.cpp.

@@ -275,7 +315,7 @@

Returns
the number of bytes read or less than 0 if error, in which case the socket is probably disconnected
-

Definition at line 108 of file ISTcpClient.cpp.

+

Definition at line 118 of file ISTcpClient.cpp.

@@ -313,7 +353,7 @@

Returns
0 if success otherwise an error code
-

Definition at line 135 of file ISTcpClient.cpp.

+

Definition at line 145 of file ISTcpClient.cpp.

@@ -351,7 +391,7 @@

Returns
0 if success otherwise an error code
-

Definition at line 157 of file ISTcpClient.cpp.

+

Definition at line 167 of file ISTcpClient.cpp.

@@ -396,7 +436,7 @@

Returns
the number of bytes written or less than 0 if error, in which case the socket is probably disconnected
-

Definition at line 86 of file ISTcpClient.cpp.

+

Definition at line 96 of file ISTcpClient.cpp.

diff --git a/docs/html/_i_s_tcp_client_8h_source.html b/docs/html/_i_s_tcp_client_8h_source.html index c3cdf6f49..904988cca 100644 --- a/docs/html/_i_s_tcp_client_8h_source.html +++ b/docs/html/_i_s_tcp_client_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,22 +72,23 @@
ISTcpClient.h
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef __ISTCPCLIENT__H__
14 #define __ISTCPCLIENT__H__
15 
16 #include <string>
17 #include <inttypes.h>
18 
19 #include "ISStream.h"
20 
21 #define IS_SOCKET_DEFAULT_TIMEOUT_MS 5000
22 
23 using namespace std;
24 
25 class cISTcpClient : public cISStream
26 {
27 public:
31  cISTcpClient();
32 
36  virtual ~cISTcpClient();
37 
45  int Open(const string& host, int port, int timeoutMilliseconds = IS_SOCKET_DEFAULT_TIMEOUT_MS);
46 
51  int Close() OVERRIDE;
52 
59  int Read(void* data, int dataLength) OVERRIDE;
60 
67  int Write(const void* data, int dataLength) OVERRIDE;
68 
76  void HttpGet(const string& subUrl, const string& userAgent, const string& userName, const string& password);
77 
82  bool IsOpen() { return m_socket != 0; }
83 
88  bool GetBlocking() { return m_blocking; }
89 
94  int SetBlocking(bool blocking);
95 
96 private:
97  cISTcpClient(const cISTcpClient& copy); // Disable copy constructor
98 
99  socket_t m_socket;
100  string m_host;
101  int m_port;
102  bool m_blocking;
103 };
104 
108 void ISSocketFrameworkInitialize();
109 
113 void ISSocketFrameworkShutdown();
114 
121 int ISSocketCanWrite(socket_t socket, int timeoutMilliseconds = IS_SOCKET_DEFAULT_TIMEOUT_MS);
122 
130 int ISSocketWrite(socket_t socket, const uint8_t* data, int dataLength);
131 
139 int ISSocketRead(socket_t socket, uint8_t* data, int dataLength);
140 
147 int ISSocketSetBlocking(socket_t socket, bool blocking);
148 
155 int ISSocketSetReadTimeout(socket_t socket, int timeoutMilliseconds);
156 
162 int ISSocketClose(socket_t& socket);
163 
164 #endif // __ISTCPCLIENT__H__
ISSocketRead
int ISSocketRead(socket_t socket, uint8_t *data, int dataLength)
Definition: ISTcpClient.cpp:108
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef __ISTCPCLIENT__H__
14 #define __ISTCPCLIENT__H__
15 
16 #include <string>
17 #include <inttypes.h>
18 
19 #include "ISStream.h"
20 
21 #define IS_SOCKET_DEFAULT_TIMEOUT_MS 5000
22 
23 using namespace std;
24 
25 class cISTcpClient : public cISStream
26 {
27 public:
31  cISTcpClient();
32 
36  virtual ~cISTcpClient();
37 
45  int Open(const string& host, int port, int timeoutMilliseconds = IS_SOCKET_DEFAULT_TIMEOUT_MS);
46 
51  int Close() OVERRIDE;
52 
59  int Read(void* data, int dataLength) OVERRIDE;
60 
67  int Write(const void* data, int dataLength) OVERRIDE;
68 
76  void HttpGet(const string& subUrl, const string& userAgent, const string& userName, const string& password);
77 
82  bool IsOpen() { return m_socket != 0; }
83 
88  bool GetBlocking() { return m_blocking; }
89 
94  int SetBlocking(bool blocking);
95 
96 private:
97  cISTcpClient(const cISTcpClient& copy); // Disable copy constructor
98 
99  socket_t m_socket;
100  string m_host;
101  int m_port;
102  bool m_blocking;
103 };
104 
108 void ISSocketFrameworkInitialize();
109 
113 void ISSocketFrameworkShutdown();
114 
121 int ISSocketCanWrite(socket_t socket, int timeoutMilliseconds = IS_SOCKET_DEFAULT_TIMEOUT_MS);
122 
129 int ISSocketCanRead(socket_t socket, int timeoutMilliseconds = IS_SOCKET_DEFAULT_TIMEOUT_MS);
130 
138 int ISSocketWrite(socket_t socket, const uint8_t* data, int dataLength);
139 
147 int ISSocketRead(socket_t socket, uint8_t* data, int dataLength);
148 
155 int ISSocketSetBlocking(socket_t socket, bool blocking);
156 
163 int ISSocketSetReadTimeout(socket_t socket, int timeoutMilliseconds);
164 
170 int ISSocketClose(socket_t& socket);
171 
172 #endif // __ISTCPCLIENT__H__
ISSocketRead
int ISSocketRead(socket_t socket, uint8_t *data, int dataLength)
Definition: ISTcpClient.cpp:118
cISTcpClient::IsOpen
bool IsOpen()
Definition: ISTcpClient.h:82
ISSocketFrameworkInitialize
void ISSocketFrameworkInitialize()
Definition: ISTcpClient.cpp:40
ISSocketFrameworkShutdown
void ISSocketFrameworkShutdown()
Definition: ISTcpClient.cpp:57
-
ISSocketClose
int ISSocketClose(socket_t &socket)
Definition: ISTcpClient.cpp:176
+
ISSocketClose
int ISSocketClose(socket_t &socket)
Definition: ISTcpClient.cpp:186
IS_SOCKET_DEFAULT_TIMEOUT_MS
#define IS_SOCKET_DEFAULT_TIMEOUT_MS
Definition: ISTcpClient.h:21
ISSocketCanWrite
int ISSocketCanWrite(socket_t socket, int timeoutMilliseconds=IS_SOCKET_DEFAULT_TIMEOUT_MS)
Definition: ISTcpClient.cpp:76
-
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:377
+
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:374
ISStream.h
-
ISSocketSetReadTimeout
int ISSocketSetReadTimeout(socket_t socket, int timeoutMilliseconds)
Definition: ISTcpClient.cpp:157
+
ISSocketSetReadTimeout
int ISSocketSetReadTimeout(socket_t socket, int timeoutMilliseconds)
Definition: ISTcpClient.cpp:167
-
ISSocketWrite
int ISSocketWrite(socket_t socket, const uint8_t *data, int dataLength)
Definition: ISTcpClient.cpp:86
+
ISSocketWrite
int ISSocketWrite(socket_t socket, const uint8_t *data, int dataLength)
Definition: ISTcpClient.cpp:96
cISTcpClient::GetBlocking
bool GetBlocking()
Definition: ISTcpClient.h:88
-
ISSocketSetBlocking
int ISSocketSetBlocking(socket_t socket, bool blocking)
Definition: ISTcpClient.cpp:135
+
ISSocketCanRead
int ISSocketCanRead(socket_t socket, int timeoutMilliseconds=IS_SOCKET_DEFAULT_TIMEOUT_MS)
Definition: ISTcpClient.cpp:86
+
ISSocketSetBlocking
int ISSocketSetBlocking(socket_t socket, bool blocking)
Definition: ISTcpClient.cpp:145
diff --git a/docs/html/_i_s_tcp_server_8cpp.html b/docs/html/_i_s_tcp_server_8cpp.html index 68da5648d..b60b28287 100644 --- a/docs/html/_i_s_tcp_server_8cpp.html +++ b/docs/html/_i_s_tcp_server_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_tcp_server_8cpp_source.html b/docs/html/_i_s_tcp_server_8cpp_source.html index a128d5e9d..75b974260 100644 --- a/docs/html/_i_s_tcp_server_8cpp_source.html +++ b/docs/html/_i_s_tcp_server_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,24 +72,29 @@
ISTcpServer.cpp
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include "ISConstants.h"
14 
15 #if PLATFORM_IS_LINUX || PLATFORM_IS_APPLE
16 
17 /* Assume that any non-Windows platform uses POSIX-style sockets instead. */
18 #include <sys/socket.h>
19 #include <sys/ioctl.h>
20 #include <arpa/inet.h>
21 #include <netdb.h> /* Needed for getaddrinfo() and freeaddrinfo() */
22 #include <unistd.h> /* Needed for close() */
23 #include <fcntl.h>
24 #include <errno.h>
25 
26 #endif
27 
28 #include "ISTcpServer.h"
29 #include "ISUtilities.h"
30 
31 cISTcpServer::cISTcpServer(iISTcpServerDelegate* delegate)
32 {
33  (void)delegate;
34  ISSocketFrameworkInitialize();
35  m_delegate = NULL;
36  m_socket = 0;
37  m_port = 0;
38 }
39 
40 cISTcpServer::~cISTcpServer()
41 {
42  Close();
43  ISSocketFrameworkShutdown();
44 }
45 
46 int cISTcpServer::Open(const string& ipAddress, int port)
47 {
48  m_ipAddress = ipAddress;
49  m_port = port;
50  int status;
51  char portString[64];
52  SNPRINTF(portString, sizeof(portString), "%ld", (long)m_port);
53  addrinfo* result = NULL;
54  addrinfo hints = addrinfo();
55  hints.ai_family = AF_INET;
56  hints.ai_socktype = SOCK_STREAM;
57  hints.ai_protocol = IPPROTO_TCP;
58  hints.ai_flags = AI_PASSIVE;
59  status = getaddrinfo(m_ipAddress.length() == 0 ? NULL : m_ipAddress.c_str(), portString, &hints, &result);
60  if (status != 0)
61  {
62  Close();
63  return status;
64  }
65 
66  // setup socket
67  m_socket = socket(result->ai_family, result->ai_socktype, result->ai_protocol);
68  if (m_socket == 0)
69  {
70  freeaddrinfo(result);
71  Close();
72  return -1;
73  }
74 
75  // setup listener socket
76  status = ::bind(m_socket, result->ai_addr, (int)result->ai_addrlen);
77  if (status != 0)
78  {
79  freeaddrinfo(result);
80  Close();
81  return -1;
82  }
83 
84  freeaddrinfo(result);
85 
86  status = listen(m_socket, SOMAXCONN);
87  if (status != 0)
88  {
89  Close();
90  return -1;
91  }
92 
93  return status;
94 }
95 
96 int cISTcpServer::Close()
97 {
98  int status = ISSocketClose(m_socket);
99  for (size_t i = 0; i < m_clients.size(); i++)
100  {
101  status |= ISSocketClose(m_clients[i]);
102  }
103  m_clients.clear();
104  return status;
105 }
106 
107 void cISTcpServer::Update()
108 {
109  uint8_t readBuff[8192];
110  int count;
111 
112  // connect up to 10 clients per loop
113  for (int i = 0; i < 10; i++)
114  {
115  struct timeval tv = { 0, 0 };
116  fd_set rs;
117  FD_ZERO(&rs);
118  FD_SET(m_socket, &rs);
119  int ret = select(0, &rs, NULL, NULL, &tv);
120  if (ret > 0)
121  {
122  socket_t socket = accept(m_socket, NULL, NULL);
123  if (socket != 0)
124  {
125  ISSocketSetBlocking(socket, false);
126  m_clients.push_back(socket);
127  }
128  }
129  else
130  {
131  break;
132  }
133  }
134 
135  for (size_t i = 0; i < m_clients.size(); i++)
136  {
137  if ((count = ISSocketRead(m_clients[i], readBuff, sizeof(readBuff))) < 0)
138  {
139  // remove the client
140  if (m_delegate != NULL)
141  {
142  m_delegate->OnClientDisconnected(m_clients[i]);
143  }
144  ISSocketClose(m_clients[i]);
145  m_clients.erase(m_clients.begin() + i--);
146  }
147  else if (count > 0)
148  {
149  if (m_delegate != NULL)
150  {
151  m_delegate->OnClientDataReceived(m_clients[i], readBuff, count);
152  }
153  }
154  }
155 }
156 
157 int cISTcpServer::Write(const uint8_t* data, int dataLength)
158 {
159  for (size_t i = 0; i < m_clients.size(); i++)
160  {
161  if (ISSocketWrite(m_clients[i], data, dataLength) < 0)
162  {
163  // remove the client
164  if (m_delegate != NULL)
165  {
166  m_delegate->OnClientDisconnected(m_clients[i]);
167  }
168  ISSocketClose(m_clients[i]);
169  m_clients.erase(m_clients.begin() + i--);
170  }
171  }
172  return dataLength; // TODO: Maybe be smarter about detecting difference in bytes written for each client
173 }
cISTcpServer::cISTcpServer
cISTcpServer(iISTcpServerDelegate *delegate=NULL)
Definition: ISTcpServer.cpp:31
-
cISTcpServer::~cISTcpServer
virtual ~cISTcpServer()
Definition: ISTcpServer.cpp:40
-
cISTcpServer::Open
int Open(const string &ipAddress, int port)
Definition: ISTcpServer.cpp:46
- -
ISSocketSetBlocking
int ISSocketSetBlocking(socket_t socket, bool blocking)
Definition: ISTcpClient.cpp:135
- +Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include "ISConstants.h"
14 
15 #if PLATFORM_IS_LINUX || PLATFORM_IS_APPLE
16 
17 /* Assume that any non-Windows platform uses POSIX-style sockets instead. */
18 #include <sys/socket.h>
19 #include <sys/ioctl.h>
20 #include <arpa/inet.h>
21 #include <netdb.h> /* Needed for getaddrinfo() and freeaddrinfo() */
22 #include <unistd.h> /* Needed for close() */
23 #include <fcntl.h>
24 #include <errno.h>
25 
26 #endif
27 
28 #include "ISTcpServer.h"
29 #include "ISUtilities.h"
30 
31 cISTcpServer::cISTcpServer(iISTcpServerDelegate* delegate)
32 {
33  ISSocketFrameworkInitialize();
34  m_delegate = delegate;
35  m_socket = 0;
36  m_port = 0;
37 }
38 
39 cISTcpServer::~cISTcpServer()
40 {
41  Close();
42  ISSocketFrameworkShutdown();
43 }
44 
45 int cISTcpServer::Open(const string& ipAddress, int port)
46 {
47  m_ipAddress = ipAddress;
48  m_port = port;
49  int status;
50  char portString[64];
51  SNPRINTF(portString, sizeof(portString), "%ld", (long)m_port);
52  addrinfo* result = NULL;
53  addrinfo hints = addrinfo();
54  hints.ai_family = AF_INET;
55  hints.ai_socktype = SOCK_STREAM;
56  hints.ai_protocol = IPPROTO_TCP;
57  hints.ai_flags = AI_PASSIVE;
58  status = getaddrinfo(m_ipAddress.length() == 0 ? NULL : m_ipAddress.c_str(), portString, &hints, &result);
59  if (status != 0)
60  {
61  Close();
62  return status;
63  }
64 
65  // setup socket
66  m_socket = socket(result->ai_family, result->ai_socktype, result->ai_protocol);
67  if (m_socket == 0)
68  {
69  freeaddrinfo(result);
70  Close();
71  return -1;
72  }
73 
74  int enable = 1;
75  if (setsockopt(m_socket, SOL_SOCKET, SO_REUSEADDR, (char*)&enable, sizeof(enable)) < 0)
76  {
77  freeaddrinfo(result);
78  Close();
79  return -1;
80  }
81 
82  // setup listener socket
83  status = ::bind(m_socket, result->ai_addr, (int)result->ai_addrlen);
84  if (status != 0)
85  {
86  freeaddrinfo(result);
87  Close();
88  return -1;
89  }
90 
91  freeaddrinfo(result);
92 
93  status = listen(m_socket, SOMAXCONN);
94  if (status != 0)
95  {
96  Close();
97  return -1;
98  }
99 
100  return status;
101 }
102 
103 int cISTcpServer::Close()
104 {
105  int status = ISSocketClose(m_socket);
106  for (size_t i = 0; i < m_clients.size(); i++)
107  {
108  status |= ISSocketClose(m_clients[i]);
109  }
110  m_clients.clear();
111  return status;
112 }
113 
114 void cISTcpServer::Update()
115 {
116  uint8_t readBuff[8192];
117 
118  // accept new sockets
119  while (ISSocketCanRead(m_socket, 1))
120  {
121  if (m_delegate != NULLPTR)
122  {
123  m_delegate->OnClientConnecting(this);
124  }
125  socket_t socket = accept(m_socket, NULLPTR, NULLPTR);
126  if (socket != 0)
127  {
128  ISSocketSetBlocking(socket, false);
129  m_clients.push_back(socket);
130  if (m_delegate != NULLPTR)
131  {
132  m_delegate->OnClientConnected(this, socket);
133  }
134  }
135  else if (m_delegate != NULLPTR)
136  {
137  m_delegate->OnClientConnectFailed(this);
138  }
139  }
140 
141  for (size_t i = 0; i < m_clients.size(); i++)
142  {
143  if (ISSocketCanRead(m_clients[i], 1))
144  {
145  int count;
146  if ((count = ISSocketRead(m_clients[i], readBuff, sizeof(readBuff))) < 0)
147  {
148  // remove the client
149  if (m_delegate != NULLPTR)
150  {
151  m_delegate->OnClientDisconnected(this, m_clients[i]);
152  }
153  ISSocketClose(m_clients[i]);
154  m_clients.erase(m_clients.begin() + i--);
155  }
156  else if (count > 0 && m_delegate != NULLPTR)
157  {
158  m_delegate->OnClientDataReceived(this, m_clients[i], readBuff, count);
159  }
160  }
161  }
162 }
163 
164 int cISTcpServer::Write(const uint8_t* data, int dataLength)
165 {
166  for (size_t i = 0; i < m_clients.size(); i++)
167  {
168  int written = 0;
169  int count;
170  while (written < dataLength)
171  {
172  count = ISSocketWrite(m_clients[i], data + written, dataLength - written);
173  if (count < 1)
174  {
175  // remove the client
176  if (m_delegate != NULLPTR)
177  {
178  m_delegate->OnClientDisconnected(this, m_clients[i]);
179  }
180  ISSocketClose(m_clients[i]);
181  m_clients.erase(m_clients.begin() + i--);
182  break;
183  }
184  else
185  {
186  written += count;
187  if (written == dataLength)
188  {
189  break;
190  }
191  }
192  }
193  }
194  return dataLength; // TODO: Maybe be smarter about detecting difference in bytes written for each client
195 }
cISTcpServer::cISTcpServer
cISTcpServer(iISTcpServerDelegate *delegate=NULL)
Definition: ISTcpServer.cpp:31
+
cISTcpServer::~cISTcpServer
virtual ~cISTcpServer()
Definition: ISTcpServer.cpp:39
+
cISTcpServer::Open
int Open(const string &ipAddress, int port)
Definition: ISTcpServer.cpp:45
+
NULLPTR
#define NULLPTR
Definition: ISConstants.h:377
+ +
ISSocketSetBlocking
int ISSocketSetBlocking(socket_t socket, bool blocking)
Definition: ISTcpClient.cpp:145
+
ISUtilities.h
-
ISSocketWrite
int ISSocketWrite(socket_t socket, const uint8_t *data, int dataLength)
Definition: ISTcpClient.cpp:86
+
ISSocketCanRead
int ISSocketCanRead(socket_t socket, int timeoutMilliseconds)
Definition: ISTcpClient.cpp:86
+
ISSocketWrite
int ISSocketWrite(socket_t socket, const uint8_t *data, int dataLength)
Definition: ISTcpClient.cpp:96
ISSocketFrameworkShutdown
void ISSocketFrameworkShutdown()
Definition: ISTcpClient.cpp:57
-
cISTcpServer::Write
int Write(const uint8_t *data, int dataLength)
Definition: ISTcpServer.cpp:157
-
ISSocketRead
int ISSocketRead(socket_t socket, uint8_t *data, int dataLength)
Definition: ISTcpClient.cpp:108
-
ISSocketClose
int ISSocketClose(socket_t &socket)
Definition: ISTcpClient.cpp:176
-
iISTcpServerDelegate::OnClientDataReceived
virtual void OnClientDataReceived(socket_t socket, uint8_t *data, int dataLength)
Definition: ISTcpServer.h:32
-
SNPRINTF
#define SNPRINTF
Definition: ISConstants.h:171
-
iISTcpServerDelegate::OnClientDisconnected
virtual void OnClientDisconnected(socket_t socket)
Definition: ISTcpServer.h:43
+
iISTcpServerDelegate::OnClientDisconnected
virtual void OnClientDisconnected(cISTcpServer *server, socket_t socket)
Definition: ISTcpServer.h:78
+
cISTcpServer::Write
int Write(const uint8_t *data, int dataLength)
Definition: ISTcpServer.cpp:164
+
ISSocketRead
int ISSocketRead(socket_t socket, uint8_t *data, int dataLength)
Definition: ISTcpClient.cpp:118
+
ISSocketClose
int ISSocketClose(socket_t &socket)
Definition: ISTcpClient.cpp:186
+
iISTcpServerDelegate::OnClientConnected
virtual void OnClientConnected(cISTcpServer *server, socket_t socket)
Definition: ISTcpServer.h:58
+
iISTcpServerDelegate::OnClientDataReceived
virtual void OnClientDataReceived(cISTcpServer *server, socket_t socket, uint8_t *data, int dataLength)
Definition: ISTcpServer.h:36
+
iISTcpServerDelegate::OnClientConnecting
virtual void OnClientConnecting(cISTcpServer *server)
Definition: ISTcpServer.h:48
+
SNPRINTF
#define SNPRINTF
Definition: ISConstants.h:142
ISSocketFrameworkInitialize
void ISSocketFrameworkInitialize()
Definition: ISTcpClient.cpp:40
ISTcpServer.h
+
iISTcpServerDelegate::OnClientConnectFailed
virtual void OnClientConnectFailed(cISTcpServer *server)
Definition: ISTcpServer.h:68
ISConstants.h
diff --git a/docs/html/_i_s_tcp_server_8h.html b/docs/html/_i_s_tcp_server_8h.html index e7dff1a20..78bf17870 100644 --- a/docs/html/_i_s_tcp_server_8h.html +++ b/docs/html/_i_s_tcp_server_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_tcp_server_8h_source.html b/docs/html/_i_s_tcp_server_8h_source.html index 9b3930272..01dba62a1 100644 --- a/docs/html/_i_s_tcp_server_8h_source.html +++ b/docs/html/_i_s_tcp_server_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,14 +72,17 @@
ISTcpServer.h
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef _ISTCPSERVER__H__
14 #define _ISTCPSERVER__H__
15 
16 #include <string>
17 #include <inttypes.h>
18 #include <vector>
19 
20 using namespace std;
21 
22 #include "ISTcpClient.h"
23 
24 class cISTcpServer;
25 
26 class iISTcpServerDelegate
27 {
28 protected:
32  virtual void OnClientDataReceived(socket_t socket, uint8_t* data, int dataLength)
33  {
34  (void)socket;
35  (void)data;
36  (void)dataLength;
37  }
38 
43  virtual void OnClientDisconnected(socket_t socket)
44  {
45  (void)socket;
46  }
47 
48  friend class cISTcpServer;
49 };
50 
51 class cISTcpServer : public cISStream
52 {
53 public:
57  cISTcpServer(iISTcpServerDelegate* delegate = NULL);
58 
62  virtual ~cISTcpServer();
63 
70  int Open(const string& ipAddress, int port);
71 
76  int Close();
77 
81  void Update();
82 
89  int Write(const uint8_t* data, int dataLength);
90 
95  bool IsOpen() { return m_socket != 0; }
96 
97 private:
98  cISTcpServer(const cISTcpServer& copy); // Disable copy constructor
99 
100  socket_t m_socket;
101  vector<socket_t> m_clients;
102  string m_ipAddress;
103  int32_t m_port;
104  iISTcpServerDelegate* m_delegate;
105 };
106 
107 #endif
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef _ISTCPSERVER__H__
14 #define _ISTCPSERVER__H__
15 
16 #include <string>
17 #include <inttypes.h>
18 #include <vector>
19 
20 using namespace std;
21 
22 #include "ISTcpClient.h"
23 
24 class cISTcpServer;
25 
26 class iISTcpServerDelegate
27 {
28 protected:
36  virtual void OnClientDataReceived(cISTcpServer* server, socket_t socket, uint8_t* data, int dataLength)
37  {
38  (void)server;
39  (void)socket;
40  (void)data;
41  (void)dataLength;
42  }
43 
48  virtual void OnClientConnecting(cISTcpServer* server)
49  {
50  (void)server;
51  }
52 
58  virtual void OnClientConnected(cISTcpServer* server, socket_t socket)
59  {
60  (void)server;
61  (void)socket;
62  }
63 
68  virtual void OnClientConnectFailed(cISTcpServer* server)
69  {
70  (void)server;
71  }
72 
78  virtual void OnClientDisconnected(cISTcpServer* server, socket_t socket)
79  {
80  (void)server;
81  (void)socket;
82  }
83 
84  friend class cISTcpServer;
85 };
86 
87 class cISTcpServer : public cISStream
88 {
89 public:
93  cISTcpServer(iISTcpServerDelegate* delegate = NULL);
94 
98  virtual ~cISTcpServer();
99 
106  int Open(const string& ipAddress, int port);
107 
112  int Close();
113 
117  void Update();
118 
125  int Write(const uint8_t* data, int dataLength);
126 
131  bool IsOpen() { return m_socket != 0; }
132 
133 private:
134  cISTcpServer(const cISTcpServer& copy); // Disable copy constructor
135 
136  socket_t m_socket;
137  vector<socket_t> m_clients;
138  string m_ipAddress;
139  int32_t m_port;
140  iISTcpServerDelegate* m_delegate;
141 };
142 
143 #endif
- +
iISTcpServerDelegate::OnClientDisconnected
virtual void OnClientDisconnected(cISTcpServer *server, socket_t socket)
Definition: ISTcpServer.h:78
+ -
cISTcpServer::IsOpen
bool IsOpen()
Definition: ISTcpServer.h:95
+
cISTcpServer::IsOpen
bool IsOpen()
Definition: ISTcpServer.h:131
ISTcpClient.h
-
iISTcpServerDelegate::OnClientDataReceived
virtual void OnClientDataReceived(socket_t socket, uint8_t *data, int dataLength)
Definition: ISTcpServer.h:32
-
iISTcpServerDelegate::OnClientDisconnected
virtual void OnClientDisconnected(socket_t socket)
Definition: ISTcpServer.h:43
+
iISTcpServerDelegate::OnClientConnected
virtual void OnClientConnected(cISTcpServer *server, socket_t socket)
Definition: ISTcpServer.h:58
+
iISTcpServerDelegate::OnClientDataReceived
virtual void OnClientDataReceived(cISTcpServer *server, socket_t socket, uint8_t *data, int dataLength)
Definition: ISTcpServer.h:36
+
iISTcpServerDelegate::OnClientConnecting
virtual void OnClientConnecting(cISTcpServer *server)
Definition: ISTcpServer.h:48
+
iISTcpServerDelegate::OnClientConnectFailed
virtual void OnClientConnectFailed(cISTcpServer *server)
Definition: ISTcpServer.h:68
diff --git a/docs/html/_i_s_utilities_8cpp.html b/docs/html/_i_s_utilities_8cpp.html index 797f6d200..a57863a56 100644 --- a/docs/html/_i_s_utilities_8cpp.html +++ b/docs/html/_i_s_utilities_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_utilities_8cpp_source.html b/docs/html/_i_s_utilities_8cpp_source.html index 6e2bb641b..5473aa2e5 100644 --- a/docs/html/_i_s_utilities_8cpp_source.html +++ b/docs/html/_i_s_utilities_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,54 +72,54 @@
ISUtilities.cpp
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <stdio.h>
14 #include <iostream>
15 #include <math.h>
16 #include <string>
17 
18 #include "ISUtilities.h"
19 #include "ISPose.h"
20 #include "ISEarth.h"
21 
22 #if C11_IS_ENABLED
23 
24 #include <thread>
25 #include <mutex>
26 
27 #elif PLATFORM_IS_WINDOWS
28 
29 #include <windows.h>
30 #include <process.h>
31 
32 #elif PLATFORM_IS_LINUX
33 
34 #else
35 
36 #error "Unsupported platform"
37 
38 #endif
39 
40 using namespace std;
41 
42 static const string s_base64_chars = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/";
43 static inline bool is_base64(unsigned char c)
44 {
45  return (isalnum(c) || (c == '+') || (c == '/'));
46 }
47 
48 string base64Encode(const unsigned char* bytes_to_encode, unsigned int in_len)
49 {
50  string ret;
51  int i = 0;
52  int j = 0;
53  unsigned char char_array_3[3];
54  unsigned char char_array_4[4];
55 
56  while (in_len--)
57  {
58  char_array_3[i++] = *(bytes_to_encode++);
59  if (i == 3)
60  {
61  char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
62  char_array_4[1] = ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
63  char_array_4[2] = ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
64  char_array_4[3] = char_array_3[2] & 0x3f;
65  for (i = 0; (i < 4); i++)
66  {
67  ret += s_base64_chars[char_array_4[i]];
68  }
69  i = 0;
70  }
71  }
72 
73  if (i)
74  {
75  for (j = i; j < 3; j++)
76  {
77  char_array_3[j] = '\0';
78  }
79 
80  char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
81  char_array_4[1] = ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
82  char_array_4[2] = ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
83  char_array_4[3] = char_array_3[2] & 0x3f;
84 
85  for (j = 0; (j < i + 1); j++)
86  {
87  ret += s_base64_chars[char_array_4[j]];
88  }
89 
90  while ((i++ < 3))
91  {
92  ret += '=';
93  }
94  }
95 
96  return ret;
97 
98 }
99 
100 string base64Decode(const string& encoded_string)
101 {
102  int in_len = (int)encoded_string.size();
103  int i = 0;
104  int j = 0;
105  int in_ = 0;
106  unsigned char char_array_4[4], char_array_3[3];
107  string ret;
108 
109  while (in_len-- && (encoded_string[in_] != '=') && is_base64(encoded_string[in_]))
110  {
111  char_array_4[i++] = encoded_string[in_];
112  in_++;
113  if (i == 4)
114  {
115  for (i = 0; i < 4; i++)
116  {
117  char_array_4[i] = (unsigned char)s_base64_chars.find(char_array_4[i]);
118  }
119  char_array_3[0] = (char_array_4[0] << 2) + ((char_array_4[1] & 0x30) >> 4);
120  char_array_3[1] = ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
121  char_array_3[2] = ((char_array_4[2] & 0x3) << 6) + char_array_4[3];
122  for (i = 0; (i < 3); i++)
123  {
124  ret += char_array_3[i];
125  }
126  i = 0;
127  }
128  }
129 
130  if (i)
131  {
132  for (j = i; j < 4; j++)
133  {
134  char_array_4[j] = 0;
135  }
136  for (j = 0; j < 4; j++)
137  {
138  char_array_4[j] = (unsigned char)s_base64_chars.find(char_array_4[j]);
139  }
140  char_array_3[0] = (char_array_4[0] << 2) + ((char_array_4[1] & 0x30) >> 4);
141  char_array_3[1] = ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
142  char_array_3[2] = ((char_array_4[2] & 0x3) << 6) + char_array_4[3];
143  for (j = 0; (j < i - 1); j++)
144  {
145  ret += char_array_3[j];
146  }
147  }
148 
149  return ret;
150 }
151 
152 size_t splitString(const string& s, const string& delimiter, vector<string>& result)
153 {
154  result.clear();
155  size_t pos = 0;
156  size_t pos2;
157  while (true)
158  {
159  pos2 = s.find(delimiter, pos);
160  if (pos2 == string::npos)
161  {
162  result.push_back(s.substr(pos));
163  break;
164  }
165  else
166  {
167  result.push_back(s.substr(pos, pos2 - pos));
168  pos = pos2 + delimiter.length();
169  }
170  }
171  return result.size();
172 }
173 
174 #ifdef __cplusplus
175 extern "C" {
176 #endif
177 
178 #if PLATFORM_IS_WINDOWS
179 
180  void usleep(__int64 usec)
181  {
182  HANDLE timer;
183  LARGE_INTEGER ft;
184 
185  ft.QuadPart = -(10 * usec); // Convert to 100 nanosecond interval, negative value indicates relative time
186 
187  timer = CreateWaitableTimer(NULL, true, NULL);
188  SetWaitableTimer(timer, &ft, 0, NULL, NULL, 0);
189  WaitForSingleObject(timer, INFINITE);
190  CloseHandle(timer);
191  }
192 
193 #else
194 
195 #include <unistd.h>
196 #include <sys/time.h>
197 
198 #endif
199 
200 int current_timeSec()
201 {
202 
203 #if PLATFORM_IS_WINDOWS
204 
205  SYSTEMTIME st;
206  GetLocalTime(&st);
207  return st.wSecond;
208 
209 #else
210 
211  struct timeval tv;
212  gettimeofday(&tv, NULL);
213  return tv.tv_sec;
214 
215 #endif
216 
217 }
218 
219 int current_timeMs()
220 {
221 
222 #if PLATFORM_IS_WINDOWS
223 
224  SYSTEMTIME st;
225  GetSystemTime(&st);
226  return st.wMilliseconds;
227 
228 #else
229 
230  struct timeval tv;
231  gettimeofday(&tv, NULL);
232  return tv.tv_usec / 1000;
233 
234 #endif
235 
236 }
237 
239 int current_weekMs()
240 {
241 
242 #if PLATFORM_IS_WINDOWS
243 
244  SYSTEMTIME st;
245  GetSystemTime(&st);
246  return st.wMilliseconds + 1000 * (st.wSecond + 60 * (st.wMinute + 60 * (st.wHour + 24 * st.wDayOfWeek)));
247 
248 #else
249 
250  struct timeval tv;
251  gettimeofday(&tv, NULL);
252  return tv.tv_usec / 1000 + 1000 * tv.tv_sec;
253 
254 #endif
255 
256 }
257 
258 uint64_t current_weekUs()
259 {
260 
261 #if PLATFORM_IS_WINDOWS
262 
263  LARGE_INTEGER StartingTime;
264  LARGE_INTEGER Frequency;
265 
266  QueryPerformanceCounter(&StartingTime);
267  QueryPerformanceFrequency(&Frequency);
268 
269  StartingTime.QuadPart *= 1000000;
270  StartingTime.QuadPart /= Frequency.QuadPart;
271 
272  return StartingTime.QuadPart;
273 
274 #else
275 
276  struct timeval tv;
277  gettimeofday(&tv, NULL);
278  return tv.tv_usec + 1000000 * tv.tv_sec;
279 
280 #endif
281 
282 }
283 
284 uint64_t timerUsStart()
285 {
286 
287 #if PLATFORM_IS_WINDOWS
288 
289  LARGE_INTEGER StartingTime;
290  QueryPerformanceCounter(&StartingTime);
291  return StartingTime.QuadPart;
292 
293 #else
294 
295  struct timeval tv;
296  gettimeofday(&tv, NULL);
297  return tv.tv_usec + 1000000 * tv.tv_sec;
298 
299 #endif
300 
301 }
302 
303 uint64_t timerUsEnd(uint64_t start)
304 {
305 
306 #if PLATFORM_IS_WINDOWS
307 
308  LARGE_INTEGER EndingTime, ElapsedTimeUs;
309  LARGE_INTEGER Frequency;
310 
311  QueryPerformanceCounter(&EndingTime);
312  QueryPerformanceFrequency(&Frequency);
313 
314  ElapsedTimeUs.QuadPart = EndingTime.QuadPart - start;
315 
316  ElapsedTimeUs.QuadPart *= 1000000;
317  ElapsedTimeUs.QuadPart /= Frequency.QuadPart;
318 
319  return ElapsedTimeUs.QuadPart;
320 
321 #else
322 
323  struct timeval tv;
324  gettimeofday(&tv, NULL);
325  uint64_t stopTimeUs = tv.tv_usec + 1000000 * tv.tv_sec;
326  return stopTimeUs - start;
327 
328 #endif
329 
330 }
331 
332 uint64_t timerRawStart()
333 {
334 
335 #if PLATFORM_IS_WINDOWS
336 
337  LARGE_INTEGER StartingTime;
338  QueryPerformanceCounter(&StartingTime);
339  return StartingTime.QuadPart;
340 
341 #else
342 
343  struct timeval tv;
344  gettimeofday(&tv, NULL);
345  return tv.tv_usec + 1000000 * tv.tv_sec;
346 
347 #endif
348 
349 }
350 
351 uint64_t timerRawEnd(uint64_t start)
352 {
353 
354 #if PLATFORM_IS_WINDOWS
355 
356  LARGE_INTEGER EndingTime, ElapsedTimeUs;
357  QueryPerformanceCounter(&EndingTime);
358  ElapsedTimeUs.QuadPart = EndingTime.QuadPart - start;
359  return ElapsedTimeUs.QuadPart;
360 
361 #else
362 
363  struct timeval tv;
364  gettimeofday(&tv, NULL);
365  uint64_t stopTimeUs = tv.tv_usec + 1000000 * tv.tv_sec;
366  return stopTimeUs - start;
367 
368 #endif
369 
370 }
371 
372 int bootloadUploadProgress(const void* port, float percent)
373 {
374  // Suppress compiler warnings
375  (void)port;
376 
377  printf("\rBootloader upload: %d%% \r", (int)(percent * 100.0f));
378  if (percent == 1.0f)
379  {
380  printf("\r\n");
381  }
382  fflush(stdout); // stdout stream is buffered (in Linux) so output is only seen after a newline '\n' or fflush().
383 
384  return 1; // could return 0 to abort
385 }
386 
387 int bootloadVerifyProgress(const void* port, float percent)
388 {
389  // Suppress compiler warnings
390  (void)port;
391 
392  printf("\rBootloader verify: %d%% \r", (int)(percent * 100.0f));
393  if (percent == 1.0f)
394  {
395  printf("\r\n");
396  }
397  fflush(stdout); // stdout stream is buffered (in Linux) so output is only seen after a newline '\n' or fflush().
398 
399  return 1; // could return 0 to abort
400 }
401 
402 float step_sinwave(float *sig_gen, float freqHz, float amplitude, float periodSec)
403 {
404  *sig_gen += freqHz * periodSec * C_TWOPI_F;
405 
406  // Unwrap Angle
407  if (*sig_gen > C_PI_F)
408  {
409  *sig_gen -= C_TWOPI_F;
410  }
411 
412  return amplitude * sinf(*sig_gen);
413 }
414 
415 FILE* openFile(const char* path, const char* mode)
416 {
417  FILE* file = 0;
418 
419 #ifdef _MSC_VER
420 
421  fopen_s(&file, path, mode);
422 
423 #else
424 
425  file = fopen(path, mode);
426 
427 #endif
428 
429  return file;
430 
431 }
432 
433 const char* tempPath()
434 {
435 
436 #if PLATFORM_IS_WINDOWS
437 
438  static char _tempPath[MAX_PATH];
439  if (_tempPath[0] == 0)
440  {
441  GetTempPathA(MAX_PATH, _tempPath);
442  }
443  return _tempPath;
444 
445 #else
446 
447  return "/tmp/";
448 
449 #endif
450 
451 }
452 
453 const unsigned char* getHexLookupTable()
454 {
455  static const unsigned char s_hexLookupTable[16] = { '0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F' };
456  return s_hexLookupTable;
457 }
458 
459 uint8_t getHexValue(unsigned char hex)
460 {
461  return 9 * (hex >> 6) + (hex & 017);
462 }
463 
464 void* threadCreateAndStart(void(*function)(void* info), void* info)
465 {
466 
467 #if C11_IS_ENABLED
468 
469  return new thread(function, info);
470 
471 #elif PLATFORM_IS_WINDOWS
472 
473  return CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)function, info, 0, NULL);
474 
475 #else
476 
477  pthread_t* t = (pthread_t*)MALLOC(sizeof(pthread_t));
478  pthread_create(t, NULL, function, info);
479  return t;
480 
481 #endif
482 
483 }
484 
485 void threadJoinAndFree(void* handle)
486 {
487  if (handle == NULL)
488  {
489  return;
490  }
491 
492 #if C11_IS_ENABLED
493 
494  ((thread*)handle)->join();
495  delete (thread*)handle;
496 
497 #elif PLATFORM_IS_WINDOWS
498 
499  WaitForSingleObject(handle, 0);
500  CloseHandle(handle);
501 
502 #else
503 
504  pthread_join((pthread_t*)handle);
505  FREE(handle);
506 
507 #endif
508 
509 }
510 
511 void* mutexCreate(void)
512 {
513 
514 #if C11_IS_ENABLED
515 
516  return new mutex();
517 
518 #elif PLATFORM_IS_WINDOWS
519 
520  CRITICAL_SECTION* c = (CRITICAL_SECTION*)MALLOC(sizeof(CRITICAL_SECTION));
521  InitializeCriticalSection(c);
522  return c;
523 
524 #else
525 
526  pthread_mutex_t* m = (pthread_mutex_t*)MALLOC(sizeof(pthread_mutex_t));
527  pthread_mutex_init(m, NULL);
528  return m;
529 
530 #endif
531 
532 }
533 
534 void mutexLock(void* handle)
535 {
536 
537 #if C11_IS_ENABLED
538 
539  ((mutex*)handle)->lock();
540 
541 #elif PLATFORM_IS_WINDOWS
542 
543  EnterCriticalSection((CRITICAL_SECTION*)handle);
544 
545 #else
546 
547  pthread_mutex_lock((pthread_mutex_t*)handle);
548 
549 #endif
550 
551 }
552 
553 void mutexUnlock(void* handle)
554 {
555 
556 #if C11_IS_ENABLED
557 
558  ((mutex*)handle)->unlock();
559 
560 #elif PLATFORM_IS_WINDOWS
561 
562  LeaveCriticalSection((CRITICAL_SECTION*)handle);
563 
564 #else
565 
566  pthread_mutex_unlock((pthread_mutex_t*)handle);
567 
568 #endif
569 
570 }
571 
572 void mutexFree(void* handle)
573 {
574  if (handle == NULL)
575  {
576  return;
577  }
578 
579 #if C11_IS_ENABLED
580 
581  delete (mutex*)handle;
582 
583 #elif PLATFORM_IS_WINDOWS
584 
585  DeleteCriticalSection((CRITICAL_SECTION*)handle);
586  FREE(handle);
587 
588 #else
589 
590  pthread_mutex_destroy((pthread_mutex_t*)handle);
591  FREE(handle);
592 
593 #endif
594 
595 }
596 
597 int32_t convertDateToMjd(int32_t year, int32_t month, int32_t day)
598 {
599  return
600  367 * year
601  - 7 * (year + (month + 9) / 12) / 4
602  - 3 * ((year + (month - 9) / 7) / 100 + 1) / 4
603  + 275 * month / 9
604  + day
605  + 1721028
606  - 2400000;
607 }
608 
609 int32_t convertGpsToMjd(int32_t gpsCycle, int32_t gpsWeek, int32_t gpsSeconds)
610 {
611  uint32_t gpsDays = ((gpsCycle * 1024) + gpsWeek) * 7 + (gpsSeconds / 86400);
612  return convertDateToMjd(1980, 1, 6) + gpsDays;
613 }
614 
615 void convertMjdToDate(int32_t mjd, int32_t* year, int32_t* month, int32_t* day)
616 {
617  int32_t j, c, y, m;
618 
619  j = mjd + 2400001 + 68569;
620  c = 4 * j / 146097;
621  j = j - (146097 * c + 3) / 4;
622  y = 4000 * (j + 1) / 1461001;
623  j = j - 1461 * y / 4 + 31;
624  m = 80 * j / 2447;
625  *day = j - 2447 * m / 80;
626  j = m / 11;
627  *month = m + 2 - (12 * j);
628  *year = 100 * (c - 49) + y + j;
629 }
630 
631 void convertGpsToHMS(int32_t gpsSeconds, int32_t* hour, int32_t* minutes, int32_t* seconds)
632 {
633  // shave off days
634  gpsSeconds = gpsSeconds % 86400;
635 
636  // compute hours, minutes, seconds
637  *hour = gpsSeconds / 3600;
638  *minutes = (gpsSeconds / 60) % 60;
639  *seconds = gpsSeconds % 60;
640 }
641 
642 void convertIns2ToIns1(ins_2_t *ins2, ins_1_t *result)
643 {
644  result->week = ins2->week;
645  result->timeOfWeek = ins2->timeOfWeek;
646  result->insStatus = ins2->insStatus;
647  result->hdwStatus = ins2->hdwStatus;
648  quat2euler(ins2->qn2b, result->theta);
649  memcpy(result->uvw, ins2->uvw, sizeof(Vector3));
650  memcpy(result->lla, ins2->lla, sizeof(Vector3d));
651  memset(result->ned, 0, sizeof(Vector3));
652 }
653 
654 void convertIns3ToIns1(ins_3_t *ins3, ins_1_t *result)
655 {
656  result->week = ins3->week;
657  result->timeOfWeek = ins3->timeOfWeek;
658  result->insStatus = ins3->insStatus;
659  result->hdwStatus = ins3->hdwStatus;
660  quat2euler(ins3->qn2b, result->theta);
661  memcpy(result->uvw, ins3->uvw, sizeof(Vector3));
662  memcpy(result->lla, ins3->lla, sizeof(Vector3d));
663  memset(result->ned, 0, sizeof(Vector3));
664 }
665 
666 void convertIns4ToIns1(ins_4_t *ins4, ins_1_t *result)
667 {
668  Vector3d llaRad;
669 
670  result->week = ins4->week;
671  result->timeOfWeek = ins4->timeOfWeek;
672  result->insStatus = ins4->insStatus;
673  result->hdwStatus = ins4->hdwStatus;
674 
675  quatConjRot(result->uvw, ins4->qe2b, ins4->ve);
676  ecef2lla(ins4->ecef, llaRad, 1, 5);
677  qe2b2EulerNedLLA(result->theta, ins4->qe2b, llaRad);
678  lla_Rad2Deg_d(result->lla, llaRad);
679  memset(result->ned, 0, sizeof(Vector3));
680 }
681 
682 gen_1axis_sensor_t gen1AxisSensorData(double time, const float val)
683 {
684  gen_1axis_sensor_t data;
685  data.time = time;
686  data.val = val;
687  return data;
688 }
689 
690 gen_3axis_sensor_t gen3AxisSensorData(double time, const float val[3])
691 {
692  gen_3axis_sensor_t data;
693  data.time = time;
694  data.val[0] = val[0];
695  data.val[1] = val[1];
696  data.val[2] = val[2];
697  return data;
698 }
699 
700 gen_dual_3axis_sensor_t genDual3AxisSensorData(double time, const float val1[3], const float val2[3])
701 {
702  gen_dual_3axis_sensor_t data;
703  data.time = time;
704  data.val1[0] = val1[0];
705  data.val1[1] = val1[1];
706  data.val1[2] = val1[2];
707  data.val2[0] = val2[0];
708  data.val2[1] = val2[1];
709  data.val2[2] = val2[2];
710  return data;
711 }
712 
713 gen_3axis_sensord_t gen3AxisSensorDataD(double time, const double val[3])
714 {
715  gen_3axis_sensord_t data;
716  data.time = time;
717  data.val[0] = val[0];
718  data.val[1] = val[1];
719  data.val[2] = val[2];
720  return data;
721 }
722 
723 #ifdef __cplusplus
724 } // extern C
725 #endif
726 
727 cMutex::cMutex()
728 {
729  m_handle = mutexCreate();
730 }
731 
732 cMutex::~cMutex()
733 {
734  mutexFree(m_handle);
735 }
736 
737 void cMutex::Lock()
738 {
739  mutexLock(m_handle);
740 }
741 
742 void cMutex::Unlock()
743 {
744  mutexUnlock(m_handle);
745 }
746 
747 cMutexLocker::cMutexLocker(cMutex* mutex)
748 {
749  assert(mutex != NULLPTR);
750  m_mutex = mutex;
751  m_mutex->Lock();
752 }
753 
754 cMutexLocker::~cMutexLocker()
755 {
756  m_mutex->Unlock();
757 }
758 
759 #if defined(ENABLE_IS_PYTHON_WRAPPER)
760 
761 test_initializer isutilities([](py::module &m) {
762  py::module m2 = m.def_submodule("isutilities");
763 
764  m2.def("bootloadUploadProgress", bootloadUploadProgress);
765  m2.def("bootloadVerifyProgress", bootloadVerifyProgress);
766 
767 });
768 
769 #endif
convertIns3ToIns1
void convertIns3ToIns1(ins_3_t *ins3, ins_1_t *result)
Definition: ISUtilities.cpp:654
-
PACKED::week
uint32_t week
Definition: data_sets.h:412
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include <stdio.h>
14 #include <iostream>
15 #include <math.h>
16 #include <string>
17 
18 #include "ISUtilities.h"
19 #include "ISPose.h"
20 #include "ISEarth.h"
21 
22 #if C11_IS_ENABLED
23 
24 #include <thread>
25 #include <mutex>
26 
27 #elif PLATFORM_IS_WINDOWS
28 
29 #include <windows.h>
30 #include <process.h>
31 
32 #elif PLATFORM_IS_LINUX
33 
34 #else
35 
36 #error "Unsupported platform"
37 
38 #endif
39 
40 using namespace std;
41 
42 static const string s_base64_chars = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/";
43 static inline bool is_base64(unsigned char c)
44 {
45  return (isalnum(c) || (c == '+') || (c == '/'));
46 }
47 
48 string base64Encode(const unsigned char* bytes_to_encode, unsigned int in_len)
49 {
50  string ret;
51  int i = 0;
52  int j = 0;
53  unsigned char char_array_3[3];
54  unsigned char char_array_4[4];
55 
56  while (in_len--)
57  {
58  char_array_3[i++] = *(bytes_to_encode++);
59  if (i == 3)
60  {
61  char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
62  char_array_4[1] = ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
63  char_array_4[2] = ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
64  char_array_4[3] = char_array_3[2] & 0x3f;
65  for (i = 0; (i < 4); i++)
66  {
67  ret += s_base64_chars[char_array_4[i]];
68  }
69  i = 0;
70  }
71  }
72 
73  if (i)
74  {
75  for (j = i; j < 3; j++)
76  {
77  char_array_3[j] = '\0';
78  }
79 
80  char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
81  char_array_4[1] = ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
82  char_array_4[2] = ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
83  char_array_4[3] = char_array_3[2] & 0x3f;
84 
85  for (j = 0; (j < i + 1); j++)
86  {
87  ret += s_base64_chars[char_array_4[j]];
88  }
89 
90  while ((i++ < 3))
91  {
92  ret += '=';
93  }
94  }
95 
96  return ret;
97 
98 }
99 
100 string base64Decode(const string& encoded_string)
101 {
102  int in_len = (int)encoded_string.size();
103  int i = 0;
104  int j = 0;
105  int in_ = 0;
106  unsigned char char_array_4[4], char_array_3[3];
107  string ret;
108 
109  while (in_len-- && (encoded_string[in_] != '=') && is_base64(encoded_string[in_]))
110  {
111  char_array_4[i++] = encoded_string[in_];
112  in_++;
113  if (i == 4)
114  {
115  for (i = 0; i < 4; i++)
116  {
117  char_array_4[i] = (unsigned char)s_base64_chars.find(char_array_4[i]);
118  }
119  char_array_3[0] = (char_array_4[0] << 2) + ((char_array_4[1] & 0x30) >> 4);
120  char_array_3[1] = ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
121  char_array_3[2] = ((char_array_4[2] & 0x3) << 6) + char_array_4[3];
122  for (i = 0; (i < 3); i++)
123  {
124  ret += char_array_3[i];
125  }
126  i = 0;
127  }
128  }
129 
130  if (i)
131  {
132  for (j = i; j < 4; j++)
133  {
134  char_array_4[j] = 0;
135  }
136  for (j = 0; j < 4; j++)
137  {
138  char_array_4[j] = (unsigned char)s_base64_chars.find(char_array_4[j]);
139  }
140  char_array_3[0] = (char_array_4[0] << 2) + ((char_array_4[1] & 0x30) >> 4);
141  char_array_3[1] = ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
142  char_array_3[2] = ((char_array_4[2] & 0x3) << 6) + char_array_4[3];
143  for (j = 0; (j < i - 1); j++)
144  {
145  ret += char_array_3[j];
146  }
147  }
148 
149  return ret;
150 }
151 
152 size_t splitString(const string& s, const string& delimiter, vector<string>& result)
153 {
154  result.clear();
155  size_t pos = 0;
156  size_t pos2;
157  while (true)
158  {
159  pos2 = s.find(delimiter, pos);
160  if (pos2 == string::npos)
161  {
162  result.push_back(s.substr(pos));
163  break;
164  }
165  else
166  {
167  result.push_back(s.substr(pos, pos2 - pos));
168  pos = pos2 + delimiter.length();
169  }
170  }
171  return result.size();
172 }
173 
174 #ifdef __cplusplus
175 extern "C" {
176 #endif
177 
178 #if PLATFORM_IS_WINDOWS
179 
180  void usleep(__int64 usec)
181  {
182  HANDLE timer;
183  LARGE_INTEGER ft;
184 
185  ft.QuadPart = -(10 * usec); // Convert to 100 nanosecond interval, negative value indicates relative time
186 
187  timer = CreateWaitableTimer(NULL, true, NULL);
188  SetWaitableTimer(timer, &ft, 0, NULL, NULL, 0);
189  WaitForSingleObject(timer, INFINITE);
190  CloseHandle(timer);
191  }
192 
193 #else
194 
195 #include <unistd.h>
196 #include <sys/time.h>
197 
198 #endif
199 
200 int current_timeSec()
201 {
202 
203 #if PLATFORM_IS_WINDOWS
204 
205  SYSTEMTIME st;
206  GetLocalTime(&st);
207  return st.wSecond;
208 
209 #else
210 
211  struct timeval tv;
212  gettimeofday(&tv, NULL);
213  return tv.tv_sec;
214 
215 #endif
216 
217 }
218 
219 int current_timeMs()
220 {
221 
222 #if PLATFORM_IS_WINDOWS
223 
224  SYSTEMTIME st;
225  GetSystemTime(&st);
226  return st.wMilliseconds;
227 
228 #else
229 
230  struct timeval tv;
231  gettimeofday(&tv, NULL);
232  return tv.tv_usec / 1000;
233 
234 #endif
235 
236 }
237 
239 int current_weekMs()
240 {
241 
242 #if PLATFORM_IS_WINDOWS
243 
244  SYSTEMTIME st;
245  GetSystemTime(&st);
246  return st.wMilliseconds + 1000 * (st.wSecond + 60 * (st.wMinute + 60 * (st.wHour + 24 * st.wDayOfWeek)));
247 
248 #else
249 
250  struct timeval tv;
251  gettimeofday(&tv, NULL);
252  return tv.tv_usec / 1000 + 1000 * tv.tv_sec;
253 
254 #endif
255 
256 }
257 
258 uint64_t current_weekUs()
259 {
260 
261 #if PLATFORM_IS_WINDOWS
262 
263  LARGE_INTEGER StartingTime;
264  LARGE_INTEGER Frequency;
265 
266  QueryPerformanceCounter(&StartingTime);
267  QueryPerformanceFrequency(&Frequency);
268 
269  StartingTime.QuadPart *= 1000000;
270  StartingTime.QuadPart /= Frequency.QuadPart;
271 
272  return StartingTime.QuadPart;
273 
274 #else
275 
276  struct timeval tv;
277  gettimeofday(&tv, NULL);
278  return tv.tv_usec + 1000000 * tv.tv_sec;
279 
280 #endif
281 
282 }
283 
284 uint64_t timerUsStart()
285 {
286 
287 #if PLATFORM_IS_WINDOWS
288 
289  LARGE_INTEGER StartingTime;
290  QueryPerformanceCounter(&StartingTime);
291  return StartingTime.QuadPart;
292 
293 #else
294 
295  struct timeval tv;
296  gettimeofday(&tv, NULL);
297  return tv.tv_usec + 1000000 * tv.tv_sec;
298 
299 #endif
300 
301 }
302 
303 uint64_t timerUsEnd(uint64_t start)
304 {
305 
306 #if PLATFORM_IS_WINDOWS
307 
308  LARGE_INTEGER EndingTime, ElapsedTimeUs;
309  LARGE_INTEGER Frequency;
310 
311  QueryPerformanceCounter(&EndingTime);
312  QueryPerformanceFrequency(&Frequency);
313 
314  ElapsedTimeUs.QuadPart = EndingTime.QuadPart - start;
315 
316  ElapsedTimeUs.QuadPart *= 1000000;
317  ElapsedTimeUs.QuadPart /= Frequency.QuadPart;
318 
319  return ElapsedTimeUs.QuadPart;
320 
321 #else
322 
323  struct timeval tv;
324  gettimeofday(&tv, NULL);
325  uint64_t stopTimeUs = tv.tv_usec + 1000000 * tv.tv_sec;
326  return stopTimeUs - start;
327 
328 #endif
329 
330 }
331 
332 uint64_t timerRawStart()
333 {
334 
335 #if PLATFORM_IS_WINDOWS
336 
337  LARGE_INTEGER StartingTime;
338  QueryPerformanceCounter(&StartingTime);
339  return StartingTime.QuadPart;
340 
341 #else
342 
343  struct timeval tv;
344  gettimeofday(&tv, NULL);
345  return tv.tv_usec + 1000000 * tv.tv_sec;
346 
347 #endif
348 
349 }
350 
351 uint64_t timerRawEnd(uint64_t start)
352 {
353 
354 #if PLATFORM_IS_WINDOWS
355 
356  LARGE_INTEGER EndingTime, ElapsedTimeUs;
357  QueryPerformanceCounter(&EndingTime);
358  ElapsedTimeUs.QuadPart = EndingTime.QuadPart - start;
359  return ElapsedTimeUs.QuadPart;
360 
361 #else
362 
363  struct timeval tv;
364  gettimeofday(&tv, NULL);
365  uint64_t stopTimeUs = tv.tv_usec + 1000000 * tv.tv_sec;
366  return stopTimeUs - start;
367 
368 #endif
369 
370 }
371 
372 int bootloadUploadProgress(const void* port, float percent)
373 {
374  // Suppress compiler warnings
375  (void)port;
376 
377  printf("\rBootloader upload: %d%% \r", (int)(percent * 100.0f));
378  if (percent == 1.0f)
379  {
380  printf("\r\n");
381  }
382  fflush(stdout); // stdout stream is buffered (in Linux) so output is only seen after a newline '\n' or fflush().
383 
384  return 1; // could return 0 to abort
385 }
386 
387 int bootloadVerifyProgress(const void* port, float percent)
388 {
389  // Suppress compiler warnings
390  (void)port;
391 
392  printf("\rBootloader verify: %d%% \r", (int)(percent * 100.0f));
393  if (percent == 1.0f)
394  {
395  printf("\r\n");
396  }
397  fflush(stdout); // stdout stream is buffered (in Linux) so output is only seen after a newline '\n' or fflush().
398 
399  return 1; // could return 0 to abort
400 }
401 
402 float step_sinwave(float *sig_gen, float freqHz, float amplitude, float periodSec)
403 {
404  *sig_gen += freqHz * periodSec * C_TWOPI_F;
405 
406  // Unwrap Angle
407  if (*sig_gen > C_PI_F)
408  {
409  *sig_gen -= C_TWOPI_F;
410  }
411 
412  return amplitude * sinf(*sig_gen);
413 }
414 
415 FILE* openFile(const char* path, const char* mode)
416 {
417  FILE* file = 0;
418 
419 #ifdef _MSC_VER
420 
421  fopen_s(&file, path, mode);
422 
423 #else
424 
425  file = fopen(path, mode);
426 
427 #endif
428 
429  return file;
430 
431 }
432 
433 const char* tempPath()
434 {
435 
436 #if PLATFORM_IS_WINDOWS
437 
438  static char _tempPath[MAX_PATH];
439  if (_tempPath[0] == 0)
440  {
441  GetTempPathA(MAX_PATH, _tempPath);
442  }
443  return _tempPath;
444 
445 #else
446 
447  return "/tmp/";
448 
449 #endif
450 
451 }
452 
453 const unsigned char* getHexLookupTable()
454 {
455  static const unsigned char s_hexLookupTable[16] = { '0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F' };
456  return s_hexLookupTable;
457 }
458 
459 uint8_t getHexValue(unsigned char hex)
460 {
461  return 9 * (hex >> 6) + (hex & 017);
462 }
463 
464 void* threadCreateAndStart(void(*function)(void* info), void* info)
465 {
466 
467 #if C11_IS_ENABLED
468 
469  return new thread(function, info);
470 
471 #elif PLATFORM_IS_WINDOWS
472 
473  return CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)function, info, 0, NULL);
474 
475 #else
476 
477  pthread_t* t = (pthread_t*)MALLOC(sizeof(pthread_t));
478  pthread_create(t, NULL, function, info);
479  return t;
480 
481 #endif
482 
483 }
484 
485 void threadJoinAndFree(void* handle)
486 {
487  if (handle == NULL)
488  {
489  return;
490  }
491 
492 #if C11_IS_ENABLED
493 
494  ((thread*)handle)->join();
495  delete (thread*)handle;
496 
497 #elif PLATFORM_IS_WINDOWS
498 
499  WaitForSingleObject(handle, 0);
500  CloseHandle(handle);
501 
502 #else
503 
504  pthread_join((pthread_t*)handle);
505  FREE(handle);
506 
507 #endif
508 
509 }
510 
511 void* mutexCreate(void)
512 {
513 
514 #if C11_IS_ENABLED
515 
516  return new mutex();
517 
518 #elif PLATFORM_IS_WINDOWS
519 
520  CRITICAL_SECTION* c = (CRITICAL_SECTION*)MALLOC(sizeof(CRITICAL_SECTION));
521  InitializeCriticalSection(c);
522  return c;
523 
524 #else
525 
526  pthread_mutex_t* m = (pthread_mutex_t*)MALLOC(sizeof(pthread_mutex_t));
527  pthread_mutex_init(m, NULL);
528  return m;
529 
530 #endif
531 
532 }
533 
534 void mutexLock(void* handle)
535 {
536 
537 #if C11_IS_ENABLED
538 
539  ((mutex*)handle)->lock();
540 
541 #elif PLATFORM_IS_WINDOWS
542 
543  EnterCriticalSection((CRITICAL_SECTION*)handle);
544 
545 #else
546 
547  pthread_mutex_lock((pthread_mutex_t*)handle);
548 
549 #endif
550 
551 }
552 
553 void mutexUnlock(void* handle)
554 {
555 
556 #if C11_IS_ENABLED
557 
558  ((mutex*)handle)->unlock();
559 
560 #elif PLATFORM_IS_WINDOWS
561 
562  LeaveCriticalSection((CRITICAL_SECTION*)handle);
563 
564 #else
565 
566  pthread_mutex_unlock((pthread_mutex_t*)handle);
567 
568 #endif
569 
570 }
571 
572 void mutexFree(void* handle)
573 {
574  if (handle == NULL)
575  {
576  return;
577  }
578 
579 #if C11_IS_ENABLED
580 
581  delete (mutex*)handle;
582 
583 #elif PLATFORM_IS_WINDOWS
584 
585  DeleteCriticalSection((CRITICAL_SECTION*)handle);
586  FREE(handle);
587 
588 #else
589 
590  pthread_mutex_destroy((pthread_mutex_t*)handle);
591  FREE(handle);
592 
593 #endif
594 
595 }
596 
597 int32_t convertDateToMjd(int32_t year, int32_t month, int32_t day)
598 {
599  return
600  367 * year
601  - 7 * (year + (month + 9) / 12) / 4
602  - 3 * ((year + (month - 9) / 7) / 100 + 1) / 4
603  + 275 * month / 9
604  + day
605  + 1721028
606  - 2400000;
607 }
608 
609 int32_t convertGpsToMjd(int32_t gpsCycle, int32_t gpsWeek, int32_t gpsSeconds)
610 {
611  uint32_t gpsDays = ((gpsCycle * 1024) + gpsWeek) * 7 + (gpsSeconds / 86400);
612  return convertDateToMjd(1980, 1, 6) + gpsDays;
613 }
614 
615 void convertMjdToDate(int32_t mjd, int32_t* year, int32_t* month, int32_t* day)
616 {
617  int32_t j, c, y, m;
618 
619  j = mjd + 2400001 + 68569;
620  c = 4 * j / 146097;
621  j = j - (146097 * c + 3) / 4;
622  y = 4000 * (j + 1) / 1461001;
623  j = j - 1461 * y / 4 + 31;
624  m = 80 * j / 2447;
625  *day = j - 2447 * m / 80;
626  j = m / 11;
627  *month = m + 2 - (12 * j);
628  *year = 100 * (c - 49) + y + j;
629 }
630 
631 void convertGpsToHMS(int32_t gpsSeconds, int32_t* hour, int32_t* minutes, int32_t* seconds)
632 {
633  // shave off days
634  gpsSeconds = gpsSeconds % 86400;
635 
636  // compute hours, minutes, seconds
637  *hour = gpsSeconds / 3600;
638  *minutes = (gpsSeconds / 60) % 60;
639  *seconds = gpsSeconds % 60;
640 }
641 
642 void convertIns2ToIns1(ins_2_t *ins2, ins_1_t *result)
643 {
644  result->week = ins2->week;
645  result->timeOfWeek = ins2->timeOfWeek;
646  result->insStatus = ins2->insStatus;
647  result->hdwStatus = ins2->hdwStatus;
648  quat2euler(ins2->qn2b, result->theta);
649  memcpy(result->uvw, ins2->uvw, sizeof(Vector3));
650  memcpy(result->lla, ins2->lla, sizeof(Vector3d));
651  memset(result->ned, 0, sizeof(Vector3));
652 }
653 
654 void convertIns3ToIns1(ins_3_t *ins3, ins_1_t *result)
655 {
656  result->week = ins3->week;
657  result->timeOfWeek = ins3->timeOfWeek;
658  result->insStatus = ins3->insStatus;
659  result->hdwStatus = ins3->hdwStatus;
660  quat2euler(ins3->qn2b, result->theta);
661  memcpy(result->uvw, ins3->uvw, sizeof(Vector3));
662  memcpy(result->lla, ins3->lla, sizeof(Vector3d));
663  memset(result->ned, 0, sizeof(Vector3));
664 }
665 
666 void convertIns4ToIns1(ins_4_t *ins4, ins_1_t *result)
667 {
668  Vector3d llaRad;
669 
670  result->week = ins4->week;
671  result->timeOfWeek = ins4->timeOfWeek;
672  result->insStatus = ins4->insStatus;
673  result->hdwStatus = ins4->hdwStatus;
674 
675  quatConjRot(result->uvw, ins4->qe2b, ins4->ve);
676  ecef2lla(ins4->ecef, llaRad, 1, 5);
677  qe2b2EulerNedLLA(result->theta, ins4->qe2b, llaRad);
678  lla_Rad2Deg_d(result->lla, llaRad);
679  memset(result->ned, 0, sizeof(Vector3));
680 }
681 
682 gen_1axis_sensor_t gen1AxisSensorData(double time, const float val)
683 {
684  gen_1axis_sensor_t data;
685  data.time = time;
686  data.val = val;
687  return data;
688 }
689 
690 gen_3axis_sensor_t gen3AxisSensorData(double time, const float val[3])
691 {
692  gen_3axis_sensor_t data;
693  data.time = time;
694  data.val[0] = val[0];
695  data.val[1] = val[1];
696  data.val[2] = val[2];
697  return data;
698 }
699 
700 gen_dual_3axis_sensor_t genDual3AxisSensorData(double time, const float val1[3], const float val2[3])
701 {
702  gen_dual_3axis_sensor_t data;
703  data.time = time;
704  data.val1[0] = val1[0];
705  data.val1[1] = val1[1];
706  data.val1[2] = val1[2];
707  data.val2[0] = val2[0];
708  data.val2[1] = val2[1];
709  data.val2[2] = val2[2];
710  return data;
711 }
712 
713 gen_3axis_sensord_t gen3AxisSensorDataD(double time, const double val[3])
714 {
715  gen_3axis_sensord_t data;
716  data.time = time;
717  data.val[0] = val[0];
718  data.val[1] = val[1];
719  data.val[2] = val[2];
720  return data;
721 }
722 
723 #ifdef __cplusplus
724 } // extern C
725 #endif
726 
727 cMutex::cMutex()
728 {
729  m_handle = mutexCreate();
730 }
731 
732 cMutex::~cMutex()
733 {
734  mutexFree(m_handle);
735 }
736 
737 void cMutex::Lock()
738 {
739  mutexLock(m_handle);
740 }
741 
742 void cMutex::Unlock()
743 {
744  mutexUnlock(m_handle);
745 }
746 
747 cMutexLocker::cMutexLocker(cMutex* mutex)
748 {
749  assert(mutex != NULLPTR);
750  m_mutex = mutex;
751  m_mutex->Lock();
752 }
753 
754 cMutexLocker::~cMutexLocker()
755 {
756  m_mutex->Unlock();
757 }
convertIns3ToIns1
void convertIns3ToIns1(ins_3_t *ins3, ins_1_t *result)
Definition: ISUtilities.cpp:654
+
PACKED::week
uint32_t week
Definition: data_sets.h:436
bootloadUploadProgress
int bootloadUploadProgress(const void *port, float percent)
Definition: ISUtilities.cpp:372
-
C_TWOPI_F
#define C_TWOPI_F
Definition: ISConstants.h:496
+
C_TWOPI_F
#define C_TWOPI_F
Definition: ISConstants.h:493
bootloadVerifyProgress
int bootloadVerifyProgress(const void *port, float percent)
Definition: ISUtilities.cpp:387
convertGpsToMjd
int32_t convertGpsToMjd(int32_t gpsCycle, int32_t gpsWeek, int32_t gpsSeconds)
Definition: ISUtilities.cpp:609
convertIns4ToIns1
void convertIns4ToIns1(ins_4_t *ins4, ins_1_t *result)
Definition: ISUtilities.cpp:666
lla_Rad2Deg_d
void lla_Rad2Deg_d(double result[3], double lla[3])
Definition: ISEarth.c:308
threadCreateAndStart
void * threadCreateAndStart(void(*function)(void *info), void *info)
Definition: ISUtilities.cpp:464
-
PACKED::val2
float val2[3]
Definition: data_sets.h:781
+
PACKED::val2
float val2[3]
Definition: data_sets.h:793
mutexCreate
void * mutexCreate(void)
Definition: ISUtilities.cpp:511
-
PACKED::timeOfWeek
double timeOfWeek
Definition: data_sets.h:415
+
PACKED::timeOfWeek
double timeOfWeek
Definition: data_sets.h:439
current_weekUs
uint64_t current_weekUs()
Definition: ISUtilities.cpp:258
-
PACKED::lla
double lla[3]
Definition: data_sets.h:430
+
PACKED::lla
double lla[3]
Definition: data_sets.h:454
qe2b2EulerNedLLA
void qe2b2EulerNedLLA(Vector3 eul, const Vector4 qe2b, const Vector3d lla)
Definition: ISPose.c:282
convertGpsToHMS
void convertGpsToHMS(int32_t gpsSeconds, int32_t *hour, int32_t *minutes, int32_t *seconds)
Definition: ISUtilities.cpp:631
timerRawEnd
uint64_t timerRawEnd(uint64_t start)
Definition: ISUtilities.cpp:351
-
NULLPTR
#define NULLPTR
Definition: ISConstants.h:380
+
NULLPTR
#define NULLPTR
Definition: ISConstants.h:377
mutexUnlock
void mutexUnlock(void *handle)
Definition: ISUtilities.cpp:553
step_sinwave
float step_sinwave(float *sig_gen, float freqHz, float amplitude, float periodSec)
Definition: ISUtilities.cpp:402
mutexLock
void mutexLock(void *handle)
Definition: ISUtilities.cpp:534
-
PACKED::theta
float theta[3]
Definition: data_sets.h:424
+
PACKED::theta
float theta[3]
Definition: data_sets.h:448
timerUsStart
uint64_t timerUsStart()
Definition: ISUtilities.cpp:284
getHexValue
uint8_t getHexValue(unsigned char hex)
Definition: ISUtilities.cpp:459
ISUtilities.h
genDual3AxisSensorData
gen_dual_3axis_sensor_t genDual3AxisSensorData(double time, const float val1[3], const float val2[3])
Definition: ISUtilities.cpp:700
-
PACKED::time
double time
Definition: data_sets.h:532
+
PACKED::time
double time
Definition: data_sets.h:556
ecef2lla
void ecef2lla(const double *Pe, double *LLA, const bool metric, const int Niter)
Definition: ISEarth.c:40
-
PACKED::qe2b
float qe2b[4]
Definition: data_sets.h:508
+
PACKED::qe2b
float qe2b[4]
Definition: data_sets.h:532
base64Encode
string base64Encode(const unsigned char *bytes_to_encode, unsigned int in_len)
Definition: ISUtilities.cpp:48
timerRawStart
uint64_t timerRawStart()
Definition: ISUtilities.cpp:332
-
PACKED::qn2b
float qn2b[4]
Definition: data_sets.h:453
-
PACKED::uvw
float uvw[3]
Definition: data_sets.h:427
+
PACKED::qn2b
float qn2b[4]
Definition: data_sets.h:477
+
PACKED::uvw
float uvw[3]
Definition: data_sets.h:451
openFile
FILE * openFile(const char *path, const char *mode)
Definition: ISUtilities.cpp:415
-
PACKED::val1
float val1[3]
Definition: data_sets.h:778
+
PACKED::val1
float val1[3]
Definition: data_sets.h:790
quat2euler
void quat2euler(const Quat_t q, Euler_t theta)
Definition: ISPose.c:185
-
PACKED::insStatus
uint32_t insStatus
Definition: data_sets.h:418
+
PACKED::insStatus
uint32_t insStatus
Definition: data_sets.h:442
gen3AxisSensorDataD
gen_3axis_sensord_t gen3AxisSensorDataD(double time, const double val[3])
Definition: ISUtilities.cpp:713
-
PACKED::ecef
double ecef[3]
Definition: data_sets.h:514
-
PACKED::hdwStatus
uint32_t hdwStatus
Definition: data_sets.h:421
-
C_PI_F
#define C_PI_F
Definition: ISConstants.h:495
-
FREE
#define FREE(m)
Definition: ISConstants.h:134
-
MALLOC
#define MALLOC(m)
Definition: ISConstants.h:133
+
PACKED::ecef
double ecef[3]
Definition: data_sets.h:538
+
PACKED::hdwStatus
uint32_t hdwStatus
Definition: data_sets.h:445
+
C_PI_F
#define C_PI_F
Definition: ISConstants.h:492
+
FREE
#define FREE(m)
Definition: ISConstants.h:135
+
MALLOC
#define MALLOC(m)
Definition: ISConstants.h:134
current_timeSec
int current_timeSec()
Definition: ISUtilities.cpp:200
-
Vector3
f_t Vector3[3]
Definition: ISConstants.h:727
-
PACKED::ned
float ned[3]
Definition: data_sets.h:433
-
PACKED::val
float val
Definition: data_sets.h:758
+
Vector3
f_t Vector3[3]
Definition: ISConstants.h:724
+
PACKED::ned
float ned[3]
Definition: data_sets.h:457
+
PACKED::val
float val
Definition: data_sets.h:770
timerUsEnd
uint64_t timerUsEnd(uint64_t start)
Definition: ISUtilities.cpp:303
gen1AxisSensorData
gen_1axis_sensor_t gen1AxisSensorData(double time, const float val)
Definition: ISUtilities.cpp:682
splitString
size_t splitString(const string &s, const string &delimiter, vector< string > &result)
Definition: ISUtilities.cpp:152
@@ -127,7 +127,7 @@
ISEarth.h
gen3AxisSensorData
gen_3axis_sensor_t gen3AxisSensorData(double time, const float val[3])
Definition: ISUtilities.cpp:690
tempPath
const char * tempPath()
Definition: ISUtilities.cpp:433
-
PACKED::ve
float ve[3]
Definition: data_sets.h:511
+
PACKED::ve
float ve[3]
Definition: data_sets.h:535
ISPose.h
convertIns2ToIns1
void convertIns2ToIns1(ins_2_t *ins2, ins_1_t *result)
Definition: ISUtilities.cpp:642
base64Decode
string base64Decode(const string &encoded_string)
Definition: ISUtilities.cpp:100
@@ -136,10 +136,10 @@
quatConjRot
void quatConjRot(Vector3_t result, const Quat_t q, const Vector3_t v)
Definition: ISPose.c:161
current_timeMs
int current_timeMs()
Definition: ISUtilities.cpp:219
getHexLookupTable
const unsigned char * getHexLookupTable()
Definition: ISUtilities.cpp:453
-
Vector3d
double Vector3d[3]
Definition: ISConstants.h:726
+
Vector3d
double Vector3d[3]
Definition: ISConstants.h:723
mutexFree
void mutexFree(void *handle)
Definition: ISUtilities.cpp:572
convertDateToMjd
int32_t convertDateToMjd(int32_t year, int32_t month, int32_t day)
Definition: ISUtilities.cpp:597
- +
diff --git a/docs/html/_i_s_utilities_8h.html b/docs/html/_i_s_utilities_8h.html index 70ffc0f05..bf38cb70a 100644 --- a/docs/html/_i_s_utilities_8h.html +++ b/docs/html/_i_s_utilities_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -174,7 +174,7 @@

-

Definition at line 137 of file ISUtilities.h.

+

Definition at line 131 of file ISUtilities.h.

@@ -194,7 +194,7 @@

-

Definition at line 140 of file ISUtilities.h.

+

Definition at line 134 of file ISUtilities.h.

@@ -214,7 +214,7 @@

-

Definition at line 144 of file ISUtilities.h.

+

Definition at line 138 of file ISUtilities.h.

diff --git a/docs/html/_i_s_utilities_8h_source.html b/docs/html/_i_s_utilities_8h_source.html index 498c2c567..6dff2f8bb 100644 --- a/docs/html/_i_s_utilities_8h_source.html +++ b/docs/html/_i_s_utilities_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,7 +72,7 @@
ISUtilities.h
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef IS_UTILITIES_H
14 #define IS_UTILITIES_H
15 
16 #include <stdlib.h>
17 #include <inttypes.h>
18 #include <stdio.h>
19 #include "data_sets.h"
20 
21 #if defined(ENABLE_IS_PYTHON_WRAPPER)
22 
23 #include "../pySDK/pySDK.h"
24 
25 #endif
26 
27 // C++ API
28 #ifdef __cplusplus
29 
30 #include <string>
31 #include <vector>
32 
33 using namespace std;
34 
41 string base64Encode(const unsigned char* bytes_to_encode, unsigned int in_len);
42 
48 string base64Decode(const string& encoded_string);
49 
57 size_t splitString(const string& s, const string& delimiter, vector<string>& result);
58 
62 class cMutex
63 {
64 public:
68  cMutex();
69 
73  virtual ~cMutex();
74 
78  void Lock();
79 
83  void Unlock();
84 
85 private:
86  void* m_handle;
87 };
88 
92 class cMutexLocker
93 {
94 public:
99  cMutexLocker(cMutex* mutex);
100 
104  virtual ~cMutexLocker();
105 
106 private:
107  cMutex* m_mutex;
108 };
109 
110 #endif
111 
112 // C API...
113 #ifdef __cplusplus
114 extern "C" {
115 #endif
116 
117 #if PLATFORM_IS_WINDOWS
118 
119 void usleep(__int64 usec);
120 
121 #define DEFAULT_COM_PORT "COM4"
122 
123 #ifndef SLEEP_MS
124 #define SLEEP_MS(milliseconds) Sleep(milliseconds);
125 #endif
126 
127 #ifndef SLEEP_US
128 #define SLEEP_US(timeUs) usleep(timeUs);
129 #endif
130 
131 #else // LINUX
132 
133 #include <unistd.h>
134 #include <sys/time.h>
135 #include <stdarg.h>
136 
137 #define DEFAULT_COM_PORT "/dev/ttyUSB0"
138 
139 #ifndef SLEEP_MS
140 #define SLEEP_MS(timeMs) usleep(timeMs * 1000);
141 #endif
142 
143 #ifndef SLEEP_US
144 #define SLEEP_US(timeUs) usleep(timeUs);
145 #endif
146 
147 #endif
148 
149 int current_timeSec();
150 int current_timeMs();
151 int current_weekMs();
152 uint64_t current_weekUs();
153 
154 uint64_t timerUsStart();
155 uint64_t timerUsEnd(uint64_t start);
156 uint64_t timerRawStart();
157 uint64_t timerRawEnd(uint64_t start);
158 
159 int bootloadUploadProgress(const void* port, float percent);
160 int bootloadVerifyProgress(const void* port, float percent);
161 float step_sinwave(float *sig_gen, float freqHz, float amplitude, float periodSec);
162 
163 FILE* openFile(const char* path, const char* mode);
164 const char* tempPath(); // ends with dir separator
165 
170 const unsigned char* getHexLookupTable();
171 
177 uint8_t getHexValue(unsigned char hex);
178 
185 void* threadCreateAndStart(void(*function)(void* info), void* info);
186 
191 void threadJoinAndFree(void* handle);
192 
193 /*
194 * Create a mutex which allows exclusive access to a shared resource
195 * @return the mutex handle
196 */
197 void* mutexCreate(void);
198 
203 void mutexLock(void* handle);
204 
209 void mutexUnlock(void* handle);
210 
215 void mutexFree(void* handle);
216 
217 // taken from http://www.leapsecond.com/tools/gpsdate.c, uses UTC time
218 int32_t convertDateToMjd(int32_t year, int32_t month, int32_t day);
219 int32_t convertGpsToMjd(int32_t gpsCycle, int32_t gpsWeek, int32_t gpsSeconds);
220 void convertMjdToDate(int32_t mjd, int32_t* year, int32_t* month, int32_t* day);
221 void convertGpsToHMS(int32_t gpsSeconds, int32_t* hour, int32_t* minutes, int32_t* seconds);
222 void convertIns2ToIns1(ins_2_t *ins2, ins_1_t *result);
223 void convertIns3ToIns1(ins_3_t *ins3, ins_1_t *result);
224 void convertIns4ToIns1(ins_4_t *ins4, ins_1_t *result);
225 
226 gen_1axis_sensor_t gen1AxisSensorData(double time, const float val);
227 gen_3axis_sensor_t gen3AxisSensorData(double time, const float val[3]);
228 gen_dual_3axis_sensor_t genDual3AxisSensorData(double time, const float val1[3], const float val2[3]);
229 gen_3axis_sensord_t gen3AxisSensorDataD(double time, const double val[3]);
230 
231 #ifdef __cplusplus
232 } // extern C
233 #endif
234 
235 #endif // IS_UTILITIES_H
threadCreateAndStart
void * threadCreateAndStart(void(*function)(void *info), void *info)
Definition: ISUtilities.cpp:464
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef IS_UTILITIES_H
14 #define IS_UTILITIES_H
15 
16 #include <stdlib.h>
17 #include <inttypes.h>
18 #include <stdio.h>
19 #include "data_sets.h"
20 
21 // C++ API
22 #ifdef __cplusplus
23 
24 #include <string>
25 #include <vector>
26 
27 using namespace std;
28 
35 string base64Encode(const unsigned char* bytes_to_encode, unsigned int in_len);
36 
42 string base64Decode(const string& encoded_string);
43 
51 size_t splitString(const string& s, const string& delimiter, vector<string>& result);
52 
56 class cMutex
57 {
58 public:
62  cMutex();
63 
67  virtual ~cMutex();
68 
72  void Lock();
73 
77  void Unlock();
78 
79 private:
80  void* m_handle;
81 };
82 
86 class cMutexLocker
87 {
88 public:
93  cMutexLocker(cMutex* mutex);
94 
98  virtual ~cMutexLocker();
99 
100 private:
101  cMutex* m_mutex;
102 };
103 
104 #endif
105 
106 // C API...
107 #ifdef __cplusplus
108 extern "C" {
109 #endif
110 
111 #if PLATFORM_IS_WINDOWS
112 
113 void usleep(__int64 usec);
114 
115 #define DEFAULT_COM_PORT "COM4"
116 
117 #ifndef SLEEP_MS
118 #define SLEEP_MS(milliseconds) Sleep(milliseconds);
119 #endif
120 
121 #ifndef SLEEP_US
122 #define SLEEP_US(timeUs) usleep(timeUs);
123 #endif
124 
125 #else // LINUX
126 
127 #include <unistd.h>
128 #include <sys/time.h>
129 #include <stdarg.h>
130 
131 #define DEFAULT_COM_PORT "/dev/ttyUSB0"
132 
133 #ifndef SLEEP_MS
134 #define SLEEP_MS(timeMs) usleep(timeMs * 1000);
135 #endif
136 
137 #ifndef SLEEP_US
138 #define SLEEP_US(timeUs) usleep(timeUs);
139 #endif
140 
141 #endif
142 
143 int current_timeSec();
144 int current_timeMs();
145 int current_weekMs();
146 uint64_t current_weekUs();
147 
148 uint64_t timerUsStart();
149 uint64_t timerUsEnd(uint64_t start);
150 uint64_t timerRawStart();
151 uint64_t timerRawEnd(uint64_t start);
152 
153 int bootloadUploadProgress(const void* port, float percent);
154 int bootloadVerifyProgress(const void* port, float percent);
155 float step_sinwave(float *sig_gen, float freqHz, float amplitude, float periodSec);
156 
157 FILE* openFile(const char* path, const char* mode);
158 const char* tempPath(); // ends with dir separator
159 
164 const unsigned char* getHexLookupTable();
165 
171 uint8_t getHexValue(unsigned char hex);
172 
179 void* threadCreateAndStart(void(*function)(void* info), void* info);
180 
185 void threadJoinAndFree(void* handle);
186 
187 /*
188 * Create a mutex which allows exclusive access to a shared resource
189 * @return the mutex handle
190 */
191 void* mutexCreate(void);
192 
197 void mutexLock(void* handle);
198 
203 void mutexUnlock(void* handle);
204 
209 void mutexFree(void* handle);
210 
211 // taken from http://www.leapsecond.com/tools/gpsdate.c, uses UTC time
212 int32_t convertDateToMjd(int32_t year, int32_t month, int32_t day);
213 int32_t convertGpsToMjd(int32_t gpsCycle, int32_t gpsWeek, int32_t gpsSeconds);
214 void convertMjdToDate(int32_t mjd, int32_t* year, int32_t* month, int32_t* day);
215 void convertGpsToHMS(int32_t gpsSeconds, int32_t* hour, int32_t* minutes, int32_t* seconds);
216 void convertIns2ToIns1(ins_2_t *ins2, ins_1_t *result);
217 void convertIns3ToIns1(ins_3_t *ins3, ins_1_t *result);
218 void convertIns4ToIns1(ins_4_t *ins4, ins_1_t *result);
219 
220 gen_1axis_sensor_t gen1AxisSensorData(double time, const float val);
221 gen_3axis_sensor_t gen3AxisSensorData(double time, const float val[3]);
222 gen_dual_3axis_sensor_t genDual3AxisSensorData(double time, const float val1[3], const float val2[3]);
223 gen_3axis_sensord_t gen3AxisSensorDataD(double time, const double val[3]);
224 
225 #ifdef __cplusplus
226 } // extern C
227 #endif
228 
229 #endif // IS_UTILITIES_H
threadCreateAndStart
void * threadCreateAndStart(void(*function)(void *info), void *info)
Definition: ISUtilities.cpp:464
convertIns3ToIns1
void convertIns3ToIns1(ins_3_t *ins3, ins_1_t *result)
Definition: ISUtilities.cpp:654
gen3AxisSensorData
gen_3axis_sensor_t gen3AxisSensorData(double time, const float val[3])
Definition: ISUtilities.cpp:690
timerUsEnd
uint64_t timerUsEnd(uint64_t start)
Definition: ISUtilities.cpp:303
@@ -109,7 +109,7 @@
bootloadUploadProgress
int bootloadUploadProgress(const void *port, float percent)
Definition: ISUtilities.cpp:372
genDual3AxisSensorData
gen_dual_3axis_sensor_t genDual3AxisSensorData(double time, const float val1[3], const float val2[3])
Definition: ISUtilities.cpp:700
mutexUnlock
void mutexUnlock(void *handle)
Definition: ISUtilities.cpp:553
- +
diff --git a/docs/html/_inertial_sense_8cpp.html b/docs/html/_inertial_sense_8cpp.html index 0f759ae62..e7b53c217 100644 --- a/docs/html/_inertial_sense_8cpp.html +++ b/docs/html/_inertial_sense_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_inertial_sense_8cpp_source.html b/docs/html/_inertial_sense_8cpp_source.html index af7ed9edd..1d18cb9af 100644 --- a/docs/html/_inertial_sense_8cpp_source.html +++ b/docs/html/_inertial_sense_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,178 +72,135 @@
InertialSense.cpp
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include "InertialSense.h"
14 
15 using namespace std;
16 
17 typedef struct
18 {
19  bootload_params_t param;
20  bool result;
21  serial_port_t serial;
22  void* thread;
23 } bootloader_state_t;
24 
25 static void bootloaderThread(void* state)
26 {
27  bootloader_state_t* s = (bootloader_state_t*)state;
28  serialPortOpen(&s->serial, s->serial.port, s->param.baudRate, 1);
29  if (!enableBootloader(&s->serial, s->param.baudRate, s->param.error, s->param.errorLength))
30  {
31  serialPortClose(&s->serial);
32  s->result = false;
33  return;
34  }
35  s->result = (bootloadFileEx(&s->param) != 0);
36  serialPortClose(&s->serial);
37 }
38 
39 static int staticSendPacket(CMHANDLE cmHandle, int pHandle, buffer_t *packet)
40 {
41  // Suppress compiler warnings
42  (void)pHandle;
43  (void)cmHandle;
44 
45  InertialSense::com_manager_cpp_state_t* s = (InertialSense::com_manager_cpp_state_t*)comManagerGetUserPointer(cmHandle);
46  if ((size_t)pHandle >= s->serialPorts.size())
47  {
48  return 0;
49  }
50  return serialPortWrite(&s->serialPorts[pHandle], packet->buf, packet->size);
51 }
52 
53 static int staticReadPacket(CMHANDLE cmHandle, int pHandle, unsigned char* buf, int len)
54 {
55  // Suppress compiler warnings
56  (void)pHandle;
57  (void)cmHandle;
58 
59  InertialSense::com_manager_cpp_state_t* s = (InertialSense::com_manager_cpp_state_t*)comManagerGetUserPointer(cmHandle);
60  if ((size_t)pHandle >= s->serialPorts.size())
61  {
62  return 0;
63  }
64  return serialPortReadTimeout(&s->serialPorts[pHandle], buf, len, 1);
65 }
66 
67 static void staticProcessRxData(CMHANDLE cmHandle, int pHandle, p_data_t* data)
68 {
69  (void)cmHandle;
70 
71  if (data->hdr.id < DID_COUNT)
72  {
73  InertialSense::com_manager_cpp_state_t* s = (InertialSense::com_manager_cpp_state_t*)comManagerGetUserPointer(cmHandle);
74  pfnHandleBinaryData handler = s->binaryCallback[data->hdr.id];
75  s->stepLogFunction(s->inertialSenseInterface, data, pHandle);
76  if (handler != NULLPTR)
77  {
78  handler(s->inertialSenseInterface, data, pHandle);
79  }
80 
81  pfnHandleBinaryData handlerGlobal = s->binaryCallbackGlobal;
82  if (handlerGlobal != NULLPTR)
83  {
84  // Called for all DID's
85  handlerGlobal(s->inertialSenseInterface, data, pHandle);
86  }
87 
88  // if we got dev info, config or flash config, set it
89  if (data->hdr.id == DID_DEV_INFO)
90  {
91  s->devInfo[pHandle] = *(dev_info_t*)data->buf;
92  }
93  else if (data->hdr.id == DID_CONFIG)
94  {
95  s->config[pHandle] = *(config_t*)data->buf;
96  }
97  else if (data->hdr.id == DID_FLASH_CONFIG)
98  {
99  s->flashConfig[pHandle] = *(nvm_flash_cfg_t*)data->buf;
100  }
101  }
102 }
103 
104 InertialSense::InertialSense(pfnHandleBinaryData callback)
105 {
106  m_logThread = NULLPTR;
107  m_lastLogReInit = time(0);
108  m_parser = NULLPTR;
109  m_clientStream = NULLPTR;
110  m_clientServerByteCount = 0;
111  m_disableBroadcastsOnClose = false;
112  memset(m_comManagerState.binaryCallback, 0, sizeof(m_comManagerState.binaryCallback));
113  m_comManagerState.stepLogFunction = &InertialSense::StepLogger;
114  m_comManagerState.inertialSenseInterface = this;
115  comManagerAssignUserPointer(getGlobalComManager(), &m_comManagerState);
116 
117 #if defined(ENABLE_IS_PYTHON_WRAPPER)
118 
119  m_comManagerState.binaryCallbackGlobal = (callback == NULLPTR ? NULLPTR : (pfnHandleBinaryData)pyClt_dataCallback);
120 
121 #else
122 
123  m_comManagerState.binaryCallbackGlobal = callback;
124 
125 #endif
126 
127 }
128 
129 InertialSense::~InertialSense()
130 {
131  CloseServerConnection();
132  Close();
133 }
134 
135 bool InertialSense::EnableLogging(const string& path, cISLogger::eLogType logType, float maxDiskSpacePercent, uint32_t maxFileSize, uint32_t chunkSize, const string& subFolder)
136 {
137  cMutexLocker logMutexLocker(&m_logMutex);
138  if (!m_logger.InitSaveTimestamp(subFolder, path, cISLogger::g_emptyString, (int)m_comManagerState.serialPorts.size(), logType, maxDiskSpacePercent, maxFileSize, chunkSize, subFolder.length() != 0))
139  {
140  return false;
141  }
142  m_logger.EnableLogging(true);
143  for (size_t i = 0; i < m_comManagerState.devInfo.size(); i++)
144  {
145  m_logger.SetDeviceInfo(&m_comManagerState.devInfo[i]);
146  }
147  if (m_logThread == NULLPTR)
148  {
149  m_logThread = threadCreateAndStart(&InertialSense::LoggerThread, this);
150  }
151  return true;
152 }
153 
154 void InertialSense::DisableLogging()
155 {
156  // just sets a bool no need to lock
157  m_logger.EnableLogging(false);
158  threadJoinAndFree(m_logThread);
159  m_logThread = NULLPTR;
160  m_logger.CloseAllFiles();
161 }
162 
163 bool InertialSense::HasReceivedResponseFromDevice(size_t index)
164 {
165  return (m_comManagerState.flashConfig[index].size != 0 && m_comManagerState.devInfo[index].serialNumber != 0 && m_comManagerState.devInfo[index].manufacturer[0] != 0);
166 }
167 
168 bool InertialSense::HasReceivedResponseFromAllDevices()
169 {
170  if (m_comManagerState.devInfo.size() != m_comManagerState.config.size() || m_comManagerState.config.size() != m_comManagerState.flashConfig.size())
171  {
172  return false;
173  }
174 
175  for (size_t i = 0; i < m_comManagerState.devInfo.size(); i++)
176  {
177  if (!HasReceivedResponseFromDevice(i))
178  {
179  return false;
180  }
181  }
182  return true;
183 }
184 
185 void InertialSense::RemoveDevice(size_t index)
186 {
187  serialPortClose(&m_comManagerState.serialPorts[index]);
188  m_comManagerState.serialPorts.erase(m_comManagerState.serialPorts.begin() + index);
189  m_comManagerState.devInfo.erase(m_comManagerState.devInfo.begin() + index);
190  m_comManagerState.config.erase(m_comManagerState.config.begin() + index);
191  m_comManagerState.flashConfig.erase(m_comManagerState.flashConfig.begin() + index);
192 }
193 
194 void InertialSense::LoggerThread(void* info)
195 {
196  bool running = true;
197  InertialSense* inertialSense = (InertialSense*)info;
198 
199  // gather up packets in memory
200  map<int, vector<p_data_t>> packets;
201 
202  while (running)
203  {
204  SLEEP_MS(20);
205  {
206  // lock so we can read and clear m_logPackets
207  cMutexLocker logMutexLocker(&inertialSense->m_logMutex);
208  for (map<int, vector<p_data_t>>::iterator i = inertialSense->m_logPackets.begin(); i != inertialSense->m_logPackets.end(); i++)
209  {
210  packets[i->first] = i->second;
211  }
212 
213  // clear shared memory
214  inertialSense->m_logPackets.clear();
215 
216  // update running state
217  running = inertialSense->m_logger.Enabled();
218  }
219 
220  if (running)
221  {
222  // log the packets
223  for (map<int, vector<p_data_t>>::iterator i = packets.begin(); i != packets.end(); i++)
224  {
225  for (size_t j = 0; j < i->second.size(); j++)
226  {
227  if (!inertialSense->m_logger.LogData(i->first, &i->second[j].hdr, i->second[j].buf))
228  {
229  // Failed to write to log
230  SLEEP_MS(20);
231  }
232  }
233 
234  // clear all log data for this pHandle
235  i->second.clear();
236  }
237  }
238 
239  inertialSense->m_logger.Update();
240  }
241 
242  printf("\n...Logger thread terminated...\n");
243 }
244 
245 void InertialSense::StepLogger(InertialSense* i, const p_data_t* data, int pHandle)
246 {
247  cMutexLocker logMutexLocker(&i->m_logMutex);
248  if (i->m_logger.Enabled())
249  {
250  vector<p_data_t>& vec = i->m_logPackets[pHandle];
251  vec.push_back(*data);
252  }
253 }
254 
255 bool InertialSense::Open(const char* port, int baudRate, bool disableBroadcastsOnClose)
256 {
257  // null com port, just use other features of the interface like ntrip
258  if (port[0] == '0' && port[1] == '\0')
259  {
260  return true;
261  }
262 
263  m_disableBroadcastsOnClose = false;
264  if (OpenSerialPorts(port, baudRate))
265  {
266  m_disableBroadcastsOnClose = disableBroadcastsOnClose;
267  return true;
268  }
269  return false;
270 }
271 
272 bool InertialSense::SetLoggerEnabled(bool enable, const string& path, cISLogger::eLogType logType, bool streamPPD, float maxDiskSpacePercent, uint32_t maxFileSize, uint32_t chunkSize, const string& subFolder)
273 {
274  if (enable)
275  {
276  if (m_logThread != NULLPTR)
277  {
278  // already logging
279  return true;
280  }
281 
282  if(streamPPD)
283  {
284  BroadcastBinaryDataRmcPreset(RMC_PRESET_PPD_BITS);
285  }
286  return EnableLogging(path, logType, maxDiskSpacePercent, maxFileSize, chunkSize, subFolder);
287  }
288 
289  // !enable, shutdown logger gracefully
290  DisableLogging();
291  return true;
292 }
293 
294 bool InertialSense::OpenServerConnection(const string& connectionString)
295 {
296  bool opened = false;
297 
298  CloseServerConnection();
299  vector<string> pieces;
300  splitString(connectionString, ":", pieces);
301  if (pieces.size() < 3)
302  {
303  return opened;
304  }
305  else if (pieces[0] == "RTCM3")
306  {
307  if (pieces[1] == "SERIAL")
308  {
309  if (pieces.size() < 4)
310  {
311  return opened;
312  }
313  else if ((opened = (m_serialServer.Open(pieces[2].c_str(), atoi(pieces[3].c_str())))))
314  {
315  m_clientStream = &m_serialServer;
316  }
317  }
318  else
319  {
320  opened = (m_tcpClient.Open(pieces[1], atoi(pieces[2].c_str())) == 0);
321  string url = (pieces.size() > 3 ? pieces[3] : "");
322  string user = (pieces.size() > 4 ? pieces[4] : "");
323  string pwd = (pieces.size() > 5 ? pieces[5] : "");
324  m_tcpClient.HttpGet(url, "InertialSense", user, pwd);
325  }
326  m_parser = cGpsParser::CreateParser(GpsParserTypeRtcm3, this);
327  }
328  else if (pieces[0] == "IS")
329  {
330  opened = (m_tcpClient.Open(pieces[1], atoi(pieces[2].c_str())) == 0);
331  m_parser = cGpsParser::CreateParser(GpsParserTypeInertialSense, this);
332  }
333  else if (pieces[0] == "UBLOX")
334  {
335  opened = (m_tcpClient.Open(pieces[1], atoi(pieces[2].c_str())) == 0);
336  m_parser = cGpsParser::CreateParser(GpsParserTypeUblox, this);
337  }
338 
339  if (opened)
340  {
341  // configure as RTK rover
342  uint32_t cfgBits = RTK_CFG_BITS_GPS1_RTK_ROVER;
343  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
344  {
345  sendDataComManager((int)i, DID_FLASH_CONFIG, &cfgBits, sizeof(cfgBits), offsetof(nvm_flash_cfg_t, RTKCfgBits));
346  }
347  if (m_clientStream == NULLPTR)
348  {
349  m_clientStream = &m_tcpClient;
350  }
351  }
352 
353  return opened;
354 }
355 
356 void InertialSense::CloseServerConnection()
357 {
358  if (m_parser != NULLPTR)
359  {
360  delete m_parser;
361  m_parser = NULLPTR;
362  }
363  m_tcpClient.Close();
364  m_tcpServer.Close();
365  m_serialServer.Close();
366  m_clientStream = NULLPTR;
367 }
368 
369 bool InertialSense::CreateHost(const string& ipAndPort)
370 {
371  // if no serial connection, fail
372  if (!IsOpen())
373  {
374  return false;
375  }
376 
377  CloseServerConnection();
378  size_t colon = ipAndPort.find(':', 0);
379  if (colon == string::npos)
380  {
381  return false;
382  }
383  StopBroadcasts();
384  string host = ipAndPort.substr(0, colon);
385  string portString = ipAndPort.substr(colon + 1);
386  int port = (int)strtol(portString.c_str(), NULLPTR, 10);
387  return (m_tcpServer.Open(host, port) == 0);
388 }
389 
390 bool InertialSense::IsOpen()
391 {
392  return (m_comManagerState.serialPorts.size() != 0 && serialPortIsOpen(&m_comManagerState.serialPorts[0]));
393 }
394 
395 size_t InertialSense::GetDeviceCount()
396 {
397  return m_comManagerState.serialPorts.size();
398 }
399 
400 bool InertialSense::Update()
401 {
402  uint8_t buffer[4096];
403  if (m_clientStream != NULLPTR)
404  {
405  int count = m_clientStream->Read(buffer, sizeof(buffer));
406  if (count > 0)
407  {
408  m_clientServerByteCount += count;
409  m_parser->Write(buffer, count);
410  }
411  }
412  else if (m_tcpServer.IsOpen() && m_comManagerState.serialPorts.size() != 0)
413  {
414  // as a tcp server, only the first serial port is read from
415  int count = serialPortRead(&m_comManagerState.serialPorts[0], buffer, sizeof(buffer));
416  if (count > 0)
417  {
418  // forward data on to connected clients
419  m_tcpServer.Write(buffer, count);
420  m_clientServerByteCount += count;
421  }
422  m_tcpServer.Update();
423  }
424 
425  // [C COMM INSTRUCTION] 2.) Update Com Manager at regular interval to send and receive data.
426  // Normally called within a while loop. Include a thread "sleep" if running on a multi-thread/
427  // task system with serial port read function that does NOT incorporate a timeout.
428  if (m_comManagerState.serialPorts.size() != 0)
429  {
430  stepComManager();
431  }
432 
433  // if any serial ports have closed, shutdown
434  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
435  {
436  if (!serialPortIsOpen(&m_comManagerState.serialPorts[i]))
437  {
438  Close();
439  return false;
440  }
441  }
442 
443  return true;
444 }
445 
446 void InertialSense::Close()
447 {
448  SetLoggerEnabled(false);
449  if (m_disableBroadcastsOnClose)
450  {
451  StopBroadcasts();
452  SLEEP_MS(100);
453  }
454  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
455  {
456  serialPortClose(&m_comManagerState.serialPorts[i]);
457  }
458  m_comManagerState.serialPorts.clear();
459  m_comManagerState.config.clear();
460  m_comManagerState.devInfo.clear();
461  m_comManagerState.flashConfig.clear();
462  CloseServerConnection();
463 }
464 
465 vector<string> InertialSense::GetPorts()
466 {
467  vector<string> ports;
468  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
469  {
470  ports.push_back(m_comManagerState.serialPorts[i].port);
471  }
472  return ports;
473 }
474 
475 void InertialSense::StopBroadcasts()
476 {
477  // Stop all broadcasts
478 
479  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
480  {
481  // [C COMM INSTRUCTION] Turns off (disable) all broadcasting and streaming on all ports from the uINS.
482  sendComManager((int)i, PID_STOP_ALL_BROADCASTS, 0, 0, 0);
483  }
484 }
485 
486 void InertialSense::SendData(eDataIDs dataId, uint8_t* data, uint32_t length, uint32_t offset)
487 {
488  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
489  {
490  // [C COMM INSTRUCTION] 4.) Send data to the uINS.
491  sendDataComManager((int)i, dataId, data, length, offset);
492  }
493 }
494 
495 void InertialSense::SendRawData(eDataIDs dataId, uint8_t* data, uint32_t length, uint32_t offset)
496 {
497  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
498  {
499  sendRawDataComManager((int)i, dataId, data, length, offset);
500  }
501 }
502 
503 void InertialSense::SetConfig(const config_t& config, int pHandle)
504 {
505  m_comManagerState.config[pHandle] = config;
506  // [C COMM INSTRUCTION] Update the entire DID_CONFIG data set in the uINS.
507  sendDataComManager(pHandle, DID_CONFIG, &m_comManagerState.config[pHandle], sizeof(config), 0);
508 }
509 
510 void InertialSense::SetFlashConfig(const nvm_flash_cfg_t& flashConfig, int pHandle)
511 {
512  m_comManagerState.flashConfig[pHandle] = flashConfig;
513  // [C COMM INSTRUCTION] Update the entire DID_FLASH_CONFIG data set in the uINS.
514  sendDataComManager(pHandle, DID_FLASH_CONFIG, &m_comManagerState.flashConfig[pHandle], sizeof(flashConfig), 0);
515  Update();
516 }
517 
518 bool InertialSense::BroadcastBinaryData(uint32_t dataId, int periodMS, pfnHandleBinaryData callback)
519 {
520  if (m_comManagerState.serialPorts.size() == 0 || dataId >= DID_COUNT)
521  {
522  return false;
523  }
524  else
525  {
526  m_comManagerState.binaryCallback[dataId] = callback;
527  }
528  if (periodMS < 0)
529  {
530  for (int i = 0; i < (int)m_comManagerState.serialPorts.size(); i++)
531  {
532  // [C COMM INSTRUCTION] Stop broadcasting of one specific DID message from the uINS.
533  disableDataComManager(i, dataId);
534  }
535  }
536  else
537  {
538  for (int i = 0; i < (int)m_comManagerState.serialPorts.size(); i++)
539  {
540  // [C COMM INSTRUCTION] 3.) Request a specific data set from the uINS. "periodMs" specifies the interval
541  // between broadcasts and "periodMs=0" will disable broadcasts and transmit one single message.
542  getDataComManager(i, dataId, 0, 0, periodMS);
543  }
544  }
545  return true;
546 }
547 
548 void InertialSense::BroadcastBinaryDataRmcPreset(uint64_t rmcPreset)
549 {
550  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
551  {
552  // [C COMM INSTRUCTION] Use a preset to enable a predefined set of messages. R
553  getDataRmcComManager((int)i, rmcPreset, 0);
554  }
555 }
556 
557 vector<InertialSense::bootloader_result_t> InertialSense::BootloadFile(const string& comPort, const string& fileName, int baudRate, pfnBootloadProgress uploadProgress, pfnBootloadProgress verifyProgress)
558 {
559  vector<bootloader_result_t> results;
560  vector<string> portStrings;
561  vector<bootloader_state_t> state;
562 
563  if (comPort == "*")
564  {
565  cISSerialPort::GetComPorts(portStrings);
566  }
567  else
568  {
569  splitString(comPort, ",", portStrings);
570  }
571  sort(portStrings.begin(), portStrings.end());
572  state.resize(portStrings.size());
573 
574  // test file exists
575  {
576  ifstream tmpStream(fileName);
577  if (!tmpStream.good())
578  {
579  for (size_t i = 0; i < state.size(); i++)
580  {
581  results.push_back({ state[i].serial.port, "Bootloader file does not exist" });
582  }
583  }
584  }
585 
586  if (results.size() == 0)
587  {
588  // for each port requested, setup a thread to do the bootloader for that port
589  for (size_t i = 0; i < state.size(); i++)
590  {
591  state[i].param.error = (char*)MALLOC(1024);
592  state[i].param.errorLength = 1024;
593  serialPortPlatformInit(&state[i].serial);
594  serialPortSetPort(&state[i].serial, portStrings[i].c_str());
595  state[i].param.uploadProgress = uploadProgress;
596  state[i].param.verifyProgress = verifyProgress;
597  state[i].param.fileName = fileName.c_str();
598  state[i].param.port = &state[i].serial;
599  state[i].param.verifyFileName = NULLPTR;
600  state[i].param.flags.bitFields.enableVerify = (verifyProgress != NULLPTR);
601  state[i].param.numberOfDevices = (int)state.size();
602  state[i].param.baudRate = baudRate;
603  state[i].thread = threadCreateAndStart(bootloaderThread, &state[i]);
604  }
605 
606  // wait for all threads to finish
607  for (size_t i = 0; i < state.size(); i++)
608  {
609  threadJoinAndFree(state[i].thread);
610  }
611 
612  // if any thread failed, we return failure
613  for (size_t i = 0; i < state.size(); i++)
614  {
615  results.push_back({ state[i].serial.port, state[i].param.error });
616  }
617  }
618 
619  for (size_t i = 0; i < state.size(); i++)
620  {
621  if (state[i].param.error != NULLPTR)
622  {
623  FREE(state[i].param.error);
624  }
625  }
626 
627  return results;
628 }
629 
630 bool InertialSense::OnPacketReceived(const cGpsParser* parser, const uint8_t* data, uint32_t dataLength)
631 {
632  (void)parser;
633  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
634  {
635  // sleep in between to allow test bed to send the serial data
636  SLEEP_MS(10);
637  serialPortWrite(&m_comManagerState.serialPorts[i], data, dataLength);
638  }
639  return false; // do not parse, since we are just forwarding it on
640 }
641 
642 bool InertialSense::OpenSerialPorts(const char* port, int baudRate)
643 {
644  Close();
645 
646  if (port == NULLPTR || validateBaudRate(baudRate) != 0)
647  {
648  return false;
649  }
650 
651  // split port on comma in case we need to open multiple serial ports
652  vector<string> ports;
653  size_t maxCount = UINT32_MAX;
654 
655  // handle wildcard, auto-detect serial ports
656  if (port[0] == '*')
657  {
658  cISSerialPort::GetComPorts(ports);
659  if (port[1] != '\0')
660  {
661  maxCount = atoi(port + 1);
662  maxCount = (maxCount == 0 ? UINT32_MAX : maxCount);
663  }
664  }
665  else
666  {
667  // comma separated list of serial ports
668  splitString(port, ",", ports);
669  }
670 
671  // open serial ports
672  for (size_t i = 0; i < ports.size(); i++)
673  {
674  serial_port_t serial;
675  serialPortPlatformInit(&serial);
676  if (serialPortOpen(&serial, ports[i].c_str(), baudRate, 0) == 0)
677  {
678  // failed to open
679  serialPortClose(&serial);
680  }
681  else
682  {
683  m_comManagerState.serialPorts.push_back(serial);
684  }
685  }
686 
687  // [C COMM INSTRUCTION] 1.) Setup com manager. Specify number of serial ports and register callback functions for
688  // serial port read and write and for successfully parsed data.
689  initComManager((int)m_comManagerState.serialPorts.size(), 10, 10, 10, staticReadPacket, staticSendPacket, 0, staticProcessRxData, 0, 0);
690 
691  // re-initialize data sets
692  config_t configTemplate;
693  memset(&configTemplate, 0, sizeof(configTemplate));
694  m_comManagerState.config.resize(m_comManagerState.serialPorts.size(), configTemplate);
695  dev_info_t devInfoTemplate;
696  memset(&devInfoTemplate, 0, sizeof(devInfoTemplate));
697  m_comManagerState.devInfo.resize(m_comManagerState.serialPorts.size(), devInfoTemplate);
698  nvm_flash_cfg_t flashTemplate;
699  memset(&flashTemplate, 0, sizeof(flashTemplate));
700  m_comManagerState.flashConfig.resize(m_comManagerState.serialPorts.size(), flashTemplate);
701 
702  // negotiate baud rate by querying device info - don't return out until it negotiates or times out
703  // if the baud rate is already correct, the request for the message should succeed very quickly
704  time_t startTime = time(0);
705 
706  // try to auto-baud for up to 10 seconds, then abort if we didn't get a valid packet
707  // we wait until we get a valid serial number and manufacturer
708  while (!HasReceivedResponseFromAllDevices() && time(0) - startTime < 10)
709  {
710  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
711  {
712  getDataComManager((int)i, DID_CONFIG, 0, 0, 0);
713  getDataComManager((int)i, DID_DEV_INFO, 0, 0, 0);
714  getDataComManager((int)i, DID_FLASH_CONFIG, 0, 0, 0);
715  }
716 
717  SLEEP_MS(13);
718  stepComManager();
719  }
720 
721  bool removedSerials = false;
722 
723  // remove each failed device where communications were not received
724  for (int i = (int)(m_comManagerState.devInfo.size() - 1); i >= 0; i--)
725  {
726  if (!HasReceivedResponseFromDevice(i))
727  {
728  RemoveDevice(i);
729  removedSerials = true;
730  }
731  }
732 
733  // if no devices left, all failed, we return failure
734  if (m_comManagerState.serialPorts.size() == 0)
735  {
736  Close();
737  return false;
738  }
739 
740  // remove ports if we are over max count
741  while (m_comManagerState.serialPorts.size() > maxCount)
742  {
743  RemoveDevice(m_comManagerState.serialPorts.size() - 1);
744  removedSerials = true;
745  }
746 
747  // setup com manager again if serial ports dropped out with new count of serial ports
748  if (removedSerials)
749  {
750  initComManager((int)m_comManagerState.serialPorts.size(), 10, 10, 10, staticReadPacket, staticSendPacket, 0, staticProcessRxData, 0, 0);
751  }
752 
753  return m_comManagerState.serialPorts.size() != 0;
754 }
755 
756 #if defined(ENABLE_IS_PYTHON_WRAPPER)
757 
758 namespace py = pybind11;
759 
760 bool InertialSense::PyBootloadFile(const string& comPort, const string& fileName)
761 {
762  pfnBootloadProgress uploadProgress = bootloadUploadProgress;
763  pfnBootloadProgress verifyProgress = bootloadVerifyProgress;
764  char bootloaderError[1024];
765  int errorBufferLength = 1024;
766 
767  // for debug
768  // SERIAL_PORT_DEFAULT_TIMEOUT = 9999999;
769  InertialSense bootloader;
770  serialPortSetPort(&bootloader.m_serialPort, comPort.c_str());
771  if (!enableBootloader(&bootloader.m_serialPort, &bootloaderError[0], errorBufferLength, IS_BAUD_RATE_BOOTLOADER_COM))
772  {
773  serialPortClose(&bootloader.m_serialPort);
774  return false;
775  }
776  bootload_params_t params;
777  params.fileName = fileName.c_str();
778  params.port = &bootloader.m_serialPort;
779  params.error = &bootloaderError[0];
780  params.errorLength = errorBufferLength;
781  params.obj = &bootloader;
782  params.uploadProgress = uploadProgress;
783  params.verifyProgress = verifyProgress;
784  params.verifyFileName = NULLPTR;
785  if (!bootloadFileEx(&params))
786  {
787  serialPortClose(&bootloader.m_serialPort);
788  return false;
789  }
790  serialPortClose(&bootloader.m_serialPort);
791  return true;
792 }
793 
794 void InertialSense::SetPyCallback(py::object func)
795 {
796  InertialSense::m_pyCallback = func;
797 }
798 
799 py::object InertialSense::GetPyCallback()
800 {
801  return m_pyCallback;
802 }
803 
804 void InertialSense::SetPyDisplay(cInertialSenseDisplay display)
805 {
806  m_pyDisplay = display;
807 }
808 
809 cInertialSenseDisplay InertialSense::GetPyDisplay()
810 {
811  return m_pyDisplay;
812 }
813 
814 py::dict py_dataHandling(p_data_t* data)
815 {
816  // uDatasets is a union of all datasets that we can receive. See data_sets.h for a full list of all available datasets.
817  uDatasets d = {};
818  copyDataPToStructP(&d, data, sizeof(uDatasets));
819 
820  // Put the data into a python usable type (This works)
821  py::dict dOut;
822  py::dict header;
823  py::dict msgData;
824  header[py::str("id")] = data->hdr.id;
825  header[py::str("size")] = data->hdr.size;
826  header[py::str("offset")] = data->hdr.offset;
827  dOut[py::str("header")] = header;
828 
829  // Example of how to access dataset fields.
830  switch (data->hdr.id)
831  {
832  case DID_INS_1:
833  msgData["theta"] = convertArray(d.ins1.theta, 3); // euler attitude
834  msgData["uvw"] = convertArray(d.ins1.uvw, 3); // body velocities
835  msgData["lla"] = convertArray(d.ins1.lla, 3); // latitude, longitude, altitude
836  break;
837  case DID_INS_2:
838  msgData["qn2b"] = convertArray(d.ins2.qn2b, 4); // quaternion attitude
839  msgData["uvw"] = convertArray(d.ins2.uvw, 3); // body velocities
840  msgData["lla"] = convertArray(d.ins2.lla, 3); // latitude, longitude, altitude
841  break;
842  case DID_INS_3:
843  msgData["qn2b"] = convertArray(d.ins3.qn2b, 4); // quaternion attitude
844  msgData["uvw"] = convertArray(d.ins3.uvw, 3); // body velocities
845  msgData["lla"] = convertArray(d.ins3.lla, 3); // latitude, longitude, altitude
846  break;
847  case DID_INS_4:
848  msgData["qe2b"] = convertArray(d.ins4.qe2b, 4); // quaternion attitude
849  msgData["ve"] = convertArray(d.ins4.ve, 3); // earth centered earth fixed velocities
850  msgData["ecef"] = convertArray(d.ins4.ecef, 3); // earth centered earth fixed position
851  break;
852  case DID_DUAL_IMU:
853  msgData["imu1acc"] = convertArray(d.dualImu.I[0].acc, 3);
854  msgData["imu1pqr"] = convertArray(d.dualImu.I[0].pqr, 3);
855  msgData["imu2acc"] = convertArray(d.dualImu.I[1].acc, 3);
856  msgData["imu2pqr"] = convertArray(d.dualImu.I[1].pqr, 3);
857  msgData["time"] = d.dualImu.time;
858  break;
859  case DID_PREINTEGRATED_IMU:
860  msgData["time"] = d.pImu.time;
861  msgData["theta"] = convertArray(d.pImu.theta, 3);
862  msgData["uvw"] = convertArray(d.pImu.uvw, 3);
863  msgData["dt"] = d.pImu.dt;
864  break;
865  case DID_GPS_NAV:
866  {
867  msgData["rxps"] = d.gpsNav.rxps;
868  msgData["towOffset"] = d.gpsNav.towOffset;
869 
870  py::dict gpsPos;
871  gpsPos["week"] = d.gpsNav.lla.week;
872  gpsPos["timeOfWeekMs"] = d.gpsNav.timeOfWeekMs;
873  gpsPos["status"] = d.gpsNav.status;
874  gpsPos["cno"] = d.gpsNav.lla.cno;
875  gpsPos["lla"] = convertArray(d.gpsNav.lla.lla, 3);
876  gpsPos["hMSL"] = d.gpsNav.lla.hMSL;
877  gpsPos["hAcc"] = d.gpsNav.hAcc;
878  gpsPos["vAcc"] = d.gpsNav.vAcc;
879  gpsPos["pDop"] = d.gpsNav.lla.pDop;
880  msgData["gpsPos"] = gpsPos;
881 
882  py::dict gpsVel;
883  gpsVel["timeOfWeekMs"] = d.gpsNav.vel.timeOfWeekMs;
884  gpsVel["ned"] = convertArray(d.gpsNav.vel.ned, 3);
885  gpsVel["s2D"] = d.gpsNav.vel.s2D;
886  gpsVel["s3D"] = d.gpsNav.vel.s3D;
887  gpsVel["sAcc"] = d.gpsNav.vel.sAcc;
888  gpsVel["course"] = d.gpsNav.vel.course;
889  gpsVel["cAcc"] = d.gpsNav.vel.cAcc;
890  msgData["gpsVel"] = gpsVel;
891  break;
892  }
893  case DID_MAGNETOMETER_1:
894  msgData["mag"] = convertArray(d.mag.mag, 3);
895  msgData["time"] = d.mag.time;
896  break;
897  case DID_MAGNETOMETER_2:
898  msgData["mag"] = convertArray(d.mag.mag, 3);
899  msgData["time"] = d.mag.time;
900  break;
901  case DID_BAROMETER:
902  msgData["time"] = d.baro.time;
903  msgData["bar"] = d.baro.bar;
904  msgData["barTemp"] = d.baro.barTemp;
905  msgData["humidity"] = d.baro.humidity;
906  msgData["mslBar"] = d.baro.mslBar;
907  break;
908  case DID_GPS_BASE_RAW:
909  //printf("Received the Raw Data Message!");
910  //py::list buffer;
911  msgData["receiverIndex"] = d.gpsRaw.receiverIndex;
912  msgData["type"] = d.gpsRaw.type;
913  msgData["count"] = d.gpsRaw.count;
914  msgData["reserved"] = d.gpsRaw.reserved;
915  /*for (int i = 0; i < 1020; i++) {
916  buffer.append(d.gpsRaw.buf)
917  }
918  msgData["buf"] = buffer; */
919  msgData["buf"] = d.gpsRaw.buf;
920  break;
921  }
922 
923  dOut[py::str("data")] = msgData;
924 
925  return dOut;
926 }
927 
928 static void pyClt_dataCallback(InertialSense* i, p_data_t* data)
929 {
930  i->GetPyDisplay().ProcessData(data);
931 
932  py::dict dOut = py_dataHandling(data);
933 
934  py::object pyFunc = i->GetPyCallback();
935  if (pyFunc != NULLPTR)
936  {
937  pyFunc(dOut);
938  }
939 }
940 
941 py::list convertArray(float const data[], int length)
942 {
943  py::list dOut;
944  for (int i = 0; i < length; i++)
945  {
946  dOut.append(data[i]);
947  }
948 
949  return dOut;
950 }
951 
952 py::list convertArray(double const data[], int length)
953 {
954  py::list dOut;
955  for (int i = 0; i < length; i++)
956  {
957  dOut.append(data[i]);
958  }
959 
960  return dOut;
961 }
962 
963 bool pyUpdateFlashConfig(InertialSense& inertialSenseInterface, string flashConfigString)
964 {
965  const nvm_flash_cfg_t& flashConfig = inertialSenseInterface.GetFlashConfig();
966  const map_lookup_name_t& globalMap = cISDataMappings::GetMap();
967  const map_name_to_info_t& flashMap = globalMap.at(DID_FLASH_CONFIG);
968 
969  if (flashConfigString.length() < 2)
970  {
971  // read flash config and display
972  data_mapping_string_t stringBuffer;
973  cout << "Current flash config" << endl;
974  for (map_name_to_info_t::const_iterator i = flashMap.begin(); i != flashMap.end(); i++)
975  {
976  if (cISDataMappings::DataToString(i->second, NULLPTR, (const uint8_t*)&flashConfig, stringBuffer))
977  {
978  cout << i->second.name << " = " << stringBuffer << endl;
979  }
980  }
981  return false;
982  }
983  else
984  {
985  nvm_flash_cfg_t flashConfig = inertialSenseInterface.GetFlashConfig();
986  vector<string> keyValues;
987  splitString(flashConfigString, "|", keyValues);
988  for (size_t i = 0; i < keyValues.size(); i++)
989  {
990  vector<string> keyAndValue;
991  splitString(splitString(keyValues[i], "=", keyAndValue);
992  if (keyAndValue.size() == 2)
993  {
994  if (flashMap.find(keyAndValue[0]) == flashMap.end())
995  {
996  cout << "Unrecognized flash config key '" << keyAndValue[0] << "' specified, ignoring." << endl;
997  }
998  else
999  {
1000  const data_info_t& info = flashMap.at(keyAndValue[0]);
1001  cISDataMappings::StringToData(keyAndValue[1].c_str(), NULLPTR, (uint8_t*)&flashConfig, info);
1002  cout << "Updated flash config key '" << keyAndValue[0] << "' to '" << keyAndValue[1].c_str() << "'" << endl;
1003  }
1004  }
1005  }
1006  inertialSenseInterface.SetFlashConfig(flashConfig);
1007  SLEEP_MS(1000);
1008  inertialSenseInterface.GetPyDisplay().Clear();
1009  return true;
1010  }
1011 }
1012 
1013 test_initializer inertialsensemodule([](py::module &m) {
1014  py::module m2 = m.def_submodule("inertialsensemodule");
1015 
1016  py::class_<iGpsParserDelegate> iGpsPD(m2, "GPS_Parser_Delegate");
1017  iGpsPD.def("OnPacketReceived", &iGpsParserDelegate::OnPacketReceived);
1018 
1019  py::class_<InertialSense> inertialsense(m2, "InertialSense", iGpsPD);
1020  inertialsense.def(py::init<>());
1021  inertialsense.def("Open", &InertialSense::Open);
1022  inertialsense.def("Update", &InertialSense::Update);
1023  inertialsense.def("GetTcpByteCount", &InertialSense::GetTcpByteCount);
1024  inertialsense.def("Close", &InertialSense::Close);
1025  inertialsense.def("StopBroadcasts", &InertialSense::StopBroadcasts);
1026  inertialsense.def("BroadcastBinaryData", &InertialSense::BroadcastBinaryData);
1027  inertialsense.def("OpenServerConnectionRTCM3", &InertialSense::OpenServerConnectionRTCM3);
1028  inertialsense.def("OpenServerConnectionInertialSense", &InertialSense::OpenServerConnectionInertialSense);
1029  inertialsense.def("OpenServerConnectionUblox", &InertialSense::OpenServerConnectionUblox);
1030  inertialsense.def_static("BootloadFile", &InertialSense::BootloadFile);
1031  inertialsense.def_static("PyBootloadFile", &InertialSense::PyBootloadFile);
1032  inertialsense.def("SetLoggerEnabled", &InertialSense::SetLoggerEnabled);
1033  inertialsense.def("SetPyCallback", &InertialSense::SetPyCallback);
1034  inertialsense.def("PyBroadcastBinaryData", &InertialSense::PyBroadcastBinaryData);
1035  inertialsense.def("SetPyDisplay", &InertialSense::SetPyDisplay);
1036  inertialsense.def("CreateHost", &InertialSense::CreateHost);
1037 
1038  m2.def("pyUpdateFlashConfig", pyUpdateFlashConfig);
1039 });
1040 
1041 bool InertialSense::PyBroadcastBinaryData(uint32_t dataId, int periodMS)
1042 {
1043  if (m_comManagerState.binarySerialPort == NULLPTR || dataId >= DID_COUNT)
1044  {
1045  return false;
1046  }
1047 
1048  m_comManagerState.binaryCallback[dataId] = (pfnHandleBinaryData)pyClt_dataCallback;
1049 
1050  if (dataId == DID_GPS_BASE_RAW)
1051  {
1052  config_t cfg = GetConfig();
1053  cfg.msgCfgBits = 1;
1054  SetConfig(cfg);
1055  }
1056 
1057  if (periodMS < 0)
1058  {
1059  disableDataComManager(0, dataId);
1060  }
1061  else
1062  {
1063  // we pass an offset and size of 0. The uINS will handle a size and offset of 0 and make it the full struct size.
1064  getDataComManager(0, dataId, 0, 0, periodMS);
1065  }
1066  return true;
1067 }
1068 
1069 #endif
iGpsParserDelegate::OnPacketReceived
virtual bool OnPacketReceived(const cGpsParser *parser, const uint8_t *data, uint32_t dataLength)
Definition: GpsParser.h:65
-
getDataComManager
void getDataComManager(int pHandle, uint32_t dataId, int offset, int size, int period_ms)
Request data This function requests the specified data w/ offset and length for partial reads...
Definition: com_manager.c:698
-
DID_DUAL_IMU
#define DID_DUAL_IMU
Definition: data_sets.h:92
-
bootloadUploadProgress
int bootloadUploadProgress(const void *port, float percent)
Definition: ISUtilities.cpp:372
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #include "InertialSense.h"
14 
15 using namespace std;
16 
17 typedef struct
18 {
19  bootload_params_t param;
20  bool result;
21  serial_port_t serial;
22  void* thread;
23 } bootloader_state_t;
24 
25 static void bootloaderThread(void* state)
26 {
27  bootloader_state_t* s = (bootloader_state_t*)state;
28  serialPortOpen(&s->serial, s->serial.port, s->param.baudRate, 1);
29  if (!enableBootloader(&s->serial, s->param.baudRate, s->param.error, s->param.errorLength))
30  {
31  serialPortClose(&s->serial);
32  s->result = false;
33  return;
34  }
35  s->result = (bootloadFileEx(&s->param) != 0);
36  serialPortClose(&s->serial);
37 }
38 
39 static int staticSendPacket(CMHANDLE cmHandle, int pHandle, buffer_t *packet)
40 {
41  // Suppress compiler warnings
42  (void)pHandle;
43  (void)cmHandle;
44 
45  InertialSense::com_manager_cpp_state_t* s = (InertialSense::com_manager_cpp_state_t*)comManagerGetUserPointer(cmHandle);
46  if ((size_t)pHandle >= s->serialPorts.size())
47  {
48  return 0;
49  }
50  return serialPortWrite(&s->serialPorts[pHandle], packet->buf, packet->size);
51 }
52 
53 static int staticReadPacket(CMHANDLE cmHandle, int pHandle, unsigned char* buf, int len)
54 {
55  // Suppress compiler warnings
56  (void)pHandle;
57  (void)cmHandle;
58 
59  InertialSense::com_manager_cpp_state_t* s = (InertialSense::com_manager_cpp_state_t*)comManagerGetUserPointer(cmHandle);
60  if ((size_t)pHandle >= s->serialPorts.size())
61  {
62  return 0;
63  }
64  return serialPortReadTimeout(&s->serialPorts[pHandle], buf, len, 1);
65 }
66 
67 static void staticProcessRxData(CMHANDLE cmHandle, int pHandle, p_data_t* data)
68 {
69  (void)cmHandle;
70 
71  if (data->hdr.id < DID_COUNT)
72  {
73  InertialSense::com_manager_cpp_state_t* s = (InertialSense::com_manager_cpp_state_t*)comManagerGetUserPointer(cmHandle);
74  pfnHandleBinaryData handler = s->binaryCallback[data->hdr.id];
75  s->stepLogFunction(s->inertialSenseInterface, data, pHandle);
76  if (handler != NULLPTR)
77  {
78  handler(s->inertialSenseInterface, data, pHandle);
79  }
80 
81  pfnHandleBinaryData handlerGlobal = s->binaryCallbackGlobal;
82  if (handlerGlobal != NULLPTR)
83  {
84  // Called for all DID's
85  handlerGlobal(s->inertialSenseInterface, data, pHandle);
86  }
87 
88  // if we got dev info, config or flash config, set it
89  if (data->hdr.id == DID_DEV_INFO)
90  {
91  s->devInfo[pHandle] = *(dev_info_t*)data->buf;
92  }
93  else if (data->hdr.id == DID_CONFIG)
94  {
95  s->config[pHandle] = *(config_t*)data->buf;
96  }
97  else if (data->hdr.id == DID_FLASH_CONFIG)
98  {
99  s->flashConfig[pHandle] = *(nvm_flash_cfg_t*)data->buf;
100  }
101  else if (data->hdr.id == DID_GPS1_POS)
102  {
103  // every 5 seconds, put in a new gps position message
104  static time_t nextGpsMessageTime;
105  time_t currentTime = time(NULLPTR);
106  if (currentTime > nextGpsMessageTime)
107  {
108  nextGpsMessageTime = currentTime + 5;
109  *s->clientBytesToSend = gpsToNmeaGGA((gps_pos_t*)data->buf, s->clientBuffer, s->clientBufferSize);
110  }
111  }
112  }
113 }
114 
115 InertialSense::InertialSense(pfnHandleBinaryData callback) : m_tcpServer(this)
116 {
117  m_logThread = NULLPTR;
118  m_lastLogReInit = time(0);
119  m_parser = NULLPTR;
120  m_clientStream = NULLPTR;
121  m_clientBufferBytesToSend = 0;
122  m_clientServerByteCount = 0;
123  m_disableBroadcastsOnClose = false;
124  memset(m_comManagerState.binaryCallback, 0, sizeof(m_comManagerState.binaryCallback));
125  m_comManagerState.binaryCallbackGlobal = callback;
126  m_comManagerState.stepLogFunction = &InertialSense::StepLogger;
127  m_comManagerState.inertialSenseInterface = this;
128  m_comManagerState.clientBuffer = m_clientBuffer;
129  m_comManagerState.clientBufferSize = sizeof(m_clientBuffer);
130  m_comManagerState.clientBytesToSend = &m_clientBufferBytesToSend;
131  comManagerAssignUserPointer(getGlobalComManager(), &m_comManagerState);
132 }
133 
134 InertialSense::~InertialSense()
135 {
136  CloseServerConnection();
137  Close();
138 }
139 
140 bool InertialSense::EnableLogging(const string& path, cISLogger::eLogType logType, float maxDiskSpacePercent, uint32_t maxFileSize, uint32_t chunkSize, const string& subFolder)
141 {
142  cMutexLocker logMutexLocker(&m_logMutex);
143  if (!m_logger.InitSaveTimestamp(subFolder, path, cISLogger::g_emptyString, (int)m_comManagerState.serialPorts.size(), logType, maxDiskSpacePercent, maxFileSize, chunkSize, subFolder.length() != 0))
144  {
145  return false;
146  }
147  m_logger.EnableLogging(true);
148  for (size_t i = 0; i < m_comManagerState.devInfo.size(); i++)
149  {
150  m_logger.SetDeviceInfo(&m_comManagerState.devInfo[i]);
151  }
152  if (m_logThread == NULLPTR)
153  {
154  m_logThread = threadCreateAndStart(&InertialSense::LoggerThread, this);
155  }
156  return true;
157 }
158 
159 void InertialSense::DisableLogging()
160 {
161  // just sets a bool no need to lock
162  m_logger.EnableLogging(false);
163  threadJoinAndFree(m_logThread);
164  m_logThread = NULLPTR;
165  m_logger.CloseAllFiles();
166 }
167 
168 bool InertialSense::HasReceivedResponseFromDevice(size_t index)
169 {
170  return (m_comManagerState.flashConfig[index].size != 0 && m_comManagerState.devInfo[index].serialNumber != 0 && m_comManagerState.devInfo[index].manufacturer[0] != 0);
171 }
172 
173 bool InertialSense::HasReceivedResponseFromAllDevices()
174 {
175  if (m_comManagerState.devInfo.size() != m_comManagerState.config.size() || m_comManagerState.config.size() != m_comManagerState.flashConfig.size())
176  {
177  return false;
178  }
179 
180  for (size_t i = 0; i < m_comManagerState.devInfo.size(); i++)
181  {
182  if (!HasReceivedResponseFromDevice(i))
183  {
184  return false;
185  }
186  }
187  return true;
188 }
189 
190 void InertialSense::RemoveDevice(size_t index)
191 {
192  serialPortClose(&m_comManagerState.serialPorts[index]);
193  m_comManagerState.serialPorts.erase(m_comManagerState.serialPorts.begin() + index);
194  m_comManagerState.devInfo.erase(m_comManagerState.devInfo.begin() + index);
195  m_comManagerState.config.erase(m_comManagerState.config.begin() + index);
196  m_comManagerState.flashConfig.erase(m_comManagerState.flashConfig.begin() + index);
197 }
198 
199 void InertialSense::LoggerThread(void* info)
200 {
201  bool running = true;
202  InertialSense* inertialSense = (InertialSense*)info;
203 
204  // gather up packets in memory
205  map<int, vector<p_data_t>> packets;
206 
207  while (running)
208  {
209  SLEEP_MS(20);
210  {
211  // lock so we can read and clear m_logPackets
212  cMutexLocker logMutexLocker(&inertialSense->m_logMutex);
213  for (map<int, vector<p_data_t>>::iterator i = inertialSense->m_logPackets.begin(); i != inertialSense->m_logPackets.end(); i++)
214  {
215  packets[i->first] = i->second;
216  }
217 
218  // clear shared memory
219  inertialSense->m_logPackets.clear();
220 
221  // update running state
222  running = inertialSense->m_logger.Enabled();
223  }
224 
225  if (running)
226  {
227  // log the packets
228  for (map<int, vector<p_data_t>>::iterator i = packets.begin(); i != packets.end(); i++)
229  {
230  for (size_t j = 0; j < i->second.size(); j++)
231  {
232  if (!inertialSense->m_logger.LogData(i->first, &i->second[j].hdr, i->second[j].buf))
233  {
234  // Failed to write to log
235  SLEEP_MS(20);
236  }
237  }
238 
239  // clear all log data for this pHandle
240  i->second.clear();
241  }
242  }
243 
244  inertialSense->m_logger.Update();
245  }
246 
247  printf("\n...Logger thread terminated...\n");
248 }
249 
250 void InertialSense::StepLogger(InertialSense* i, const p_data_t* data, int pHandle)
251 {
252  cMutexLocker logMutexLocker(&i->m_logMutex);
253  if (i->m_logger.Enabled())
254  {
255  vector<p_data_t>& vec = i->m_logPackets[pHandle];
256  vec.push_back(*data);
257  }
258 }
259 
260 bool InertialSense::Open(const char* port, int baudRate, bool disableBroadcastsOnClose)
261 {
262  // null com port, just use other features of the interface like ntrip
263  if (port[0] == '0' && port[1] == '\0')
264  {
265  return true;
266  }
267 
268  m_disableBroadcastsOnClose = false;
269  if (OpenSerialPorts(port, baudRate))
270  {
271  m_disableBroadcastsOnClose = disableBroadcastsOnClose;
272  return true;
273  }
274  return false;
275 }
276 
277 bool InertialSense::SetLoggerEnabled(bool enable, const string& path, cISLogger::eLogType logType, uint64_t rmcPreset, float maxDiskSpacePercent, uint32_t maxFileSize, uint32_t chunkSize, const string& subFolder)
278 {
279  if (enable)
280  {
281  if (m_logThread != NULLPTR)
282  {
283  // already logging
284  return true;
285  }
286 
287  if(rmcPreset)
288  {
289  BroadcastBinaryDataRmcPreset(rmcPreset);
290  }
291  return EnableLogging(path, logType, maxDiskSpacePercent, maxFileSize, chunkSize, subFolder);
292  }
293 
294  // !enable, shutdown logger gracefully
295  DisableLogging();
296  return true;
297 }
298 
299 bool InertialSense::OpenServerConnection(const string& connectionString)
300 {
301  bool opened = false;
302 
303  CloseServerConnection();
304  vector<string> pieces;
305  splitString(connectionString, ":", pieces);
306  if (pieces.size() < 3)
307  {
308  return opened;
309  }
310 
311  eGpsParserType type;
312  if (pieces[0] == "RTCM3")
313  {
314  type = GpsParserTypeRtcm3;
315  }
316  else if (pieces[0] == "IS")
317  {
318  type = GpsParserTypeInertialSense;
319  }
320  else
321  {
322  type = GpsParserTypeUblox;
323  }
324 
325  if (pieces[1] == "SERIAL")
326  {
327  if (pieces.size() < 4)
328  {
329  return opened;
330  }
331  else if ((opened = (m_serialServer.Open(pieces[2].c_str(), atoi(pieces[3].c_str())))))
332  {
333  m_clientStream = &m_serialServer;
334  }
335  }
336  else
337  {
338  opened = (m_tcpClient.Open(pieces[1], atoi(pieces[2].c_str())) == 0);
339  string url = (pieces.size() > 3 ? pieces[3] : "");
340  string user = (pieces.size() > 4 ? pieces[4] : "");
341  string pwd = (pieces.size() > 5 ? pieces[5] : "");
342  if (url.size() != 0)
343  {
344  m_tcpClient.HttpGet(url, "Inertial Sense", user, pwd);
345  }
346  }
347  if (opened)
348  {
349  // configure as RTK rover
350  m_parser = cGpsParser::CreateParser(type, this);
351  uint32_t cfgBits = RTK_CFG_BITS_GPS1_RTK_ROVER;
352  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
353  {
354  sendDataComManager((int)i, DID_FLASH_CONFIG, &cfgBits, sizeof(cfgBits), offsetof(nvm_flash_cfg_t, RTKCfgBits));
355  }
356  if (m_clientStream == NULLPTR)
357  {
358  m_clientStream = &m_tcpClient;
359  }
360  }
361 
362  return opened;
363 }
364 
365 void InertialSense::CloseServerConnection()
366 {
367  if (m_parser != NULLPTR)
368  {
369  delete m_parser;
370  m_parser = NULLPTR;
371  }
372  m_tcpClient.Close();
373  m_tcpServer.Close();
374  m_serialServer.Close();
375  m_clientStream = NULLPTR;
376 }
377 
378 bool InertialSense::CreateHost(const string& ipAndPort)
379 {
380  // if no serial connection, fail
381  if (!IsOpen())
382  {
383  return false;
384  }
385 
386  CloseServerConnection();
387  size_t colon = ipAndPort.find(':', 0);
388  if (colon == string::npos)
389  {
390  return false;
391  }
392  StopBroadcasts();
393  string host = ipAndPort.substr(0, colon);
394  string portString = ipAndPort.substr(colon + 1);
395  int port = (int)strtol(portString.c_str(), NULLPTR, 10);
396  return (m_tcpServer.Open(host, port) == 0);
397 }
398 
399 bool InertialSense::IsOpen()
400 {
401  return (m_comManagerState.serialPorts.size() != 0 && serialPortIsOpen(&m_comManagerState.serialPorts[0]));
402 }
403 
404 size_t InertialSense::GetDeviceCount()
405 {
406  return m_comManagerState.serialPorts.size();
407 }
408 
409 bool InertialSense::Update()
410 {
411  uint8_t buffer[4096];
412  if (m_tcpServer.IsOpen() && m_comManagerState.serialPorts.size() != 0)
413  {
414  // as a tcp server, only the first serial port is read from
415  int count = serialPortReadTimeout(&m_comManagerState.serialPorts[0], buffer, sizeof(buffer), 0);
416  if (count > 0)
417  {
418  // forward data on to connected clients
419  m_clientServerByteCount += count;
420  if (m_tcpServer.Write(buffer, count) != count)
421  {
422  cout << endl << "Failed to write bytes to tcp server!" << endl;
423  }
424  }
425  m_tcpServer.Update();
426  }
427  else
428  {
429  if (m_clientStream != NULLPTR)
430  {
431  int count = m_clientStream->Read(buffer, sizeof(buffer));
432  if (count > 0)
433  {
434  m_clientServerByteCount += count;
435  m_parser->Write(buffer, count);
436  }
437 
438  // send data to client if available, i.e. nmea gga pos
439  if (m_clientServerByteCount > 0)
440  {
441  int bytes = m_clientBufferBytesToSend;
442  if (bytes != 0)
443  {
444  m_clientStream->Write(m_clientBuffer, bytes);
445  m_clientBufferBytesToSend = 0;
446  }
447  }
448  }
449 
450  // [C COMM INSTRUCTION] 2.) Update Com Manager at regular interval to send and receive data.
451  // Normally called within a while loop. Include a thread "sleep" if running on a multi-thread/
452  // task system with serial port read function that does NOT incorporate a timeout.
453  if (m_comManagerState.serialPorts.size() != 0)
454  {
455  stepComManager();
456  }
457  }
458 
459  // if any serial ports have closed, shutdown
460  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
461  {
462  if (!serialPortIsOpen(&m_comManagerState.serialPorts[i]))
463  {
464  Close();
465  return false;
466  }
467  }
468 
469  return true;
470 }
471 
472 void InertialSense::Close()
473 {
474  SetLoggerEnabled(false);
475  if (m_disableBroadcastsOnClose)
476  {
477  StopBroadcasts();
478  SLEEP_MS(100);
479  }
480  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
481  {
482  serialPortClose(&m_comManagerState.serialPorts[i]);
483  }
484  m_comManagerState.serialPorts.clear();
485  m_comManagerState.config.clear();
486  m_comManagerState.devInfo.clear();
487  m_comManagerState.flashConfig.clear();
488  CloseServerConnection();
489 }
490 
491 vector<string> InertialSense::GetPorts()
492 {
493  vector<string> ports;
494  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
495  {
496  ports.push_back(m_comManagerState.serialPorts[i].port);
497  }
498  return ports;
499 }
500 
501 void InertialSense::StopBroadcasts()
502 {
503  // Stop all broadcasts
504 
505  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
506  {
507  // [C COMM INSTRUCTION] Turns off (disable) all broadcasting and streaming on all ports from the uINS.
508  sendComManager((int)i, PID_STOP_ALL_BROADCASTS, 0, 0, 0);
509  }
510 }
511 
512 void InertialSense::SendData(eDataIDs dataId, uint8_t* data, uint32_t length, uint32_t offset)
513 {
514  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
515  {
516  // [C COMM INSTRUCTION] 4.) Send data to the uINS.
517  sendDataComManager((int)i, dataId, data, length, offset);
518  }
519 }
520 
521 void InertialSense::SendRawData(eDataIDs dataId, uint8_t* data, uint32_t length, uint32_t offset)
522 {
523  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
524  {
525  sendRawDataComManager((int)i, dataId, data, length, offset);
526  }
527 }
528 
529 void InertialSense::SetConfig(const config_t& config, int pHandle)
530 {
531  m_comManagerState.config[pHandle] = config;
532  // [C COMM INSTRUCTION] Update the entire DID_CONFIG data set in the uINS.
533  sendDataComManager(pHandle, DID_CONFIG, &m_comManagerState.config[pHandle], sizeof(config), 0);
534 }
535 
536 void InertialSense::SetFlashConfig(const nvm_flash_cfg_t& flashConfig, int pHandle)
537 {
538  m_comManagerState.flashConfig[pHandle] = flashConfig;
539  // [C COMM INSTRUCTION] Update the entire DID_FLASH_CONFIG data set in the uINS.
540  sendDataComManager(pHandle, DID_FLASH_CONFIG, &m_comManagerState.flashConfig[pHandle], sizeof(flashConfig), 0);
541  Update();
542 }
543 
544 bool InertialSense::BroadcastBinaryData(uint32_t dataId, int periodMS, pfnHandleBinaryData callback)
545 {
546  if (m_comManagerState.serialPorts.size() == 0 || dataId >= DID_COUNT)
547  {
548  return false;
549  }
550  else
551  {
552  m_comManagerState.binaryCallback[dataId] = callback;
553  }
554  if (periodMS < 0)
555  {
556  for (int i = 0; i < (int)m_comManagerState.serialPorts.size(); i++)
557  {
558  // [C COMM INSTRUCTION] Stop broadcasting of one specific DID message from the uINS.
559  disableDataComManager(i, dataId);
560  }
561  }
562  else
563  {
564  for (int i = 0; i < (int)m_comManagerState.serialPorts.size(); i++)
565  {
566  // [C COMM INSTRUCTION] 3.) Request a specific data set from the uINS. "periodMs" specifies the interval
567  // between broadcasts and "periodMs=0" will disable broadcasts and transmit one single message.
568  getDataComManager(i, dataId, 0, 0, periodMS);
569  }
570  }
571  return true;
572 }
573 
574 void InertialSense::BroadcastBinaryDataRmcPreset(uint64_t rmcPreset, uint32_t rmcOptions)
575 {
576  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
577  {
578  // [C COMM INSTRUCTION] Use a preset to enable a predefined set of messages. R
579  getDataRmcComManager((int)i, rmcPreset, rmcOptions);
580  }
581 }
582 
583 vector<InertialSense::bootloader_result_t> InertialSense::BootloadFile(const string& comPort, const string& fileName, int baudRate, pfnBootloadProgress uploadProgress, pfnBootloadProgress verifyProgress)
584 {
585  vector<bootloader_result_t> results;
586  vector<string> portStrings;
587  vector<bootloader_state_t> state;
588 
589  if (comPort == "*")
590  {
591  cISSerialPort::GetComPorts(portStrings);
592  }
593  else
594  {
595  splitString(comPort, ",", portStrings);
596  }
597  sort(portStrings.begin(), portStrings.end());
598  state.resize(portStrings.size());
599 
600  // test file exists
601  {
602  ifstream tmpStream(fileName);
603  if (!tmpStream.good())
604  {
605  for (size_t i = 0; i < state.size(); i++)
606  {
607  results.push_back({ state[i].serial.port, "Bootloader file does not exist" });
608  }
609  }
610  }
611 
612  if (results.size() == 0)
613  {
614  // for each port requested, setup a thread to do the bootloader for that port
615  for (size_t i = 0; i < state.size(); i++)
616  {
617  state[i].param.error = (char*)MALLOC(1024);
618  state[i].param.errorLength = 1024;
619  serialPortPlatformInit(&state[i].serial);
620  serialPortSetPort(&state[i].serial, portStrings[i].c_str());
621  state[i].param.uploadProgress = uploadProgress;
622  state[i].param.verifyProgress = verifyProgress;
623  state[i].param.fileName = fileName.c_str();
624  state[i].param.port = &state[i].serial;
625  state[i].param.verifyFileName = NULLPTR;
626  state[i].param.flags.bitFields.enableVerify = (verifyProgress != NULLPTR);
627  state[i].param.numberOfDevices = (int)state.size();
628  state[i].param.baudRate = baudRate;
629  state[i].thread = threadCreateAndStart(bootloaderThread, &state[i]);
630  }
631 
632  // wait for all threads to finish
633  for (size_t i = 0; i < state.size(); i++)
634  {
635  threadJoinAndFree(state[i].thread);
636  }
637 
638  // if any thread failed, we return failure
639  for (size_t i = 0; i < state.size(); i++)
640  {
641  results.push_back({ state[i].serial.port, state[i].param.error });
642  }
643  }
644 
645  for (size_t i = 0; i < state.size(); i++)
646  {
647  if (state[i].param.error != NULLPTR)
648  {
649  FREE(state[i].param.error);
650  }
651  }
652 
653  return results;
654 }
655 
656 bool InertialSense::OnPacketReceived(const cGpsParser* parser, const uint8_t* data, uint32_t dataLength)
657 {
658  (void)parser;
659  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
660  {
661  // sleep in between to allow test bed to send the serial data
662  SLEEP_MS(10);
663  serialPortWrite(&m_comManagerState.serialPorts[i], data, dataLength);
664  }
665  return false; // do not parse, since we are just forwarding it on
666 }
667 
668 void InertialSense::OnClientConnecting(cISTcpServer* server)
669 {
670  cout << endl << "Client connecting..." << endl;
671 }
672 
673 void InertialSense::OnClientConnected(cISTcpServer* server, socket_t socket)
674 {
675  cout << endl << "Client connected: " << (int)socket << endl;
676 }
677 
678 void InertialSense::OnClientConnectFailed(cISTcpServer* server)
679 {
680  cout << endl << "Client connection failed!" << endl;
681 }
682 
683 void InertialSense::OnClientDisconnected(cISTcpServer* server, socket_t socket)
684 {
685  cout << endl << "Client disconnected: " << (int)socket << endl;
686 }
687 
688 bool InertialSense::OpenSerialPorts(const char* port, int baudRate)
689 {
690  Close();
691 
692  if (port == NULLPTR || validateBaudRate(baudRate) != 0)
693  {
694  return false;
695  }
696 
697  // split port on comma in case we need to open multiple serial ports
698  vector<string> ports;
699  size_t maxCount = UINT32_MAX;
700 
701  // handle wildcard, auto-detect serial ports
702  if (port[0] == '*')
703  {
704  cISSerialPort::GetComPorts(ports);
705  if (port[1] != '\0')
706  {
707  maxCount = atoi(port + 1);
708  maxCount = (maxCount == 0 ? UINT32_MAX : maxCount);
709  }
710  }
711  else
712  {
713  // comma separated list of serial ports
714  splitString(port, ",", ports);
715  }
716 
717  // open serial ports
718  for (size_t i = 0; i < ports.size(); i++)
719  {
720  serial_port_t serial;
721  serialPortPlatformInit(&serial);
722  if (serialPortOpen(&serial, ports[i].c_str(), baudRate, 0) == 0)
723  {
724  // failed to open
725  serialPortClose(&serial);
726  }
727  else
728  {
729  m_comManagerState.serialPorts.push_back(serial);
730  }
731  }
732 
733  // [C COMM INSTRUCTION] 1.) Setup com manager. Specify number of serial ports and register callback functions for
734  // serial port read and write and for successfully parsed data.
735  initComManager((int)m_comManagerState.serialPorts.size(), 10, 10, 10, staticReadPacket, staticSendPacket, 0, staticProcessRxData, 0, 0);
736 
737  // re-initialize data sets
738  config_t configTemplate;
739  memset(&configTemplate, 0, sizeof(configTemplate));
740  m_comManagerState.config.resize(m_comManagerState.serialPorts.size(), configTemplate);
741  dev_info_t devInfoTemplate;
742  memset(&devInfoTemplate, 0, sizeof(devInfoTemplate));
743  m_comManagerState.devInfo.resize(m_comManagerState.serialPorts.size(), devInfoTemplate);
744  nvm_flash_cfg_t flashTemplate;
745  memset(&flashTemplate, 0, sizeof(flashTemplate));
746  m_comManagerState.flashConfig.resize(m_comManagerState.serialPorts.size(), flashTemplate);
747 
748  // negotiate baud rate by querying device info - don't return out until it negotiates or times out
749  // if the baud rate is already correct, the request for the message should succeed very quickly
750  time_t startTime = time(0);
751 
752  // try to auto-baud for up to 10 seconds, then abort if we didn't get a valid packet
753  // we wait until we get a valid serial number and manufacturer
754  while (!HasReceivedResponseFromAllDevices() && time(0) - startTime < 10)
755  {
756  for (size_t i = 0; i < m_comManagerState.serialPorts.size(); i++)
757  {
758  getDataComManager((int)i, DID_CONFIG, 0, 0, 0);
759  getDataComManager((int)i, DID_DEV_INFO, 0, 0, 0);
760  getDataComManager((int)i, DID_FLASH_CONFIG, 0, 0, 0);
761  }
762 
763  SLEEP_MS(13);
764  stepComManager();
765  }
766 
767  bool removedSerials = false;
768 
769  // remove each failed device where communications were not received
770  for (int i = (int)(m_comManagerState.devInfo.size() - 1); i >= 0; i--)
771  {
772  if (!HasReceivedResponseFromDevice(i))
773  {
774  RemoveDevice(i);
775  removedSerials = true;
776  }
777  }
778 
779  // if no devices left, all failed, we return failure
780  if (m_comManagerState.serialPorts.size() == 0)
781  {
782  Close();
783  return false;
784  }
785 
786  // remove ports if we are over max count
787  while (m_comManagerState.serialPorts.size() > maxCount)
788  {
789  RemoveDevice(m_comManagerState.serialPorts.size() - 1);
790  removedSerials = true;
791  }
792 
793  // setup com manager again if serial ports dropped out with new count of serial ports
794  if (removedSerials)
795  {
796  initComManager((int)m_comManagerState.serialPorts.size(), 10, 10, 10, staticReadPacket, staticSendPacket, 0, staticProcessRxData, 0, 0);
797  }
798 
799  return m_comManagerState.serialPorts.size() != 0;
800 }
getDataComManager
void getDataComManager(int pHandle, uint32_t dataId, int offset, int size, int period_ms)
Request data This function requests the specified data w/ offset and length for partial reads...
Definition: com_manager.c:698
sendComManager
int sendComManager(int pHandle, pkt_info_byte_t pktInfo, bufPtr_t *bodyHdr, bufPtr_t *txData, uint8_t pFlags)
Definition: com_manager.c:822
-
SLEEP_MS
#define SLEEP_MS(timeMs)
Definition: ISUtilities.h:140
+
SLEEP_MS
#define SLEEP_MS(timeMs)
Definition: ISUtilities.h:134
serialPortWrite
int serialPortWrite(serial_port_t *serialPort, const unsigned char *buffer, int writeCount)
Definition: serialPort.c:190
bootloader_state_t::param
bootload_params_t param
Definition: InertialSense.cpp:19
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bootloadVerifyProgress
int bootloadVerifyProgress(const void *port, float percent)
Definition: ISUtilities.cpp:387
-
InertialSense::com_manager_cpp_state_t::flashConfig
vector< nvm_flash_cfg_t > flashConfig
Definition: InertialSense.h:81
+
InertialSense::com_manager_cpp_state_t::flashConfig
vector< nvm_flash_cfg_t > flashConfig
Definition: InertialSense.h:75
initComManager
void initComManager(int numHandles, int maxEnsuredPackets, int stepPeriodMilliseconds, int retryCount, pfnComManagerRead readFnc, pfnComManagerSend sendFnc, pfnComManagerSendBufferAvailableBytes txFreeFnc, pfnComManagerPostRead pstRxFnc, pfnComManagerPostAck pstAckFnc, pfnComManagerDisableBroadcasts disableBcastFnc)
Definition: com_manager.c:228
bootloadFileEx
int bootloadFileEx(bootload_params_t *params)
Definition: inertialSenseBootLoader.c:1314
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InertialSense::SendRawData
void SendRawData(eDataIDs dataId, uint8_t *data, uint32_t length=0, uint32_t offset=0)
Definition: InertialSense.cpp:495
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InertialSense::Open
bool Open(const char *port, int baudRate=IS_COM_BAUDRATE_DEFAULT, bool disableBroadcastsOnClose=false)
Definition: InertialSense.cpp:255
+
InertialSense::SendRawData
void SendRawData(eDataIDs dataId, uint8_t *data, uint32_t length=0, uint32_t offset=0)
Definition: InertialSense.cpp:521
+
InertialSense::Open
bool Open(const char *port, int baudRate=IS_COM_BAUDRATE_DEFAULT, bool disableBroadcastsOnClose=false)
Definition: InertialSense.cpp:260
+
cISStream::Write
virtual int Write(const void *buffer, int count)
Definition: ISStream.h:53
threadCreateAndStart
void * threadCreateAndStart(void(*function)(void *info), void *info)
Definition: ISUtilities.cpp:464
dev_info_t
PUSH_PACK_1 struct PACKED dev_info_t
-
data_mapping_string_t
char data_mapping_string_t[IS_DATA_MAPPING_MAX_STRING_LENGTH]
Definition: ISDataMappings.h:69
disableDataComManager
int disableDataComManager(int pHandle, uint32_t dataId)
Definition: com_manager.c:808
-
PACKED::ins3
ins_3_t ins3
Definition: data_sets.h:2401
p_data_hdr_t::id
uint32_t id
Definition: ISComm.h:481
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InertialSense::GetDeviceCount
size_t GetDeviceCount()
Definition: InertialSense.cpp:395
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PACKED::ins2
ins_2_t ins2
Definition: data_sets.h:2400
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DID_INS_1
#define DID_INS_1
Definition: data_sets.h:38
- -
p_data_hdr_t::size
uint32_t size
Definition: ISComm.h:484
+
InertialSense::GetDeviceCount
size_t GetDeviceCount()
Definition: InertialSense.cpp:404
+ +
cISSerialPort::Open
bool Open(const std::string &portName, int baudRate=BAUDRATE_3000000, int timeout=0, bool blocking=false)
Definition: ISSerialPort.cpp:34
buffer_t::buf
uint8_t buf[PKT_BUF_SIZE]
Definition: ISComm.h:304
getDataRmcComManager
void getDataRmcComManager(int pHandle, uint64_t rmcBits, uint32_t rmcOptions)
Definition: com_manager.c:721
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PACKED::lla
double lla[3]
Definition: data_sets.h:430
+
cISTcpClient::Open
int Open(const string &host, int port, int timeoutMilliseconds=IS_SOCKET_DEFAULT_TIMEOUT_MS)
Definition: ISTcpClient.cpp:231
+
cISSerialPort::Close
int Close() OVERRIDE
Definition: ISSerialPort.cpp:41
bootloader_state_t
Definition: InertialSense.cpp:17
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PACKED::mslBar
float mslBar
Definition: data_sets.h:571
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PACKED::vel
float vel[3]
Definition: data_sets.h:2138
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InertialSense::OpenServerConnection
bool OpenServerConnection(const string &connectionString)
Definition: InertialSense.cpp:294
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map_lookup_name_t
map< uint32_t, map_name_to_info_t > map_lookup_name_t
Definition: ISDataMappings.h:67
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NULLPTR
#define NULLPTR
Definition: ISConstants.h:380
-
InertialSense::com_manager_cpp_state_t::stepLogFunction
pfnStepLogFunction stepLogFunction
Definition: InertialSense.h:86
+
InertialSense::OpenServerConnection
bool OpenServerConnection(const string &connectionString)
Definition: InertialSense.cpp:299
+
cISTcpServer::Open
int Open(const string &ipAddress, int port)
Definition: ISTcpServer.cpp:45
+
NULLPTR
#define NULLPTR
Definition: ISConstants.h:377
+
InertialSense::com_manager_cpp_state_t::stepLogFunction
pfnStepLogFunction stepLogFunction
Definition: InertialSense.h:80
+
InertialSense::com_manager_cpp_state_t::clientBufferSize
int clientBufferSize
Definition: InertialSense.h:83
DID_COUNT
#define DID_COUNT
Definition: data_sets.h:117
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PACKED::bar
float bar
Definition: data_sets.h:568
DID_DEV_INFO
#define DID_DEV_INFO
Definition: data_sets.h:35
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cISLogger::LogData
bool LogData(unsigned int device, p_data_hdr_t *dataHdr, const uint8_t *dataBuf)
Definition: ISLogger.cpp:601
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serialPortRead
int serialPortRead(serial_port_t *serialPort, unsigned char *buffer, int readCount)
Definition: serialPort.c:73
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DID_INS_2
#define DID_INS_2
Definition: data_sets.h:39
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PACKED::status
uint32_t status
Definition: data_sets.h:614
+
cISLogger::LogData
bool LogData(unsigned int device, p_data_hdr_t *dataHdr, const uint8_t *dataBuf)
Definition: ISLogger.cpp:604
+
eDataIDs
uint32_t eDataIDs
Definition: data_sets.h:32
InertialSense.h
bootload_params_t
Definition: inertialSenseBootLoader.h:43
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InertialSense::InertialSense
InertialSense(pfnHandleBinaryData callback=NULL)
Definition: InertialSense.cpp:104
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DID_PREINTEGRATED_IMU
#define DID_PREINTEGRATED_IMU
Definition: data_sets.h:37
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PACKED::dt
float dt
Definition: data_sets.h:600
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PACKED::theta
float theta[3]
Definition: data_sets.h:424
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InertialSense::GetFlashConfig
nvm_flash_cfg_t GetFlashConfig(int pHandle=0)
Definition: InertialSense.h:246
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InertialSense::BroadcastBinaryData
bool BroadcastBinaryData(uint32_t dataId, int periodMS, pfnHandleBinaryData callback=NULL)
Definition: InertialSense.cpp:518
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IS_BAUD_RATE_BOOTLOADER_COM
#define IS_BAUD_RATE_BOOTLOADER_COM
Definition: inertialSenseBootLoader.h:29
-
InertialSense::BootloadFile
static vector< bootloader_result_t > BootloadFile(const string &comPort, const string &fileName, int baudRate=IS_BAUD_RATE_BOOTLOADER, pfnBootloadProgress uploadProgress=NULLPTR, pfnBootloadProgress verifyProgress=NULLPTR)
Definition: InertialSense.cpp:557
-
PACKED::I
imus_t I
Definition: data_sets.h:535
+
InertialSense::InertialSense
InertialSense(pfnHandleBinaryData callback=NULL)
Definition: InertialSense.cpp:115
+
InertialSense::SetLoggerEnabled
bool SetLoggerEnabled(bool enable, const string &path=cISLogger::g_emptyString, cISLogger::eLogType logType=cISLogger::eLogType::LOGTYPE_DAT, uint64_t rmcPreset=RMC_PRESET_PPD_BITS, float maxDiskSpacePercent=0.5f, uint32_t maxFileSize=1024 *1024 *5, uint32_t chunkSize=131072, const string &subFolder=cISLogger::g_emptyString)
Definition: InertialSense.cpp:277
+
cISLogger::InitSaveTimestamp
bool InitSaveTimestamp(const string &timeStamp, const string &directory=g_emptyString, const string &subDirectory=g_emptyString, int numDevices=1, eLogType logType=LOGTYPE_DAT, float maxDiskSpacePercent=0.5f, uint32_t maxFileSize=1024 *1024 *5, uint32_t maxChunkSize=131072, bool useSubFolderTimestamp=true)
Definition: ISLogger.cpp:201
+
InertialSense::BroadcastBinaryData
bool BroadcastBinaryData(uint32_t dataId, int periodMS, pfnHandleBinaryData callback=NULL)
Definition: InertialSense.cpp:544
+ +
InertialSense::BootloadFile
static vector< bootloader_result_t > BootloadFile(const string &comPort, const string &fileName, int baudRate=IS_BAUD_RATE_BOOTLOADER, pfnBootloadProgress uploadProgress=NULLPTR, pfnBootloadProgress verifyProgress=NULLPTR)
Definition: InertialSense.cpp:583
buffer_t
Definition: ISComm.h:298
-
PACKED::count
uint32_t count
Definition: data_sets.h:1445
serialPortSetPort
void serialPortSetPort(serial_port_t *serialPort, const char *port)
Definition: serialPort.c:18
GpsParserTypeInertialSense
Definition: GpsParser.h:39
-
PACKED::time
double time
Definition: data_sets.h:532
cGpsParser::CreateParser
static cGpsParser * CreateParser(eGpsParserType type, iGpsParserDelegate *delegate)
Definition: GpsParser.cpp:470
-
DID_GPS_BASE_RAW
#define DID_GPS_BASE_RAW
Definition: data_sets.h:94
+
InertialSense::BroadcastBinaryDataRmcPreset
void BroadcastBinaryDataRmcPreset(uint64_t rmcPreset=RMC_PRESET_INS_BITS, uint32_t rmcOptions=0)
Definition: InertialSense.cpp:574
enableBootloader
int enableBootloader(serial_port_t *port, int baudRate, char *error, int errorLength)
Definition: inertialSenseBootLoader.c:1480
pfnBootloadProgress
int(* pfnBootloadProgress)(const void *obj, float percent)
Definition: inertialSenseBootLoader.h:41
-
InertialSense::SetLoggerEnabled
bool SetLoggerEnabled(bool enable, const string &path=cISLogger::g_emptyString, cISLogger::eLogType logType=cISLogger::eLogType::LOGTYPE_DAT, bool streamPPD=true, float maxDiskSpacePercent=0.5f, uint32_t maxFileSize=1024 *1024 *5, uint32_t chunkSize=131072, const string &subFolder=cISLogger::g_emptyString)
Definition: InertialSense.cpp:272
- +
validateBaudRate
int validateBaudRate(unsigned int baudRate)
Definition: com_manager.c:2019
-
PACKED::vAcc
float vAcc
Definition: data_sets.h:632
serialPortClose
int serialPortClose(serial_port_t *serialPort)
Definition: serialPort.c:55
-
InertialSense::OnPacketReceived
bool OnPacketReceived(const cGpsParser *parser, const uint8_t *data, uint32_t dataLength) OVERRIDE
Definition: InertialSense.cpp:630
-
DID_MAGNETOMETER_2
#define DID_MAGNETOMETER_2
Definition: data_sets.h:89
-
bootload_params_t::obj
const void * obj
Definition: inertialSenseBootLoader.h:49
-
PACKED::qe2b
float qe2b[4]
Definition: data_sets.h:508
-
data_info_t
Definition: ISDataMappings.h:53
-
InertialSense::SetConfig
void SetConfig(const config_t &config, int pHandle=0)
Definition: InertialSense.cpp:503
-
InertialSense::~InertialSense
virtual ~InertialSense()
Definition: InertialSense.cpp:129
+
InertialSense::OnPacketReceived
bool OnPacketReceived(const cGpsParser *parser, const uint8_t *data, uint32_t dataLength) OVERRIDE
Definition: InertialSense.cpp:656
+
InertialSense::SetConfig
void SetConfig(const config_t &config, int pHandle=0)
Definition: InertialSense.cpp:529
+
InertialSense::~InertialSense
virtual ~InertialSense()
Definition: InertialSense.cpp:134
serial_port_t::port
char port[MAX_SERIAL_PORT_NAME_LENGTH+1]
Definition: serialPort.h:70
cISLogger::Update
void Update()
Definition: ISLogger.cpp:98
serialPortReadTimeout
int serialPortReadTimeout(serial_port_t *serialPort, unsigned char *buffer, int readCount, int timeoutMilliseconds)
Definition: serialPort.c:78
-
PACKED::qn2b
float qn2b[4]
Definition: data_sets.h:453
-
bootload_params_t::verifyFileName
const char * verifyFileName
Definition: inertialSenseBootLoader.h:52
-
PACKED::pqr
float pqr[3]
Definition: data_sets.h:521
-
PACKED::uvw
float uvw[3]
Definition: data_sets.h:427
-
PACKED::hAcc
float hAcc
Definition: data_sets.h:629
-
bootload_params_t::uploadProgress
pfnBootloadProgress uploadProgress
Definition: inertialSenseBootLoader.h:50
-
InertialSense::GetPorts
vector< string > GetPorts()
Definition: InertialSense.cpp:465
-
PACKED::dualImu
dual_imu_t dualImu
Definition: data_sets.h:2404
-
InertialSense::SetFlashConfig
void SetFlashConfig(const nvm_flash_cfg_t &flashConfig, int pHandle=0)
Definition: InertialSense.cpp:510
- -
PACKED::ecef
double ecef[3]
Definition: data_sets.h:514
+
InertialSense::com_manager_cpp_state_t::clientBuffer
char * clientBuffer
Definition: InertialSense.h:82
+
cGpsParser::Write
void Write(const uint8_t *data, int dataLength)
Definition: GpsParser.h:175
+
cISStream::Read
virtual int Read(void *buffer, int count)
Definition: ISStream.h:45
+
cISLogger::SetDeviceInfo
bool SetDeviceInfo(const dev_info_t *info, unsigned int device=0)
Definition: ISLogger.cpp:789
+
InertialSense::GetPorts
vector< string > GetPorts()
Definition: InertialSense.cpp:491
+
InertialSense::SetFlashConfig
void SetFlashConfig(const nvm_flash_cfg_t &flashConfig, int pHandle=0)
Definition: InertialSense.cpp:536
+
bootloader_state_t::thread
void * thread
Definition: InertialSense.cpp:22
-
PACKED::mag
float mag[3]
Definition: data_sets.h:557
-
DID_GPS_NAV
#define DID_GPS_NAV
Definition: data_sets.h:40
-
RTK_CFG_BITS_GPS1_RTK_ROVER
Definition: data_sets.h:1201
-
FREE
#define FREE(m)
Definition: ISConstants.h:134
+
RTK_CFG_BITS_GPS1_RTK_ROVER
Definition: data_sets.h:1218
+
cISTcpServer::Write
int Write(const uint8_t *data, int dataLength)
Definition: ISTcpServer.cpp:164
+
FREE
#define FREE(m)
Definition: ISConstants.h:135
CMHANDLE
void * CMHANDLE
Definition: com_manager.h:71
DID_FLASH_CONFIG
#define DID_FLASH_CONFIG
Definition: data_sets.h:46
-
InertialSense::com_manager_cpp_state_t::binaryCallbackGlobal
pfnHandleBinaryData binaryCallbackGlobal
Definition: InertialSense.h:84
-
PACKED::reserved
uint32_t reserved
Definition: data_sets.h:358
-
InertialSense::com_manager_cpp_state_t::binaryCallback
pfnHandleBinaryData binaryCallback[DID_COUNT]
Definition: InertialSense.h:85
-
MALLOC
#define MALLOC(m)
Definition: ISConstants.h:133
+
InertialSense::com_manager_cpp_state_t::binaryCallbackGlobal
pfnHandleBinaryData binaryCallbackGlobal
Definition: InertialSense.h:78
+
InertialSense::com_manager_cpp_state_t::binaryCallback
pfnHandleBinaryData binaryCallback[DID_COUNT]
Definition: InertialSense.h:79
+
MALLOC
#define MALLOC(m)
Definition: ISConstants.h:134
GpsParserTypeRtcm3
Definition: GpsParser.h:49
-
PACKED::ins4
ins_4_t ins4
Definition: data_sets.h:2402
cISSerialPort::GetComPorts
static void GetComPorts(vector< string > &ports)
Definition: ISSerialPort.cpp:56
- -
InertialSense::SendData
void SendData(eDataIDs dataId, uint8_t *data, uint32_t length, uint32_t offset)
Definition: InertialSense.cpp:486
-
InertialSense::com_manager_cpp_state_t::config
vector< config_t > config
Definition: InertialSense.h:80
+
cISTcpClient::HttpGet
void HttpGet(const string &subUrl, const string &userAgent, const string &userName, const string &password)
Definition: ISTcpClient.cpp:310
+
InertialSense::SendData
void SendData(eDataIDs dataId, uint8_t *data, uint32_t length, uint32_t offset)
Definition: InertialSense.cpp:512
+
InertialSense::com_manager_cpp_state_t::config
vector< config_t > config
Definition: InertialSense.h:74
p_data_t::hdr
p_data_hdr_t hdr
Definition: ISComm.h:494
-
PACKED::barTemp
float barTemp
Definition: data_sets.h:574
serial_port_t
Definition: serialPort.h:64
-
PACKED::ins1
ins_1_t ins1
Definition: data_sets.h:2399
-
InertialSense::CloseServerConnection
void CloseServerConnection()
Definition: InertialSense.cpp:356
-
DID_MAGNETOMETER_1
#define DID_MAGNETOMETER_1
Definition: data_sets.h:86
-
PACKED::timeOfWeekMs
uint32_t timeOfWeekMs
Definition: data_sets.h:611
-
InertialSense::com_manager_cpp_state_t::devInfo
vector< dev_info_t > devInfo
Definition: InertialSense.h:79
+
InertialSense::CloseServerConnection
void CloseServerConnection()
Definition: InertialSense.cpp:365
+ +
gpsToNmeaGGA
int gpsToNmeaGGA(const gps_pos_t *gps, char *buffer, int bufferLength)
Definition: data_sets.c:668
+
cISTcpServer::IsOpen
bool IsOpen()
Definition: ISTcpServer.h:131
+
InertialSense::com_manager_cpp_state_t::devInfo
vector< dev_info_t > devInfo
Definition: InertialSense.h:73
getGlobalComManager
CMHANDLE getGlobalComManager(void)
Definition: com_manager.c:225
-
InertialSense::com_manager_cpp_state_t::serialPorts
vector< serial_port_t > serialPorts
Definition: InertialSense.h:78
+
InertialSense::OnClientConnected
void OnClientConnected(cISTcpServer *server, socket_t socket) OVERRIDE
Definition: InertialSense.cpp:673
+
InertialSense::com_manager_cpp_state_t::serialPorts
vector< serial_port_t > serialPorts
Definition: InertialSense.h:72
splitString
size_t splitString(const string &s, const string &delimiter, vector< string > &result)
Definition: ISUtilities.cpp:152
-
PACKED::gpsNav
gps_nav_t gpsNav
Definition: data_sets.h:2409
comManagerAssignUserPointer
void comManagerAssignUserPointer(CMHANDLE cmInstance, void *userPointer)
Definition: com_manager.c:666
- +
buffer_t::size
uint32_t size
Definition: ISComm.h:301
serialPortIsOpen
int serialPortIsOpen(serial_port_t *serialPort)
Definition: serialPort.c:46
-
bootload_params_t::port
serial_port_t * port
Definition: inertialSenseBootLoader.h:46
-
PACKED::baro
barometer_t baro
Definition: data_sets.h:2407
+
DID_GPS1_POS
#define DID_GPS1_POS
Definition: data_sets.h:47
bootloader_state_t::result
bool result
Definition: InertialSense.cpp:20
-
InertialSense::CreateHost
bool CreateHost(const string &ipAndPort)
Definition: InertialSense.cpp:369
- -
cISLogger::g_emptyString
static const string g_emptyString
Definition: ISLogger.h:60
-
DID_INS_3
#define DID_INS_3
Definition: data_sets.h:99
-
cISLogger::Enabled
bool Enabled()
Definition: ISLogger.h:78
+
InertialSense::CreateHost
bool CreateHost(const string &ipAndPort)
Definition: InertialSense.cpp:378
+ +
cISLogger::g_emptyString
static const string g_emptyString
Definition: ISLogger.h:56
+
cISLogger::Enabled
bool Enabled()
Definition: ISLogger.h:74
bootloader_state_t::serial
serial_port_t serial
Definition: InertialSense.cpp:21
p_data_t
Definition: ISComm.h:491
- -
PACKED::humidity
float humidity
Definition: data_sets.h:577
-
PACKED::ve
float ve[3]
Definition: data_sets.h:511
-
InertialSense::com_manager_cpp_state_t
Definition: InertialSense.h:75
+ +
InertialSense::OnClientConnecting
void OnClientConnecting(cISTcpServer *server) OVERRIDE
Definition: InertialSense.cpp:668
+
cISLogger::EnableLogging
void EnableLogging(bool enabled)
Definition: ISLogger.h:73
+
InertialSense::com_manager_cpp_state_t
Definition: InertialSense.h:69
comManagerGetUserPointer
void * comManagerGetUserPointer(CMHANDLE cmInstance)
Definition: com_manager.c:671
-
PACKED::buf
uint8_t buf[GPS_RAW_MESSAGE_BUF_SIZE]
Definition: data_sets.h:2107
sendDataComManager
int sendDataComManager(int pHandle, uint32_t dataId, void *dataPtr, int dataSize, int dataOffset)
Definition: com_manager.c:736
threadJoinAndFree
void threadJoinAndFree(void *handle)
Definition: ISUtilities.cpp:485
-
cISDataMappings::DataToString
static bool DataToString(const data_info_t &info, const p_data_hdr_t *hdr, const uint8_t *dataBuffer, data_mapping_string_t stringBuffer)
Definition: ISDataMappings.cpp:1356
-
PACKED::gpsRaw
gps_raw_t gpsRaw
Definition: data_sets.h:2418
-
PACKED::towOffset
double towOffset
Definition: data_sets.h:644
+
eGpsParserType
eGpsParserType
Definition: GpsParser.h:34
+
InertialSense::OnClientConnectFailed
void OnClientConnectFailed(cISTcpServer *server) OVERRIDE
Definition: InertialSense.cpp:678
serialPortPlatformInit
int serialPortPlatformInit(serial_port_t *serialPort)
Definition: serialPortPlatform.c:716
sendRawDataComManager
int sendRawDataComManager(int pHandle, uint32_t dataId, void *dataPtr, int dataSize, int dataOffset)
Definition: com_manager.c:784
PID_STOP_ALL_BROADCASTS
Definition: ISComm.h:285
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PACKED::receiverIndex
uint8_t receiverIndex
Definition: data_sets.h:2114
p_data_t::buf
uint8_t buf[MAX_DATASET_SIZE]
Definition: ISComm.h:497
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RMC_PRESET_PPD_BITS
#define RMC_PRESET_PPD_BITS
Definition: data_sets.h:1007
-
copyDataPToStructP
char copyDataPToStructP(void *sptr, const p_data_t *data, const unsigned int maxsize)
Definition: ISComm.c:789
-
cISDataMappings::StringToData
static bool StringToData(const char *stringBuffer, int stringLength, const p_data_hdr_t *hdr, uint8_t *dataBuffer, const data_info_t &info, int radix=10)
Definition: ISDataMappings.cpp:1276
-
cISDataMappings::GetMap
static const map_lookup_name_t & GetMap()
Definition: ISDataMappings.cpp:1264
+
InertialSense::OnClientDisconnected
void OnClientDisconnected(cISTcpServer *server, socket_t socket) OVERRIDE
Definition: InertialSense.cpp:683
GpsParserTypeUblox
Definition: GpsParser.h:44
serialPortOpen
int serialPortOpen(serial_port_t *serialPort, const char *port, int baudRate, int blocking)
Definition: serialPort.c:28
-
bootload_params_t::verifyProgress
pfnBootloadProgress verifyProgress
Definition: inertialSenseBootLoader.h:51
-
p_data_hdr_t::offset
uint32_t offset
Definition: ISComm.h:487
-
PACKED::pImu
preintegrated_imu_t pImu
Definition: data_sets.h:2408
-
DID_INS_4
#define DID_INS_4
Definition: data_sets.h:100
+
InertialSense::com_manager_cpp_state_t::clientBytesToSend
int * clientBytesToSend
Definition: InertialSense.h:84
bootload_params_t::error
char * error
Definition: inertialSenseBootLoader.h:47
-
InertialSense::com_manager_cpp_state_t::inertialSenseInterface
InertialSense * inertialSenseInterface
Definition: InertialSense.h:87
-
DID_BAROMETER
#define DID_BAROMETER
Definition: data_sets.h:87
+
InertialSense::com_manager_cpp_state_t::inertialSenseInterface
InertialSense * inertialSenseInterface
Definition: InertialSense.h:81
+
cISTcpClient::Close
int Close() OVERRIDE
Definition: ISTcpClient.cpp:285
DID_CONFIG
#define DID_CONFIG
Definition: data_sets.h:41
-
map_name_to_info_t
map< string, data_info_t, sCaseInsensitiveCompare > map_name_to_info_t
Definition: ISDataMappings.h:61
bootload_params_t::baudRate
int baudRate
Definition: inertialSenseBootLoader.h:54
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PACKED::acc
float acc[3]
Definition: data_sets.h:524
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bootload_params_t::fileName
const char * fileName
Definition: inertialSenseBootLoader.h:45
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InertialSense::BroadcastBinaryDataRmcPreset
void BroadcastBinaryDataRmcPreset(uint64_t rmcPreset=RMC_PRESET_INS_BITS)
Definition: InertialSense.cpp:548
-
pfnHandleBinaryData
std::function< void(InertialSense *i, p_data_t *data, int pHandle)> pfnHandleBinaryData
Definition: InertialSense.h:61
+
pfnHandleBinaryData
std::function< void(InertialSense *i, p_data_t *data, int pHandle)> pfnHandleBinaryData
Definition: InertialSense.h:55
stepComManager
void stepComManager(void)
Definition: com_manager.c:421
- +
cISLogger::CloseAllFiles
void CloseAllFiles()
Definition: ISLogger.cpp:704
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bootload_params_t::errorLength
int errorLength
Definition: inertialSenseBootLoader.h:48
diff --git a/docs/html/_inertial_sense_8h.html b/docs/html/_inertial_sense_8h.html index c7618d1f4..015d9a5b6 100644 --- a/docs/html/_inertial_sense_8h.html +++ b/docs/html/_inertial_sense_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -130,7 +130,7 @@

-

Definition at line 61 of file InertialSense.h.

+

Definition at line 55 of file InertialSense.h.

@@ -146,7 +146,7 @@

-

Definition at line 64 of file InertialSense.h.

+

Definition at line 58 of file InertialSense.h.

diff --git a/docs/html/_inertial_sense_8h_source.html b/docs/html/_inertial_sense_8h_source.html index 7c3874264..4ab7d95e5 100644 --- a/docs/html/_inertial_sense_8h_source.html +++ b/docs/html/_inertial_sense_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -72,63 +72,67 @@
InertialSense.h
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef __INTERTIALSENSE_H
14 #define __INTERTIALSENSE_H
15 
16 #include <stdio.h>
17 #include <stdlib.h>
18 #include <stddef.h>
19 #include <string>
20 #include <fstream>
21 #include <iostream>
22 #include <sstream>
23 #include <vector>
24 
25 #include "ISConstants.h"
26 #include "ISTcpClient.h"
27 #include "ISTcpServer.h"
28 #include "ISLogger.h"
29 #include "ISDisplay.h"
30 #include "ISUtilities.h"
31 #include "ISSerialPort.h"
32 #include "GpsParser.h"
33 #include "ISDataMappings.h"
34 #include "ISStream.h"
35 
36 // use of InertialSense class requires winsock
37 #if PLATFORM_IS_WINDOWS
38 
39 #pragma comment (lib, "Ws2_32.lib")
40 
41 #endif
42 
43 extern "C"
44 {
45  // [C COMM INSTRUCTION] Include data_sets.h and com_manager.h
46  #include "data_sets.h"
47  #include "com_manager.h"
48 
49  #include "serialPortPlatform.h"
50  #include "inertialSenseBootLoader.h"
51 }
52 
53 #include <functional>
54 
55 #if defined(ENABLE_IS_PYTHON_WRAPPER)
56 
57 #include "../pySDK/pySDK.h"
58 
59 #endif
60 
61 class InertialSense;
62 
63 typedef std::function<void(InertialSense* i, p_data_t* data, int pHandle)> pfnHandleBinaryData;
64 typedef void(*pfnStepLogFunction)(InertialSense* i, const p_data_t* data, int pHandle);
65 
66 using namespace std;
67 
72 class InertialSense : public iGpsParserDelegate
73 {
74 public:
75  struct com_manager_cpp_state_t
76  {
77  // per device vars
78  vector<serial_port_t> serialPorts;
79  vector<dev_info_t> devInfo;
80  vector<config_t> config;
81  vector<nvm_flash_cfg_t> flashConfig;
82 
83  // common vars
84  pfnHandleBinaryData binaryCallbackGlobal;
85  pfnHandleBinaryData binaryCallback[DID_COUNT];
86  pfnStepLogFunction stepLogFunction;
87  InertialSense* inertialSenseInterface;
88  };
89 
90  typedef struct
91  {
92  string port;
93  string error;
94  } bootloader_result_t;
95 
100  InertialSense(pfnHandleBinaryData callback = NULL);
101 
105  virtual ~InertialSense();
106 
107  /*
108  * Broadcast binary data
109  * @param dataId the data id (DID_* - see data_sets.h) to broadcast
110  * @param periodMS the period in milliseconds, 0 for one time message, less than 0 to disable broadcast of the specified dataId
111  * @param callback optional callback for this dataId
112  * @return true if success, false if error - if callback is NULL and no global callback was passed to the constructor, this will return false
113  */
114  bool BroadcastBinaryData(uint32_t dataId, int periodMS, pfnHandleBinaryData callback = NULL);
115 
119  void Close();
120 
124  vector<string> GetPorts();
125 
129  bool IsOpen();
130 
138  bool Open(const char* port, int baudRate = IS_COM_BAUDRATE_DEFAULT, bool disableBroadcastsOnClose = false);
139 
144  size_t GetDeviceCount();
145 
150  bool Update();
151 
164  bool SetLoggerEnabled(bool enable, const string& path = cISLogger::g_emptyString, cISLogger::eLogType logType = cISLogger::eLogType::LOGTYPE_DAT, bool streamPPD = true, float maxDiskSpacePercent = 0.5f, uint32_t maxFileSize = 1024 * 1024 * 5, uint32_t chunkSize = 131072, const string& subFolder = cISLogger::g_emptyString);
165 
170  void BroadcastBinaryDataRmcPreset(uint64_t rmcPreset=RMC_PRESET_INS_BITS);
171 
176  bool LoggerEnabled() { return m_logger.Enabled(); }
177 
183  bool OpenServerConnection(const string& connectionString);
184 
190  bool CreateHost(const string& ipAndPort);
191 
195  void CloseServerConnection();
196 
200  void StopBroadcasts();
201 
209  void SendData(eDataIDs dataId, uint8_t* data, uint32_t length, uint32_t offset);
210 
218  void SendRawData(eDataIDs dataId, uint8_t* data, uint32_t length = 0, uint32_t offset = 0);
219 
225  const dev_info_t& GetDeviceInfo(int pHandle = 0) { return m_comManagerState.devInfo[pHandle]; }
226 
232  config_t GetConfig(int pHandle = 0) { return m_comManagerState.config[pHandle]; }
233 
239  void SetConfig(const config_t& config, int pHandle = 0);
240 
246  nvm_flash_cfg_t GetFlashConfig(int pHandle = 0) { return m_comManagerState.flashConfig[pHandle]; }
247 
253  void SetFlashConfig(const nvm_flash_cfg_t& flashConfig, int pHandle = 0);
254 
259  uint64_t GetClientServerByteCount() { return m_clientServerByteCount; }
260 
266  serial_port_t* GetSerialPort(int pHandle = 0) { return &m_comManagerState.serialPorts[pHandle]; }
267 
272  time_t GetTimeoutFlushLoggerSeconds() { return m_logger.GetTimeoutFlushSeconds(); }
273 
278  void SetTimeoutFlushLoggerSeconds(time_t timeoutFlushLoggerSeconds) { m_logger.SetTimeoutFlushSeconds(timeoutFlushLoggerSeconds); }
279 
290  static vector<bootloader_result_t> BootloadFile(const string& comPort, const string& fileName, int baudRate = IS_BAUD_RATE_BOOTLOADER, pfnBootloadProgress uploadProgress = NULLPTR, pfnBootloadProgress verifyProgress = NULLPTR);
291 
292 protected:
293  bool OnPacketReceived(const cGpsParser* parser, const uint8_t* data, uint32_t dataLength) OVERRIDE;
294 
295 private:
296  InertialSense::com_manager_cpp_state_t m_comManagerState;
297  cISLogger m_logger;
298  void* m_logThread;
299  cMutex m_logMutex;
300  map<int, vector<p_data_t>> m_logPackets;
301  time_t m_lastLogReInit;
302  cISTcpClient m_tcpClient;
303  cISTcpServer m_tcpServer;
304  cISSerialPort m_serialServer;
305  cISStream* m_clientStream;
306  cGpsParser* m_parser; // parser so we can forward messages from a server to the uINS all at once - that way they aren't broken up in between other data set to the uINS
307  uint64_t m_clientServerByteCount;
308  bool m_disableBroadcastsOnClose;
309 
310  // returns false if logger failed to open
311  bool EnableLogging(const string& path, cISLogger::eLogType logType, float maxDiskSpacePercent, uint32_t maxFileSize, uint32_t chunkSize, const string& subFolder);
312  void DisableLogging();
313  bool HasReceivedResponseFromDevice(size_t index);
314  bool HasReceivedResponseFromAllDevices();
315  void RemoveDevice(size_t index);
316  bool OpenSerialPorts(const char* port, int baudRate);
317  static void LoggerThread(void* info);
318  static void StepLogger(InertialSense* i, const p_data_t* data, int pHandle);
319 
320 #if defined(ENABLE_IS_PYTHON_WRAPPER)
321 
322  pybind11::function m_pyCallback;
323  cInertialSenseDisplay m_pyDisplay;
324 
325 public:
326 
327  /*
328  * Broadcast binary data
329  * @param dataId the data id (DID_* - see data_sets.h) to broadcast
330  * @param periodMS the period in milliseconds, 0 for one time message, less than 0 to disable broadcast of the specified dataId
331  * @return true if success, false if error - if callback is NULL and no global callback was passed to the constructor, this will return false
332  */
333  bool PyBroadcastBinaryData(uint32_t dataId, int periodMS);
334 
341  static bool InertialSense::PyBootloadFile(const string& comPort, const string& fileName);
342 
347  void SetPyCallback(pybind11::object func);
348 
353  void SetPyDisplay(cInertialSenseDisplay display);
354 
359  pybind11::object GetPyCallback();
360 
365  cInertialSenseDisplay GetPyDisplay();
366 
367 #endif
368 
369 };
370 
371 #if defined(ENABLE_IS_PYTHON_WRAPPER)
372 
373 static void pyClt_dataCallback(InertialSense* i, p_data_t* data);
374 pybind11::dict py_dataHandling(p_data_t* data);
375 pybind11::list convertArray(float const data[], int length);
376 pybind11::list convertArray(double const data[], int length);
377 bool pyUpdateFlashConfig(InertialSense& inertialSenseInterface, string flashConfig);
378 
379 #endif
380 
381 #endif
InertialSense::com_manager_cpp_state_t::flashConfig
vector< nvm_flash_cfg_t > flashConfig
Definition: InertialSense.h:81
-
InertialSense::bootloader_result_t
Definition: InertialSense.h:90
-
pfnStepLogFunction
void(* pfnStepLogFunction)(InertialSense *i, const p_data_t *data, int pHandle)
Definition: InertialSense.h:64
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014 Inertial Sense, LLC - http://inertialsense.com
5 
6 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
11 */
12 
13 #ifndef __INTERTIALSENSE_H
14 #define __INTERTIALSENSE_H
15 
16 #include <stdio.h>
17 #include <stdlib.h>
18 #include <stddef.h>
19 #include <string>
20 #include <fstream>
21 #include <iostream>
22 #include <sstream>
23 #include <vector>
24 
25 #include "ISConstants.h"
26 #include "ISTcpClient.h"
27 #include "ISTcpServer.h"
28 #include "ISLogger.h"
29 #include "ISDisplay.h"
30 #include "ISUtilities.h"
31 #include "ISSerialPort.h"
32 #include "GpsParser.h"
33 #include "ISDataMappings.h"
34 #include "ISStream.h"
35 
36 // use of InertialSense class requires winsock
37 #if PLATFORM_IS_WINDOWS
38 
39 #pragma comment (lib, "Ws2_32.lib")
40 
41 #endif
42 
43 extern "C"
44 {
45  // [C COMM INSTRUCTION] Include data_sets.h and com_manager.h
46  #include "data_sets.h"
47  #include "com_manager.h"
48 
49  #include "serialPortPlatform.h"
50  #include "inertialSenseBootLoader.h"
51 }
52 
53 #include <functional>
54 
55 class InertialSense;
56 
57 typedef std::function<void(InertialSense* i, p_data_t* data, int pHandle)> pfnHandleBinaryData;
58 typedef void(*pfnStepLogFunction)(InertialSense* i, const p_data_t* data, int pHandle);
59 
60 using namespace std;
61 
66 class InertialSense : public iGpsParserDelegate, iISTcpServerDelegate
67 {
68 public:
69  struct com_manager_cpp_state_t
70  {
71  // per device vars
72  vector<serial_port_t> serialPorts;
73  vector<dev_info_t> devInfo;
74  vector<config_t> config;
75  vector<nvm_flash_cfg_t> flashConfig;
76 
77  // common vars
78  pfnHandleBinaryData binaryCallbackGlobal;
79  pfnHandleBinaryData binaryCallback[DID_COUNT];
80  pfnStepLogFunction stepLogFunction;
81  InertialSense* inertialSenseInterface;
82  char* clientBuffer;
83  int clientBufferSize;
84  int* clientBytesToSend;
85  };
86 
87  typedef struct
88  {
89  string port;
90  string error;
91  } bootloader_result_t;
92 
97  InertialSense(pfnHandleBinaryData callback = NULL);
98 
102  virtual ~InertialSense();
103 
104  /*
105  * Broadcast binary data
106  * @param dataId the data id (DID_* - see data_sets.h) to broadcast
107  * @param periodMS the period in milliseconds, 0 for one time message, less than 0 to disable broadcast of the specified dataId
108  * @param callback optional callback for this dataId
109  * @return true if success, false if error - if callback is NULL and no global callback was passed to the constructor, this will return false
110  */
111  bool BroadcastBinaryData(uint32_t dataId, int periodMS, pfnHandleBinaryData callback = NULL);
112 
116  void Close();
117 
121  vector<string> GetPorts();
122 
126  bool IsOpen();
127 
135  bool Open(const char* port, int baudRate = IS_COM_BAUDRATE_DEFAULT, bool disableBroadcastsOnClose = false);
136 
141  size_t GetDeviceCount();
142 
147  bool Update();
148 
161  bool SetLoggerEnabled(bool enable, const string& path = cISLogger::g_emptyString, cISLogger::eLogType logType = cISLogger::eLogType::LOGTYPE_DAT, uint64_t rmcPreset = RMC_PRESET_PPD_BITS, float maxDiskSpacePercent = 0.5f, uint32_t maxFileSize = 1024 * 1024 * 5, uint32_t chunkSize = 131072, const string& subFolder = cISLogger::g_emptyString);
162 
167  void BroadcastBinaryDataRmcPreset(uint64_t rmcPreset=RMC_PRESET_INS_BITS, uint32_t rmcOptions=0);
168 
173  bool LoggerEnabled() { return m_logger.Enabled(); }
174 
180  bool OpenServerConnection(const string& connectionString);
181 
187  bool CreateHost(const string& ipAndPort);
188 
192  void CloseServerConnection();
193 
197  void StopBroadcasts();
198 
206  void SendData(eDataIDs dataId, uint8_t* data, uint32_t length, uint32_t offset);
207 
215  void SendRawData(eDataIDs dataId, uint8_t* data, uint32_t length = 0, uint32_t offset = 0);
216 
222  const dev_info_t& GetDeviceInfo(int pHandle = 0) { return m_comManagerState.devInfo[pHandle]; }
223 
229  config_t GetConfig(int pHandle = 0) { return m_comManagerState.config[pHandle]; }
230 
236  void SetConfig(const config_t& config, int pHandle = 0);
237 
243  nvm_flash_cfg_t GetFlashConfig(int pHandle = 0) { return m_comManagerState.flashConfig[pHandle]; }
244 
250  void SetFlashConfig(const nvm_flash_cfg_t& flashConfig, int pHandle = 0);
251 
256  uint64_t GetClientServerByteCount() { return m_clientServerByteCount; }
257 
263  serial_port_t* GetSerialPort(int pHandle = 0) { return &m_comManagerState.serialPorts[pHandle]; }
264 
269  time_t GetTimeoutFlushLoggerSeconds() { return m_logger.GetTimeoutFlushSeconds(); }
270 
275  void SetTimeoutFlushLoggerSeconds(time_t timeoutFlushLoggerSeconds) { m_logger.SetTimeoutFlushSeconds(timeoutFlushLoggerSeconds); }
276 
287  static vector<bootloader_result_t> BootloadFile(const string& comPort, const string& fileName, int baudRate = IS_BAUD_RATE_BOOTLOADER, pfnBootloadProgress uploadProgress = NULLPTR, pfnBootloadProgress verifyProgress = NULLPTR);
288 
289 protected:
290  bool OnPacketReceived(const cGpsParser* parser, const uint8_t* data, uint32_t dataLength) OVERRIDE;
291  void OnClientConnecting(cISTcpServer* server) OVERRIDE;
292  void OnClientConnected(cISTcpServer* server, socket_t socket) OVERRIDE;
293  void OnClientConnectFailed(cISTcpServer* server) OVERRIDE;
294  void OnClientDisconnected(cISTcpServer* server, socket_t socket) OVERRIDE;
295 
296 private:
297  InertialSense::com_manager_cpp_state_t m_comManagerState;
298  cISLogger m_logger;
299  void* m_logThread;
300  cMutex m_logMutex;
301  map<int, vector<p_data_t>> m_logPackets;
302  time_t m_lastLogReInit;
303  cISTcpClient m_tcpClient;
304  char m_clientBuffer[512];
305  int m_clientBufferBytesToSend;
306  cISTcpServer m_tcpServer;
307  cISSerialPort m_serialServer;
308  cISStream* m_clientStream;
309  cGpsParser* m_parser; // parser so we can forward messages from a server to the uINS all at once - that way they aren't broken up in between other data set to the uINS
310  uint64_t m_clientServerByteCount;
311  bool m_disableBroadcastsOnClose;
312 
313  // returns false if logger failed to open
314  bool EnableLogging(const string& path, cISLogger::eLogType logType, float maxDiskSpacePercent, uint32_t maxFileSize, uint32_t chunkSize, const string& subFolder);
315  void DisableLogging();
316  bool HasReceivedResponseFromDevice(size_t index);
317  bool HasReceivedResponseFromAllDevices();
318  void RemoveDevice(size_t index);
319  bool OpenSerialPorts(const char* port, int baudRate);
320  static void LoggerThread(void* info);
321  static void StepLogger(InertialSense* i, const p_data_t* data, int pHandle);
322 };
323 
324 #endif
InertialSense::com_manager_cpp_state_t::flashConfig
vector< nvm_flash_cfg_t > flashConfig
Definition: InertialSense.h:75
+
InertialSense::bootloader_result_t
Definition: InertialSense.h:87
+
pfnStepLogFunction
void(* pfnStepLogFunction)(InertialSense *i, const p_data_t *data, int pHandle)
Definition: InertialSense.h:58
ISDisplay.h
dev_info_t
PUSH_PACK_1 struct PACKED dev_info_t
ISDataMappings.h
- -
InertialSense::SetTimeoutFlushLoggerSeconds
void SetTimeoutFlushLoggerSeconds(time_t timeoutFlushLoggerSeconds)
Definition: InertialSense.h:278
-
InertialSense::GetConfig
config_t GetConfig(int pHandle=0)
Definition: InertialSense.h:232
- -
NULLPTR
#define NULLPTR
Definition: ISConstants.h:380
-
InertialSense::GetTimeoutFlushLoggerSeconds
time_t GetTimeoutFlushLoggerSeconds()
Definition: InertialSense.h:272
-
InertialSense::com_manager_cpp_state_t::stepLogFunction
pfnStepLogFunction stepLogFunction
Definition: InertialSense.h:86
+ +
InertialSense::SetTimeoutFlushLoggerSeconds
void SetTimeoutFlushLoggerSeconds(time_t timeoutFlushLoggerSeconds)
Definition: InertialSense.h:275
+
InertialSense::GetConfig
config_t GetConfig(int pHandle=0)
Definition: InertialSense.h:229
+ +
NULLPTR
#define NULLPTR
Definition: ISConstants.h:377
+
InertialSense::GetTimeoutFlushLoggerSeconds
time_t GetTimeoutFlushLoggerSeconds()
Definition: InertialSense.h:269
+
InertialSense::com_manager_cpp_state_t::stepLogFunction
pfnStepLogFunction stepLogFunction
Definition: InertialSense.h:80
+
InertialSense::com_manager_cpp_state_t::clientBufferSize
int clientBufferSize
Definition: InertialSense.h:83
ISLogger.h
-
InertialSense::GetSerialPort
serial_port_t * GetSerialPort(int pHandle=0)
Definition: InertialSense.h:266
+
InertialSense::GetSerialPort
serial_port_t * GetSerialPort(int pHandle=0)
Definition: InertialSense.h:263
DID_COUNT
#define DID_COUNT
Definition: data_sets.h:117
eDataIDs
uint32_t eDataIDs
Definition: data_sets.h:32
-
RMC_PRESET_INS_BITS
#define RMC_PRESET_INS_BITS
Definition: data_sets.h:1014
-
InertialSense::GetFlashConfig
nvm_flash_cfg_t GetFlashConfig(int pHandle=0)
Definition: InertialSense.h:246
+
RMC_PRESET_INS_BITS
#define RMC_PRESET_INS_BITS
Definition: data_sets.h:1030
+
InertialSense::GetFlashConfig
nvm_flash_cfg_t GetFlashConfig(int pHandle=0)
Definition: InertialSense.h:243
ISUtilities.h
pfnBootloadProgress
int(* pfnBootloadProgress)(const void *obj, float percent)
Definition: inertialSenseBootLoader.h:41
- -
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:377
+ + +
OVERRIDE
#define OVERRIDE
Definition: ISConstants.h:374
+
InertialSense::com_manager_cpp_state_t::clientBuffer
char * clientBuffer
Definition: InertialSense.h:82
ISStream.h
-
InertialSense::GetClientServerByteCount
uint64_t GetClientServerByteCount()
Definition: InertialSense.h:259
-
InertialSense::LoggerEnabled
bool LoggerEnabled()
Definition: InertialSense.h:176
+
InertialSense::GetClientServerByteCount
uint64_t GetClientServerByteCount()
Definition: InertialSense.h:256
+
InertialSense::LoggerEnabled
bool LoggerEnabled()
Definition: InertialSense.h:173
-
InertialSense::com_manager_cpp_state_t::binaryCallbackGlobal
pfnHandleBinaryData binaryCallbackGlobal
Definition: InertialSense.h:84
+
InertialSense::com_manager_cpp_state_t::binaryCallbackGlobal
pfnHandleBinaryData binaryCallbackGlobal
Definition: InertialSense.h:78
-
data_sets.h
-
InertialSense::com_manager_cpp_state_t::config
vector< config_t > config
Definition: InertialSense.h:80
+
InertialSense::com_manager_cpp_state_t::config
vector< config_t > config
Definition: InertialSense.h:74
serial_port_t
Definition: serialPort.h:64
-
InertialSense::GetDeviceInfo
const dev_info_t & GetDeviceInfo(int pHandle=0)
Definition: InertialSense.h:225
- +
InertialSense::GetDeviceInfo
const dev_info_t & GetDeviceInfo(int pHandle=0)
Definition: InertialSense.h:222
+
GpsParser.h
-
InertialSense::com_manager_cpp_state_t::devInfo
vector< dev_info_t > devInfo
Definition: InertialSense.h:79
-
InertialSense::com_manager_cpp_state_t::serialPorts
vector< serial_port_t > serialPorts
Definition: InertialSense.h:78
+
InertialSense::com_manager_cpp_state_t::devInfo
vector< dev_info_t > devInfo
Definition: InertialSense.h:73
+
InertialSense::com_manager_cpp_state_t::serialPorts
vector< serial_port_t > serialPorts
Definition: InertialSense.h:72
ISTcpClient.h
-
InertialSense::bootloader_result_t::error
string error
Definition: InertialSense.h:93
-
cISLogger::g_emptyString
static const string g_emptyString
Definition: ISLogger.h:60
+
InertialSense::bootloader_result_t::error
string error
Definition: InertialSense.h:90
+
cISLogger::g_emptyString
static const string g_emptyString
Definition: ISLogger.h:56
IS_BAUD_RATE_BOOTLOADER
#define IS_BAUD_RATE_BOOTLOADER
Definition: inertialSenseBootLoader.h:23
p_data_t
Definition: ISComm.h:491
-
InertialSense::com_manager_cpp_state_t
Definition: InertialSense.h:75
-
InertialSense::bootloader_result_t::port
string port
Definition: InertialSense.h:92
+
InertialSense::com_manager_cpp_state_t
Definition: InertialSense.h:69
+
InertialSense::bootloader_result_t::port
string port
Definition: InertialSense.h:89
+
RMC_PRESET_PPD_BITS
#define RMC_PRESET_PPD_BITS
Definition: data_sets.h:1027
ISSerialPort.h
com_manager.h
ISTcpServer.h
-
InertialSense::com_manager_cpp_state_t::inertialSenseInterface
InertialSense * inertialSenseInterface
Definition: InertialSense.h:87
-
pfnHandleBinaryData
std::function< void(InertialSense *i, p_data_t *data, int pHandle)> pfnHandleBinaryData
Definition: InertialSense.h:61
+
InertialSense::com_manager_cpp_state_t::clientBytesToSend
int * clientBytesToSend
Definition: InertialSense.h:84
+
InertialSense::com_manager_cpp_state_t::inertialSenseInterface
InertialSense * inertialSenseInterface
Definition: InertialSense.h:81
+
pfnHandleBinaryData
std::function< void(InertialSense *i, p_data_t *data, int pHandle)> pfnHandleBinaryData
Definition: InertialSense.h:55
- +
IS_COM_BAUDRATE_DEFAULT
#define IS_COM_BAUDRATE_DEFAULT
Definition: ISComm.h:177
ISConstants.h
diff --git a/docs/html/_inertial_sense_s_d_k_8h.html b/docs/html/_inertial_sense_s_d_k_8h.html index 3f39b8c92..7b202ad9d 100644 --- a/docs/html/_inertial_sense_s_d_k_8h.html +++ b/docs/html/_inertial_sense_s_d_k_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_inertial_sense_s_d_k_8h_source.html b/docs/html/_inertial_sense_s_d_k_8h_source.html index 7401717b6..014989ca7 100644 --- a/docs/html/_inertial_sense_s_d_k_8h_source.html +++ b/docs/html/_inertial_sense_s_d_k_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_r_e_a_d_m_e_8md.html b/docs/html/_r_e_a_d_m_e_8md.html index b9884d170..ab63e69dc 100644 --- a/docs/html/_r_e_a_d_m_e_8md.html +++ b/docs/html/_r_e_a_d_m_e_8md.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_r_e_a_d_m_e_8md_source.html b/docs/html/_r_e_a_d_m_e_8md_source.html index c5cc0ec56..7c566b25e 100644 --- a/docs/html/_r_e_a_d_m_e_8md_source.html +++ b/docs/html/_r_e_a_d_m_e_8md_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -68,7 +68,7 @@
README.md
-Go to the documentation of this file.
1 **SDK** - The Inertial Sense open source software development kit provides quick integration for communication with the Inertial Sense product line, including the uINS, uAHRS, and uINS. It includes data logger, math libraries, and serial port interface for Linux and Windows environments.
2 
3 **EvalTool** - Graphical Windows-based desktop program that allows you to explore and test functionality of the Inertial Sense products in real-time. It has scrolling plots, 3D model representation, table views of all data, data logger, and firmware updating interface for the uINS, uAHRS, or uIMU. The EvalTool can simultaneously interface with multiple Inertial Sense devices.
4 
5 **CLTool** - Command line utility that can be used to communicate, log data, and update firmware for Inertial Sense products. Additionally, InertialSenseCLTool serves as example source code to demonstrate how to integrate the Inertial Sense SDK into your own source code. The InertialSenseCLTool can be compiled in Linux and Windows.
6 
7 ### Documents
8 
9  * [SDK Documentation](http://docs.inertialsense.com/)
10  * [User Manual, Datasheet, and Release Notes](https://github.com/inertialsense/InertialSenseSDK/releases)
11 
12 ### Downloads
13 
14  * [SDK & CLTool Binaries](https://github.com/inertialsense/InertialSenseSDK/releases) - pre-compiled release static libraries and executables for Linux and Windows.
15  * [SDK & CLTool Source Code](https://github.com/inertialsense/InertialSenseSDK) - open source SDK repository with command line tool and example C/C++ source code.
16  * [Firmware and EvalTool](https://github.com/inertialsense/InertialSenseSDK/releases) - uINS, uAHRS, and uIMU firmware and Windows application installer.
17 
18 ### Design Resources
19 
20  * [uINS PCB Design Libraries](https://inertialsense.com/resources) - Schematic and layout files for printed circuit board designs.
21  * [uINS, uAHRS, uIMU CAD Model](https://inertialsense.com/resources) - 3D step model of uINS and EVB used for CAD and circuit board designs.
22 
23 ### Support
24 
25  * Email - support@inertialsense.com
26 
27 
28 ************************************************
29 (c) 2014-2018 Inertial Sense, LLC
+Go to the documentation of this file.
1 **SDK** - The Inertial Sense open source software development kit provides quick integration for communication with the Inertial Sense product line, including the uINS, uAHRS, and uINS. It includes data logger, math libraries, and serial port interface for Linux and Windows environments.
2 
3 **EvalTool** - Graphical Windows-based desktop program that allows you to explore and test functionality of the Inertial Sense products in real-time. It has scrolling plots, 3D model representation, table views of all data, data logger, and firmware updating interface for the uINS, uAHRS, or uIMU. The EvalTool can simultaneously interface with multiple Inertial Sense devices.
4 
5 **CLTool** - Command line utility that can be used to communicate, log data, and update firmware for Inertial Sense products. Additionally, InertialSenseCLTool serves as example source code to demonstrate how to integrate the Inertial Sense SDK into your own source code. The InertialSenseCLTool can be compiled in Linux and Windows.
6 
7 ### Documents
8 
9  * [SDK Documentation](http://docs.inertialsense.com/)
10  * [User Manual, Datasheet, and Release Notes](https://github.com/inertialsense/InertialSenseSDK/releases)
11 
12 ### Downloads
13 
14  * [SDK & CLTool Binaries](https://github.com/inertialsense/InertialSenseSDK/releases) - pre-compiled release static libraries and executables for Linux and Windows.
15  * [SDK & CLTool Source Code](https://github.com/inertialsense/InertialSenseSDK) - open source SDK repository with command line tool and example C/C++ source code.
16  * [Firmware and EvalTool](https://github.com/inertialsense/InertialSenseSDK/releases) - uINS, uAHRS, and uIMU firmware and Windows application installer.
17 
18 ### Design Resources
19 
20  * [uINS PCB Design Libraries](https://inertialsense.com/resources) - Schematic and layout files for printed circuit board designs.
21  * [uINS, uAHRS, uIMU CAD Model](https://inertialsense.com/resources) - 3D step model of uINS and EVB used for CAD and circuit board designs.
22 
23 ### Support
24 
25  * Email - support@inertialsense.com
26 
27 ************************************************
28 (c) 2014-2018 Inertial Sense, Inc.
Generated by   diff --git a/docs/html/annotated.html b/docs/html/annotated.html index 62c1db68c..a8d605981 100644 --- a/docs/html/annotated.html +++ b/docs/html/annotated.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -82,96 +82,98 @@  CcCsvLog  CcDataChunk  CcDataCSV - CcDataKML - CcDeviceLog - CcDeviceLogCSV - CcDeviceLogKML - CcDeviceLogSerial - CcDeviceLogSorted - CcGpsParser - CcInertialSenseDisplay - CcInertialSenseParser - CcISDataMappings - CcISFileStream - CcISLogger - CcISSerialPort - CcISStream - CcISTcpClient - CcISTcpServer - CcLogStatDataId - CcLogStats - Ccmd_options_t - Ccom_manager_status_t - Ccom_manager_t - Ccrash_info_t - CcRtcmParser - CcSortedDataChunk - CcUbloxParser - Cdata_info_t - Cdiag_msg_t - Censured_pkt_t - Ceph_t - Cfile_info_t - Cgeph_t - Cgtime_t - CiGpsParserDelegate - CiISTcpServerDelegate - ▶CInertialSense - Cbootloader_result_t - Ccom_manager_cpp_state_t - Cinternal_diagnostic_t - Cion_model_utc_alm_t - Cis_comm_instance_t - Clinked_list_node_t - Clinked_list_t - Cobs_t - Cp_ack_hdr_t - Cp_ack_t - Cp_cnk_data_t - Cp_data_disable_t - Cp_data_get_t - Cp_data_hdr_t - Cp_data_t - CPACKED - Cpacket_ftr_t - Cpacket_hdr_t - Cpacket_t - Cpkt_info_t - Cprcopt_t - Cregistered_data_t - Cring_buffer_t - Cringbuf_t - Csbsmsg_t - ▶CsCaseInsensitiveCompare - Cnocase_compare - CsChunkHeader - CsChunkSubHeader - Cserial_port_t - CserialPortHandle - CsKmlLog - CsKmlLogData - CsLpfO0 - CsLpfO1 - Csta_t - Csurvey_in_t - CTiXmlAttribute - CTiXmlAttributeSet - CTiXmlBase - CTiXmlComment - CTiXmlCursor - CTiXmlDeclaration - CTiXmlDocument - CTiXmlElement - CTiXmlHandle - CTiXmlNode - CTiXmlOutStream - CTiXmlParsingData - CTiXmlPrinter - CTiXmlString - CTiXmlText - CTiXmlUnknown - CTiXmlVisitor - Cxmodem_chunk_t + CcDataJSON + CcDataKML + CcDeviceLog + CcDeviceLogCSV + CcDeviceLogJSON + CcDeviceLogKML + CcDeviceLogSerial + CcDeviceLogSorted + CcGpsParser + CcInertialSenseDisplay + CcInertialSenseParser + CcISDataMappings + CcISFileStream + CcISLogger + CcISSerialPort + CcISStream + CcISTcpClient + CcISTcpServer + CcLogStatDataId + CcLogStats + Ccmd_options_t + Ccom_manager_status_t + Ccom_manager_t + Ccrash_info_t + CcRtcmParser + CcSortedDataChunk + CcUbloxParser + Cdata_info_t + Cdiag_msg_t + Censured_pkt_t + Ceph_t + Cfile_info_t + Cgeph_t + Cgtime_t + CiGpsParserDelegate + CiISTcpServerDelegate + ▶CInertialSense + Cbootloader_result_t + Ccom_manager_cpp_state_t + Cinternal_diagnostic_t + Cion_model_utc_alm_t + Cis_comm_instance_t + Clinked_list_node_t + Clinked_list_t + Cobs_t + Cp_ack_hdr_t + Cp_ack_t + Cp_cnk_data_t + Cp_data_disable_t + Cp_data_get_t + Cp_data_hdr_t + Cp_data_t + CPACKED + Cpacket_ftr_t + Cpacket_hdr_t + Cpacket_t + Cpkt_info_t + Cprcopt_t + Cregistered_data_t + Cring_buffer_t + Cringbuf_t + Csbsmsg_t + ▶CsCaseInsensitiveCompare + Cnocase_compare + CsChunkHeader + CsChunkSubHeader + Cserial_port_t + CserialPortHandle + CsKmlLog + CsKmlLogData + CsLpfO0 + CsLpfO1 + Csta_t + Csurvey_in_t + CTiXmlAttribute + CTiXmlAttributeSet + CTiXmlBase + CTiXmlComment + CTiXmlCursor + CTiXmlDeclaration + CTiXmlDocument + CTiXmlElement + CTiXmlHandle + CTiXmlNode + CTiXmlOutStream + CTiXmlParsingData + CTiXmlPrinter + CTiXmlString + CTiXmlText + CTiXmlUnknown + CTiXmlVisitor + Cxmodem_chunk_t diff --git a/docs/html/class_inertial_sense-members.html b/docs/html/class_inertial_sense-members.html index eb25a3286..08c6fa41a 100644 --- a/docs/html/class_inertial_sense-members.html +++ b/docs/html/class_inertial_sense-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -73,7 +73,7 @@ - + @@ -88,25 +88,30 @@ - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + +
BootloadFile(const string &comPort, const string &fileName, int baudRate=IS_BAUD_RATE_BOOTLOADER, pfnBootloadProgress uploadProgress=NULLPTR, pfnBootloadProgress verifyProgress=NULLPTR)InertialSensestatic
BroadcastBinaryData(uint32_t dataId, int periodMS, pfnHandleBinaryData callback=NULL)InertialSense
BroadcastBinaryDataRmcPreset(uint64_t rmcPreset=RMC_PRESET_INS_BITS)InertialSense
BroadcastBinaryDataRmcPreset(uint64_t rmcPreset=RMC_PRESET_INS_BITS, uint32_t rmcOptions=0)InertialSense
Close()InertialSense
CloseServerConnection()InertialSense
CreateHost(const string &ipAndPort)InertialSense
InertialSense(pfnHandleBinaryData callback=NULL)InertialSense
IsOpen()InertialSense
LoggerEnabled()InertialSenseinline
OnError(const cGpsParser *parser, uint32_t id, uint32_t errorCode)iGpsParserDelegateinlinevirtual
OnGlonassEphemerisReceived(const cGpsParser *parser, const geph_t *geph, int prn)iGpsParserDelegateinlinevirtual
OnGpsEphemerisReceived(const cGpsParser *parser, const eph_t *eph, int prn)iGpsParserDelegateinlinevirtual
OnIonosphereModelUtcAlmanacReceived(const cGpsParser *parser, ion_model_utc_alm_t *ionUtcAlm)iGpsParserDelegateinlinevirtual
OnObservationReceived(const cGpsParser *parser, const obs_t *obs)iGpsParserDelegateinlinevirtual
OnPacketReceived(const cGpsParser *parser, const uint8_t *data, uint32_t dataLength) OVERRIDEInertialSenseprotectedvirtual
OnSbsReceived(const cGpsParser *parser, const sbsmsg_t *sbs)iGpsParserDelegateinlinevirtual
OnStationReceived(const cGpsParser *parser, sta_t *sta)iGpsParserDelegateinlinevirtual
Open(const char *port, int baudRate=IS_COM_BAUDRATE_DEFAULT, bool disableBroadcastsOnClose=false)InertialSense
OpenServerConnection(const string &connectionString)InertialSense
SendData(eDataIDs dataId, uint8_t *data, uint32_t length, uint32_t offset)InertialSense
SendRawData(eDataIDs dataId, uint8_t *data, uint32_t length=0, uint32_t offset=0)InertialSense
SetConfig(const config_t &config, int pHandle=0)InertialSense
SetFlashConfig(const nvm_flash_cfg_t &flashConfig, int pHandle=0)InertialSense
SetLoggerEnabled(bool enable, const string &path=cISLogger::g_emptyString, cISLogger::eLogType logType=cISLogger::eLogType::LOGTYPE_DAT, bool streamPPD=true, float maxDiskSpacePercent=0.5f, uint32_t maxFileSize=1024 *1024 *5, uint32_t chunkSize=131072, const string &subFolder=cISLogger::g_emptyString)InertialSense
SetTimeoutFlushLoggerSeconds(time_t timeoutFlushLoggerSeconds)InertialSenseinline
StopBroadcasts()InertialSense
Update()InertialSense
~InertialSense()InertialSensevirtual
OnClientConnected(cISTcpServer *server, socket_t socket) OVERRIDEInertialSenseprotectedvirtual
OnClientConnectFailed(cISTcpServer *server) OVERRIDEInertialSenseprotectedvirtual
OnClientConnecting(cISTcpServer *server) OVERRIDEInertialSenseprotectedvirtual
OnClientDataReceived(cISTcpServer *server, socket_t socket, uint8_t *data, int dataLength)iISTcpServerDelegateinlineprivatevirtual
OnClientDisconnected(cISTcpServer *server, socket_t socket) OVERRIDEInertialSenseprotectedvirtual
OnError(const cGpsParser *parser, uint32_t id, uint32_t errorCode)iGpsParserDelegateinlinevirtual
OnGlonassEphemerisReceived(const cGpsParser *parser, const geph_t *geph, int prn)iGpsParserDelegateinlinevirtual
OnGpsEphemerisReceived(const cGpsParser *parser, const eph_t *eph, int prn)iGpsParserDelegateinlinevirtual
OnIonosphereModelUtcAlmanacReceived(const cGpsParser *parser, ion_model_utc_alm_t *ionUtcAlm)iGpsParserDelegateinlinevirtual
OnObservationReceived(const cGpsParser *parser, const obs_t *obs)iGpsParserDelegateinlinevirtual
OnPacketReceived(const cGpsParser *parser, const uint8_t *data, uint32_t dataLength) OVERRIDEInertialSenseprotectedvirtual
OnSbsReceived(const cGpsParser *parser, const sbsmsg_t *sbs)iGpsParserDelegateinlinevirtual
OnStationReceived(const cGpsParser *parser, sta_t *sta)iGpsParserDelegateinlinevirtual
Open(const char *port, int baudRate=IS_COM_BAUDRATE_DEFAULT, bool disableBroadcastsOnClose=false)InertialSense
OpenServerConnection(const string &connectionString)InertialSense
SendData(eDataIDs dataId, uint8_t *data, uint32_t length, uint32_t offset)InertialSense
SendRawData(eDataIDs dataId, uint8_t *data, uint32_t length=0, uint32_t offset=0)InertialSense
SetConfig(const config_t &config, int pHandle=0)InertialSense
SetFlashConfig(const nvm_flash_cfg_t &flashConfig, int pHandle=0)InertialSense
SetLoggerEnabled(bool enable, const string &path=cISLogger::g_emptyString, cISLogger::eLogType logType=cISLogger::eLogType::LOGTYPE_DAT, uint64_t rmcPreset=RMC_PRESET_PPD_BITS, float maxDiskSpacePercent=0.5f, uint32_t maxFileSize=1024 *1024 *5, uint32_t chunkSize=131072, const string &subFolder=cISLogger::g_emptyString)InertialSense
SetTimeoutFlushLoggerSeconds(time_t timeoutFlushLoggerSeconds)InertialSenseinline
StopBroadcasts()InertialSense
Update()InertialSense
~InertialSense()InertialSensevirtual
diff --git a/docs/html/class_inertial_sense.html b/docs/html/class_inertial_sense.html index 14ef645af..ae3cedc3f 100644 --- a/docs/html/class_inertial_sense.html +++ b/docs/html/class_inertial_sense.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.6.2 +  Release 1.6.4
Communications, logger, and bootloader libraries.
@@ -82,7 +82,8 @@
-iGpsParserDelegate +iGpsParserDelegate +iISTcpServerDelegate
@@ -113,10 +114,10 @@ - - - - + + + + @@ -174,11 +175,19 @@ Protected Member Functions + + + + + + + +
 
bool Update ()
 
bool SetLoggerEnabled (bool enable, const string &path=cISLogger::g_emptyString, cISLogger::eLogType logType=cISLogger::eLogType::LOGTYPE_DAT, bool streamPPD=true, float maxDiskSpacePercent=0.5f, uint32_t maxFileSize=1024 *1024 *5, uint32_t chunkSize=131072, const string &subFolder=cISLogger::g_emptyString)
 
void BroadcastBinaryDataRmcPreset (uint64_t rmcPreset=RMC_PRESET_INS_BITS)
 
bool SetLoggerEnabled (bool enable, const string &path=cISLogger::g_emptyString, cISLogger::eLogType logType=cISLogger::eLogType::LOGTYPE_DAT, uint64_t rmcPreset=RMC_PRESET_PPD_BITS, float maxDiskSpacePercent=0.5f, uint32_t maxFileSize=1024 *1024 *5, uint32_t chunkSize=131072, const string &subFolder=cISLogger::g_emptyString)
 
void BroadcastBinaryDataRmcPreset (uint64_t rmcPreset=RMC_PRESET_INS_BITS, uint32_t rmcOptions=0)
 
bool LoggerEnabled ()
 
bool OpenServerConnection (const string &connectionString)
bool OnPacketReceived (const cGpsParser *parser, const uint8_t *data, uint32_t dataLength) OVERRIDE
 
void OnClientConnecting (cISTcpServer *server) OVERRIDE
 
void OnClientConnected (cISTcpServer *server, socket_t socket) OVERRIDE
 
void OnClientConnectFailed (cISTcpServer *server) OVERRIDE
 
void OnClientDisconnected (cISTcpServer *server, socket_t socket) OVERRIDE
 

Detailed Description

Inertial Sense C++ interface Note only one instance of this class per process is supported

-

Definition at line 72 of file InertialSense.h.

+

Definition at line 66 of file InertialSense.h.

Constructor & Destructor Documentation

◆ InertialSense()

@@ -202,7 +211,7 @@

Definition at line 104 of file InertialSense.cpp.

+

Definition at line 115 of file InertialSense.cpp.

@@ -230,7 +239,7 @@

Destructor

-

Definition at line 129 of file InertialSense.cpp.

+

Definition at line 134 of file InertialSense.cpp.

@@ -298,7 +307,7 @@

Returns
ports and errors, error will be empty if success
-

Definition at line 557 of file InertialSense.cpp.

+

Definition at line 583 of file InertialSense.cpp.

@@ -334,12 +343,12 @@

-

Definition at line 518 of file InertialSense.cpp.

+

Definition at line 544 of file InertialSense.cpp.

- -

◆ BroadcastBinaryDataRmcPreset()

+ +

◆ BroadcastBinaryDataRmcPreset()

@@ -348,8 +357,18 @@

void InertialSense::BroadcastBinaryDataRmcPreset ( uint64_t  - rmcPreset = RMC_PRESET_INS_BITS) + rmcPreset = RMC_PRESET_INS_BITS, + + + + uint32_t  + rmcOptions = 0  + + + + ) +

@@ -360,7 +379,7 @@

Definition at line 548 of file InertialSense.cpp.

+

Definition at line 574 of file InertialSense.cpp.

@@ -380,7 +399,7 @@

Close the connection, logger and free all resources

-

Definition at line 446 of file InertialSense.cpp.

+

Definition at line 472 of file InertialSense.cpp.

@@ -400,7 +419,7 @@

Close any open connection to a server

-

Definition at line 356 of file InertialSense.cpp.

+

Definition at line 365 of file InertialSense.cpp.

@@ -427,7 +446,7 @@

Returns
true if success, false if error
-

Definition at line 369 of file InertialSense.cpp.

+

Definition at line 378 of file InertialSense.cpp.

@@ -455,7 +474,7 @@

Get the number of bytes read or written to/from client or server connections

Returns
byte count
-

Definition at line 259 of file InertialSense.h.

+

Definition at line 256 of file InertialSense.h.

@@ -490,7 +509,7 @@

Returns
current device configuration
-

Definition at line 232 of file InertialSense.h.

+

Definition at line 229 of file InertialSense.h.

@@ -510,7 +529,7 @@

Get the number of open devices

Returns
the number of open devices
-

Definition at line 395 of file InertialSense.cpp.

+

Definition at line 404 of file InertialSense.cpp.

@@ -545,7 +564,7 @@

Returns
the device info
-

Definition at line 225 of file InertialSense.h.

+

Definition at line 222 of file InertialSense.h.

@@ -580,7 +599,7 @@

Returns
the flash config
-

Definition at line 246 of file InertialSense.h.

+

Definition at line 243 of file InertialSense.h.

@@ -600,7 +619,7 @@

Get all open serial port names

-

Definition at line 465 of file InertialSense.cpp.

+

Definition at line 491 of file InertialSense.cpp.

@@ -635,7 +654,7 @@

Returns
the serial port
-

Definition at line 266 of file InertialSense.h.

+

Definition at line 263 of file InertialSense.h.

@@ -663,7 +682,7 @@

Get the timeout flush logger parameter in seconds

Returns
the timeout flush logger parameter in seconds
-

Definition at line 272 of file InertialSense.h.

+

Definition at line 269 of file InertialSense.h.

@@ -683,7 +702,7 @@

Check if the connection is open

-

Definition at line 390 of file InertialSense.cpp.

+

Definition at line 399 of file InertialSense.cpp.

@@ -711,7 +730,173 @@

Gets whether logging is enabled

Returns
whether logging is enabled
-

Definition at line 176 of file InertialSense.h.

+

Definition at line 173 of file InertialSense.h.

+ + + + +

◆ OnClientConnected()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void InertialSense::OnClientConnected (cISTcpServer * server,
socket_t socket 
)
+ 		+protectedvirtual
+
+

Executes when a client has connected

Parameters
+ + + +
serverthe server the client connected to
socketthe connected socket
+
+
+ +

Reimplemented from iISTcpServerDelegate.

+ +

Definition at line 673 of file InertialSense.cpp.

+ +
+
+ +

◆ OnClientConnectFailed()

+ +
+
+ + + + + +
+ + + + + + + + +
void InertialSense::OnClientConnectFailed (cISTcpServer * server)
+ 		+protectedvirtual
+
+

Executes when a client fails to connect

Parameters
+ + +
serverthe server the client failed to connect to
+
+
+ +

Reimplemented from iISTcpServerDelegate.

+ +

Definition at line 678 of file InertialSense.cpp.

+ +
+
+ +

◆ OnClientConnecting()

+ +
+
+ + + + + +
+ + + + + + + + +
void InertialSense::OnClientConnecting (cISTcpServer * server)
+ 		+protectedvirtual
+
+

Executes when a client is connecting

Parameters
+ + +
serverthe server the client socket is connecting to
+
+
+ +

Reimplemented from iISTcpServerDelegate.

+ +

Definition at line 668 of file InertialSense.cpp.

+ +
+
+ +

◆ OnClientDisconnected()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void InertialSense::OnClientDisconnected (cISTcpServer * server,
socket_t socket 
)
+ 		+protectedvirtual
+
+

Executes when a client disconnects

Parameters
+ + + +
serverthe server the client disconnected from
socketthe socket that disconnected
+
+
+ +

Reimplemented from iISTcpServerDelegate.

+ +

Definition at line 683 of file InertialSense.cpp.

@@ -766,7 +951,7 @@

iGpsParserDelegate.

-

Definition at line 630 of file InertialSense.cpp.

+

Definition at line 656 of file InertialSense.cpp.

@@ -811,7 +996,7 @@

Returns
true if opened, false if failure (i.e. baud rate is bad or port fails to open)
-

Definition at line 255 of file InertialSense.cpp.

+

Definition at line 260 of file InertialSense.cpp.

@@ -838,7 +1023,7 @@

Returns
true if connection opened, false if failure
-

Definition at line 294 of file InertialSense.cpp.

+

Definition at line 299 of file InertialSense.cpp.

@@ -889,7 +1074,7 @@

Definition at line 486 of file InertialSense.cpp.

+

Definition at line 512 of file InertialSense.cpp.

@@ -940,7 +1125,7 @@

Definition at line 495 of file InertialSense.cpp.

+

Definition at line 521 of file InertialSense.cpp.

@@ -977,7 +1162,7 @@

Definition at line 503 of file InertialSense.cpp.

+

Definition at line 529 of file InertialSense.cpp.

@@ -1014,12 +1199,12 @@

Definition at line 510 of file InertialSense.cpp.

+

Definition at line 536 of file InertialSense.cpp.

- -

◆ SetLoggerEnabled()

+ +

◆ SetLoggerEnabled()

@@ -1045,8 +1230,8 @@

- bool  - streamPPD = true, + uint64_t  + rmcPreset = RMC_PRESET_PPD_BITS, @@ -1094,7 +1279,7 @@

Returns
true if success, false if failure
-

Definition at line 272 of file InertialSense.cpp.

+

Definition at line 277 of file InertialSense.cpp.

@@ -1128,7 +1313,7 @@

Definition at line 278 of file InertialSense.h.

+

Definition at line 275 of file InertialSense.h.

@@ -1148,7 +1333,7 @@

Turn off all messages

-

Definition at line 475 of file InertialSense.cpp.

+

Definition at line 501 of file InertialSense.cpp.

@@ -1168,7 +1353,7 @@

Call in a loop to send and receive data. Call at regular intervals as frequently as want to receive data.

Returns
true if updating should continue, false if the process should be shutdown
-

Definition at line 400 of file InertialSense.cpp.

+

Definition at line 409 of file InertialSense.cpp.

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