FollowerData.h

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/* Copyright (c) 2024 Skyward Experimental Rocketry
 * Author: Emilio Corigliano
 *
 * 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.
 */
 
#pragma once
 
#include <sensors/SensorData.h>
 
namespace Boardcore
{
 
struct NEDCoords
{
    float n = 0;
    float e = 0;
    float d = 0;
};
 
struct AntennaAngles
{
    uint64_t timestamp = 0;
 
    float yaw;    
    float pitch;  
 
    AntennaAngles() : timestamp{0}, yaw{0}, pitch{0} {};
    AntennaAngles(uint64_t timestamp, float yaw, float pitch)
        : timestamp{timestamp}, yaw(yaw), pitch(pitch) {};
    AntennaAngles(uint64_t timestamp, float yaw, float pitch,
                  uint32_t nrPropagations)
        : timestamp{timestamp}, yaw(yaw), pitch(pitch) {};
};
 
struct AntennaAnglesLog : public AntennaAngles
{
    uint32_t nrPropagations =
        0;  
 
    AntennaAnglesLog() : AntennaAngles(), nrPropagations(0) {};
    AntennaAnglesLog(uint64_t timestamp, float yaw, float pitch)
        : AntennaAngles(timestamp, yaw, pitch), nrPropagations{0} {};
    AntennaAnglesLog(uint64_t timestamp, float yaw, float pitch,
                     uint32_t nrPropagations)
        : AntennaAngles(timestamp, yaw, pitch),
          nrPropagations{nrPropagations} {};
    AntennaAnglesLog(AntennaAngles angle, uint32_t nrPropagations)
        : AntennaAngles(angle), nrPropagations{nrPropagations} {};
 
    static std::string header()
    {
        return "timestamp,yaw,pitch,nrPropagations\n";
    }
 
    void print(std::ostream& os) const
    {
        os << timestamp << "," << yaw << "," << pitch << "," << nrPropagations
           << "\n";
    }
};
 
struct FollowerState
{
    uint64_t timestamp;
    float yaw;    // [deg]
    float pitch;  // [deg]
    float horizontalSpeed;
    float verticalSpeed;
 
    FollowerState()
        : timestamp(0), yaw(0), pitch(0), horizontalSpeed(0), verticalSpeed(0)
    {
    }
 
    static std::string header()
    {
        return "timestamp,yaw,pitch,horizontalSpeed,verticalSpeed\n";
    }
 
    void print(std::ostream& os) const
    {
        os << timestamp << "," << yaw << "," << pitch << "," << horizontalSpeed
           << "," << verticalSpeed << "\n";
    }
};
 
struct LogAntennasCoordinates : public GPSData
{
    LogAntennasCoordinates() = default;
 
    explicit LogAntennasCoordinates(const GPSData& data) : GPSData(data) {}
};
 
struct LogRocketCoordinates : public GPSData
{
    LogRocketCoordinates() = default;
 
    explicit LogRocketCoordinates(const GPSData& data) : GPSData(data) {}
};
}  // namespace Boardcore