VN100SpiData.h

Go to the documentation of this file.

/* Copyright (c) 2024 Skyward Experimental Rocketry
 * Author: Fabrizio Monti
 *
 * 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 VN100SpiData : public QuaternionData,
                      public MagnetometerData,
                      public AccelerometerData,
                      public GyroscopeData
{
    VN100SpiData()
        : QuaternionData{0, 0.0, 0.0, 0.0, 0.0},
          MagnetometerData{0, 0.0, 0.0, 0.0},
          AccelerometerData{0, 0.0, 0.0, 0.0}, GyroscopeData{0, 0.0, 0.0, 0.0}
    {
    }
 
    VN100SpiData(QuaternionData quat, MagnetometerData magData,
                 AccelerometerData accData, GyroscopeData gyro,
                 TemperatureData temp, PressureData pres)
        : QuaternionData(quat), MagnetometerData(magData),
          AccelerometerData(accData), GyroscopeData(gyro)
    {
    }
 
    static std::string header()
    {
        return "quatTimestamp,quatX,quatY,quatZ,quatW,magneticFieldTimestamp,"
               "magneticFieldX,magneticFieldY,magneticFieldZ,"
               "accelerationTimestamp,accelerationX,accelerationY,"
               "accelerationZ,angularSpeedTimestamp,angularSpeedX,"
               "angularSpeedY,angularSpeedZ\n";
    }
 
    void print(std::ostream& os) const
    {
        os << quaternionTimestamp << "," << quaternionX << "," << quaternionY
           << "," << quaternionZ << "," << quaternionW << ","
           << magneticFieldTimestamp << "," << magneticFieldX << ","
           << magneticFieldY << "," << magneticFieldZ << ","
           << accelerationTimestamp << "," << accelerationX << ","
           << accelerationY << "," << accelerationZ << ","
           << angularSpeedTimestamp << "," << angularSpeedX << ","
           << angularSpeedY << "," << angularSpeedZ << "\n";
    }
};
 
}  // namespace Boardcore