VN300.h

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/* Copyright (c) 2023 Skyward Experimental Rocketry
 * Authors: Lorenzo Cucchi, 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
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 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <sensors/Sensor.h>
#include <sensors/Vectornav/VNCommonSerial.h>
 
#include "VN300Data.h"
#include "VN300Defs.h"
 
namespace Boardcore
{
 
class VN300 : public Sensor<VN300Data>, public VNCommonSerial
{
public:
    VN300(USART& usart, int userBaudRate, VN300Defs::SampleOptions sampleOption,
          CRCOptions crc, std::chrono::milliseconds timeout,
          VN300Defs::AntennaPosition antPosA = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
          VN300Defs::AntennaPosition antPosB = {1.0, 0.0, 0.0, 0.0, 0.0, 0.0},
          Eigen::Matrix3f rotMat             = Eigen::Matrix3f::Identity());
 
    bool init() override;
 
    bool selfTest() override;
 
protected:
    VN300Data sampleImpl() override;
 
private:
    bool setAntennaA(VN300Defs::AntennaPosition antPos);
 
    bool setCompassBaseline(VN300Defs::AntennaPosition antPos);
 
    bool setReferenceFrame(Eigen::Matrix3f rotMat);
 
    bool setBinaryOutput();
 
    VN300Data sampleFull();
 
    VN300Data sampleReduced();
 
    void buildBinaryDataFull(const VN300Defs::BinaryDataFull& rawData,
                             VN300Data& data, const uint64_t timestamp);
 
    void buildBinaryDataReduced(const VN300Defs::BinaryDataReduced& rawData,
                                VN300Data& data, const uint64_t timestamp);
 
    VN300Defs::SampleOptions sampleOption;
 
    VN300Defs::AntennaPosition antPosA;
    VN300Defs::AntennaPosition antPosB;
    Eigen::Matrix3f rotMat;
 
    const char* preSampleBin1 = "";
};
 
}  // namespace Boardcore