VN300Data.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/SensorData.h>
 
#include "VN300Defs.h"
 
namespace Boardcore
{
 
struct VN300Data : public QuaternionData,
                   public MagnetometerData,
                   public AccelerometerData,
                   public GyroscopeData,
                   public VN300Defs::INSData
{
    // cppcheck-suppress uninitDerivedMemberVar
    VN300Data()
        : 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},
          INSData{0, 0, 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}
    {
    }
 
    // cppcheck-suppress uninitDerivedMemberVar
    VN300Data(const QuaternionData& quat, const MagnetometerData& magData,
              const AccelerometerData& accData, const GyroscopeData& gyro,
              const INSData& ins)
        : QuaternionData(quat), MagnetometerData(magData),
          AccelerometerData(accData), GyroscopeData(gyro), INSData(ins)
    {
    }
 
    static std::string header()
    {
        return "quaternionTimestamp,quaternionX,quaternionY,quaternionZ,"
               "quaternionW,magneticFieldTimestamp,"
               "magneticFieldX,magneticFieldY,magneticFieldZ,"
               "accelerationTimestamp,accelerationX,accelerationY,"
               "accelerationZ,angularSpeedTimestamp,angularSpeedX,"
               "angularSpeedY,angularSpeedZ,insTimeStamp,"
               "insStatus,yaw,pitch,roll,latitude,"
               "longitude,altitude,nedVelX,nedVelY,nedVelZ\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 << "," << insTimestamp
           << "," << insStatus << "," << yaw << "," << pitch << "," << roll
           << "," << latitude << "," << longitude << "," << altitude << ","
           << velocityX << "," << velocityY << "," << velocityZ << "\n";
    }
};
 
}  // namespace Boardcore