MultiImuFile.hpp

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// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 
#pragma once
 
#include "internal/Node/Node.hpp"
#include "Nodes/DataProvider/Protocol/FileReader.hpp"
#include "NodeData/IMU/ImuPos.hpp"
#include "internal/gui/widgets/TimeEdit.hpp"
 
#include "NodeData/IMU/ImuObs.hpp"
 
namespace NAV
{
class MultiImuFile : public Node, public FileReader
{
  public:
    MultiImuFile();
    ~MultiImuFile() override;
    MultiImuFile(const MultiImuFile&) = delete;
    MultiImuFile(MultiImuFile&&) = delete;
    MultiImuFile& operator=(const MultiImuFile&) = delete;
    MultiImuFile& operator=(MultiImuFile&&) = delete;
 
    [[nodiscard]] static std::string typeStatic();
 
    [[nodiscard]] std::string type() const override;
 
    [[nodiscard]] static std::string category();
 
    void guiConfig() override;
 
    [[nodiscard]] json save() const override;
 
    void restore(const json& j) override;
 
    bool resetNode() override;
 
    [[nodiscard]] const ImuPos& imuPosition() const { return _imuPos; }
 
  protected:
    ImuPos _imuPos;
 
  private:
    constexpr static size_t OUTPUT_PORT_INDEX_IMU_OBS = 0; 
 
    bool initialize() override;
 
    void deinitialize() override;
 
    void updateNumberOfOutputPins();
 
    NAV::FileReader::FileType determineFileType() override;
 
    void readHeader() override;
 
    [[nodiscard]] std::shared_ptr<const NodeData> pollData(size_t pinIdx, bool peek);
 
    size_t _nSensors = 5;
 
    double _gpsRate = 1;
 
    std::vector<std::map<InsTime, std::shared_ptr<ImuObs>>> _messages;
 
    size_t _lineCounter{};
 
    std::vector<size_t> _messageCnt;
 
    char _delim = ',';
 
    double _startupGpsSecond{};
 
    gui::widgets::TimeEditFormat _startTimeEditFormat;
 
    InsTime _startTime{ 2000, 1, 1, 0, 0, 0 };
 
    std::vector<std::string> _columns{ "sensorId", "gpsSecond", "timeNumerator", "timeDenominator", "accelX", "accelY", "accelZ", "gyroX", "gyroY", "gyroZ" };
 
    std::vector<std::string> _headerColumns{ "nmeaMsgType", "UTC_HMS", "day", "month", "year" };
 
    std::vector<ImuPos> _imuPosAll;
 
    InsTime _lastFiltObs{};
 
    bool _gpzdaFound = false;
    bool _gpggaFound = false;
 
    enum class NmeaType
    {
        GPGGA, 
        GPZDA, 
        COUNT, 
    };
    friend constexpr const char* to_string(NmeaType value);
 
    NmeaType _nmeaType = NmeaType::GPZDA;
};
 
constexpr const char* to_string(NAV::MultiImuFile::NmeaType value)
{
    switch (value)
    {
    case NAV::MultiImuFile::NmeaType::GPGGA:
        return "GPGGA";
    case NAV::MultiImuFile::NmeaType::GPZDA:
        return "GPZDA";
    case NAV::MultiImuFile::NmeaType::COUNT:
        return "";
    }
    return "";
}
 
} // namespace NAV