UartPacketConverter.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 <cstdint>
#include "internal/Node/Node.hpp"
 
namespace NAV
{
class UartPacketConverter : public Node
{
  public:
    UartPacketConverter();
    ~UartPacketConverter() override;
    UartPacketConverter(const UartPacketConverter&) = delete;
    UartPacketConverter(UartPacketConverter&&) = delete;
    UartPacketConverter& operator=(const UartPacketConverter&) = delete;
    UartPacketConverter& operator=(UartPacketConverter&&) = 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;
 
  private:
    constexpr static size_t OUTPUT_PORT_INDEX_CONVERTED = 0;  
    constexpr static size_t INPUT_PORT_INDEX_UART_PACKET = 0; 
    constexpr static size_t INPUT_PORT_INDEX_SYNC_IN = 1;     
 
    enum OutputType : uint8_t
    {
        OutputType_UbloxObs, 
        OutputType_EmlidObs, 
        OutputType_WiFiObs,  
    };
 
    OutputType _outputType = OutputType_UbloxObs;
 
    bool _syncInPin = false;
 
    int64_t _lastSyncInCnt = 0;
 
    int64_t _lastSyncOutCnt = 0;
 
    int64_t _syncOutCntCorr = 0;
 
    int64_t _syncInCntCorr = 0;
 
    bool initialize() override;
 
    void receiveObs(InputPin::NodeDataQueue& queue, size_t pinIdx);
};
 
} // namespace NAV