VectorNavBinaryConverter.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 "NodeData/Baro/BaroPressObs.hpp"
#include "internal/Node/Node.hpp"
 
#include "NodeData/IMU/VectorNavBinaryOutput.hpp"
#include "NodeData/IMU/ImuObsWDelta.hpp"
#include "NodeData/State/PosVelAtt.hpp"
#include "NodeData/GNSS/GnssObs.hpp"
 
#include <cstdint>
#include <memory>
 
namespace NAV
{
class VectorNavBinaryConverter : public Node
{
  public:
    VectorNavBinaryConverter();
    ~VectorNavBinaryConverter() override;
    VectorNavBinaryConverter(const VectorNavBinaryConverter&) = delete;
    VectorNavBinaryConverter(VectorNavBinaryConverter&&) = delete;
    VectorNavBinaryConverter& operator=(const VectorNavBinaryConverter&) = delete;
    VectorNavBinaryConverter& operator=(VectorNavBinaryConverter&&) = 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;

    enum class OutputType : uint8_t
    {
        ImuObs,       
        ImuObsWDelta, 
        BaroPressObs, 
        PosVelAtt,    
        GnssObs,      
        COUNT,        
    };
 
  private:
    constexpr static size_t OUTPUT_PORT_INDEX_CONVERTED = 0;              
    constexpr static size_t INPUT_PORT_INDEX_VECTORNAV_BINARY_OUTPUT = 0; 

    OutputType _outputType = OutputType::ImuObs;

    enum PosVelSource : uint8_t
    {
        PosVelSource_Best,  
        PosVelSource_Ins,   
        PosVelSource_Gnss1, 
        PosVelSource_Gnss2, 
    };

    PosVelSource _posVelSource = PosVelSource_Best;

    bool _forceStatic = false;

    bool _useCompensatedData = false;

    std::shared_ptr<const PosVelAtt> _posVelAtt__init = nullptr;

    bool initialize() override;

    void receiveObs(InputPin::NodeDataQueue& queue, size_t pinIdx);

    std::shared_ptr<const ImuObsWDelta> convert2ImuObsWDelta(const std::shared_ptr<const VectorNavBinaryOutput>& vnObs) const;

    std::shared_ptr<const ImuObs> convert2ImuObs(const std::shared_ptr<const VectorNavBinaryOutput>& vnObs) const;

    std::shared_ptr<const BaroPressObs> convert2BaroPressObs(const std::shared_ptr<const VectorNavBinaryOutput>& vnObs) const;

    std::shared_ptr<const PosVelAtt> convert2PosVelAtt(const std::shared_ptr<const VectorNavBinaryOutput>& vnObs);

    static std::shared_ptr<const GnssObs> convert2GnssObs(const std::shared_ptr<const VectorNavBinaryOutput>& vnObs);
};

const char* to_string(NAV::VectorNavBinaryConverter::OutputType value);
 
} // namespace NAV