VectorNavFile.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
 
// VectorNav library includes <winsock2.h>, but <boost/asio.hpp> needs to be included before (even though not used in this file)
// https://stackoverflow.com/questions/9750344/boostasio-winsock-and-winsock-2-compatibility-issue
#ifdef _WIN32
    // Set the proper SDK version before including boost/Asio
    #include <SDKDDKVer.h>
    // Note boost/ASIO includes Windows.h.
    #include <boost/asio.hpp>
#endif //_WIN32
 
#include "Nodes/DataProvider/IMU/Imu.hpp"
#include "Nodes/DataProvider/Protocol/FileReader.hpp"
 
#include "vn/sensors.h"
 
namespace NAV
{
class VectorNavFile : public Imu, public FileReader
{
  public:
    VectorNavFile();
    ~VectorNavFile() override;
    VectorNavFile(const VectorNavFile&) = delete;
    VectorNavFile(VectorNavFile&&) = delete;
    VectorNavFile& operator=(const VectorNavFile&) = delete;
    VectorNavFile& operator=(VectorNavFile&&) = 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;
 
  private:
    constexpr static size_t OUTPUT_PORT_INDEX_VECTORNAV_BINARY_OUTPUT = 0; 
 
    bool initialize() override;
 
    void deinitialize() override;
 
    [[nodiscard]] FileType determineFileType() override;
 
    void readHeader() override;
 
    vn::sensors::BinaryOutputRegister _binaryOutputRegister;
 
    [[nodiscard]] std::shared_ptr<const NodeData> pollData();
 
    uint32_t _messageCount = 0;
 
    bool _hasTimeColumn = false;
};
 
} // namespace NAV