| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | #include "RtklibPosConverter.hpp" | ||
| 10 | |||
| 11 | #include "util/Logger.hpp" | ||
| 12 | |||
| 13 | #include "internal/NodeManager.hpp" | ||
| 14 | namespace nm = NAV::NodeManager; | ||
| 15 | #include "internal/FlowManager.hpp" | ||
| 16 | |||
| 17 | #include "NodeData/State/PosVel.hpp" | ||
| 18 | #include "NodeData/GNSS/RtklibPosObs.hpp" | ||
| 19 | |||
| 20 | 112 | NAV::RtklibPosConverter::RtklibPosConverter() | |
| 21 |
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112 | : Node(typeStatic()) |
| 22 | { | ||
| 23 | LOG_TRACE("{}: called", name); | ||
| 24 | 112 | _hasConfig = false; | |
| 25 | |||
| 26 |
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448 | nm::CreateOutputPin(this, "PosVel", Pin::Type::Flow, { NAV::PosVel::type() }); |
| 27 | |||
| 28 |
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336 | nm::CreateInputPin(this, "RtklibPosObs", Pin::Type::Flow, { NAV::RtklibPosObs::type() }, &RtklibPosConverter::receiveObs); |
| 29 | 336 | } | |
| 30 | |||
| 31 | 224 | NAV::RtklibPosConverter::~RtklibPosConverter() | |
| 32 | { | ||
| 33 | LOG_TRACE("{}: called", nameId()); | ||
| 34 | 224 | } | |
| 35 | |||
| 36 | 224 | std::string NAV::RtklibPosConverter::typeStatic() | |
| 37 | { | ||
| 38 |
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448 | return "RtklibPosConverter"; |
| 39 | } | ||
| 40 | |||
| 41 | ✗ | std::string NAV::RtklibPosConverter::type() const | |
| 42 | { | ||
| 43 | ✗ | return typeStatic(); | |
| 44 | } | ||
| 45 | |||
| 46 | 112 | std::string NAV::RtklibPosConverter::category() | |
| 47 | { | ||
| 48 |
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224 | return "Converter"; |
| 49 | } | ||
| 50 | |||
| 51 | ✗ | bool NAV::RtklibPosConverter::initialize() | |
| 52 | { | ||
| 53 | LOG_TRACE("{}: called", nameId()); | ||
| 54 | |||
| 55 | ✗ | return true; | |
| 56 | } | ||
| 57 | |||
| 58 | ✗ | void NAV::RtklibPosConverter::receiveObs(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */) | |
| 59 | { | ||
| 60 | ✗ | auto rtklibPosObs = std::static_pointer_cast<const RtklibPosObs>(queue.extract_front()); | |
| 61 | |||
| 62 | ✗ | auto posVelObs = std::make_shared<PosVel>(); | |
| 63 | |||
| 64 | ✗ | posVelObs->insTime = rtklibPosObs->insTime; | |
| 65 | ✗ | posVelObs->setPosition_e(rtklibPosObs->e_position()); | |
| 66 | ✗ | posVelObs->setVelocity_e(rtklibPosObs->e_velocity()); | |
| 67 | |||
| 68 | ✗ | invokeCallbacks(OUTPUT_PORT_INDEX_POSVEL, posVelObs); | |
| 69 | ✗ | } | |
| 70 |