| 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 "VectorNavBinaryConverter.hpp" | ||
| 10 | |||
| 11 | #include <cmath> | ||
| 12 | |||
| 13 | #include "util/Logger.hpp" | ||
| 14 | |||
| 15 | #include "internal/NodeManager.hpp" | ||
| 16 | namespace nm = NAV::NodeManager; | ||
| 17 | #include "internal/FlowManager.hpp" | ||
| 18 | |||
| 19 | #include "internal/gui/widgets/EnumCombo.hpp" | ||
| 20 | |||
| 21 | #include "Navigation/Transformations/CoordinateFrames.hpp" | ||
| 22 | #include "Navigation/Transformations/Units.hpp" | ||
| 23 | |||
| 24 | 144 | NAV::VectorNavBinaryConverter::VectorNavBinaryConverter() | |
| 25 |
2/4✓ Branch 1 taken 144 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 144 times.
✗ Branch 5 not taken.
|
144 | : Node(typeStatic()) |
| 26 | { | ||
| 27 | LOG_TRACE("{}: called", name); | ||
| 28 | 144 | _hasConfig = true; | |
| 29 | 144 | _guiConfigDefaultWindowSize = { 350, 123 }; | |
| 30 | |||
| 31 |
4/8✓ Branch 2 taken 144 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 144 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 144 times.
✓ Branch 10 taken 144 times.
✗ Branch 13 not taken.
✗ Branch 14 not taken.
|
576 | nm::CreateOutputPin(this, "ImuObs", Pin::Type::Flow, { NAV::ImuObsWDelta::type() }); |
| 32 | |||
| 33 |
4/8✓ Branch 1 taken 144 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 144 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 144 times.
✓ Branch 9 taken 144 times.
✗ Branch 12 not taken.
✗ Branch 13 not taken.
|
432 | nm::CreateInputPin(this, "BinaryOutput", Pin::Type::Flow, { NAV::VectorNavBinaryOutput::type() }, &VectorNavBinaryConverter::receiveObs); |
| 34 | 432 | } | |
| 35 | |||
| 36 | 352 | NAV::VectorNavBinaryConverter::~VectorNavBinaryConverter() | |
| 37 | { | ||
| 38 | LOG_TRACE("{}: called", nameId()); | ||
| 39 | 352 | } | |
| 40 | |||
| 41 | 256 | std::string NAV::VectorNavBinaryConverter::typeStatic() | |
| 42 | { | ||
| 43 |
1/2✓ Branch 1 taken 256 times.
✗ Branch 2 not taken.
|
512 | return "VectorNavBinaryConverter"; |
| 44 | } | ||
| 45 | |||
| 46 | ✗ | std::string NAV::VectorNavBinaryConverter::type() const | |
| 47 | { | ||
| 48 | ✗ | return typeStatic(); | |
| 49 | } | ||
| 50 | |||
| 51 | 112 | std::string NAV::VectorNavBinaryConverter::category() | |
| 52 | { | ||
| 53 |
1/2✓ Branch 1 taken 112 times.
✗ Branch 2 not taken.
|
224 | return "Converter"; |
| 54 | } | ||
| 55 | |||
| 56 | ✗ | void NAV::VectorNavBinaryConverter::guiConfig() | |
| 57 | { | ||
| 58 | ✗ | if (gui::widgets::EnumCombo(fmt::format("Output Type##{}", size_t(id)).c_str(), _outputType)) | |
| 59 | { | ||
| 60 | ✗ | LOG_DEBUG("{}: Output Type changed to {}", nameId(), to_string(_outputType)); | |
| 61 | ✗ | if (_outputType == OutputType::ImuObs) | |
| 62 | { | ||
| 63 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::ImuObs::type() }; | |
| 64 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::ImuObs::type(); | |
| 65 | } | ||
| 66 | ✗ | else if (_outputType == OutputType::ImuObsWDelta) | |
| 67 | { | ||
| 68 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::ImuObsWDelta::type() }; | |
| 69 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::ImuObsWDelta::type(); | |
| 70 | } | ||
| 71 | ✗ | else if (_outputType == OutputType::PosVelAtt) | |
| 72 | { | ||
| 73 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::PosVelAtt::type() }; | |
| 74 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::PosVelAtt::type(); | |
| 75 | } | ||
| 76 | ✗ | else if (_outputType == OutputType::GnssObs) | |
| 77 | { | ||
| 78 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::GnssObs::type() }; | |
| 79 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::GnssObs::type(); | |
| 80 | } | ||
| 81 | |||
| 82 | ✗ | for (auto& link : outputPins.front().links) | |
| 83 | { | ||
| 84 | ✗ | if (auto* connectedPin = link.getConnectedPin()) | |
| 85 | { | ||
| 86 | ✗ | outputPins.front().recreateLink(*connectedPin); | |
| 87 | } | ||
| 88 | } | ||
| 89 | |||
| 90 | ✗ | flow::ApplyChanges(); | |
| 91 | } | ||
| 92 | ✗ | if (_outputType == OutputType::ImuObsWDelta || _outputType == OutputType::ImuObs) | |
| 93 | { | ||
| 94 | ✗ | if (ImGui::Checkbox(fmt::format("Use compensated data##{}", size_t(id)).c_str(), &_useCompensatedData)) | |
| 95 | { | ||
| 96 | ✗ | LOG_DEBUG("{}: _useCompensatedData changed to {}", nameId(), _useCompensatedData); | |
| 97 | ✗ | flow::ApplyChanges(); | |
| 98 | } | ||
| 99 | } | ||
| 100 | ✗ | else if (_outputType == OutputType::PosVelAtt) | |
| 101 | { | ||
| 102 | ✗ | if (auto posVelSource = static_cast<int>(_posVelSource); | |
| 103 | ✗ | ImGui::Combo(fmt::format("Data Source##{}", size_t(id)).c_str(), &posVelSource, "Best\0INS\0GNSS 1\0GNSS 2\0\0")) | |
| 104 | { | ||
| 105 | ✗ | _posVelSource = static_cast<decltype(_posVelSource)>(posVelSource); | |
| 106 | ✗ | LOG_DEBUG("{}: _posVelSource changed to {}", nameId(), fmt::underlying(_posVelSource)); | |
| 107 | ✗ | flow::ApplyChanges(); | |
| 108 | } | ||
| 109 | ✗ | if (ImGui::Checkbox(fmt::format("Force static##{}", size_t(id)).c_str(), &_forceStatic)) | |
| 110 | { | ||
| 111 | ✗ | LOG_DEBUG("{}: _forceStatic changed to {}", nameId(), _forceStatic); | |
| 112 | ✗ | flow::ApplyChanges(); | |
| 113 | } | ||
| 114 | } | ||
| 115 | ✗ | } | |
| 116 | |||
| 117 | ✗ | [[nodiscard]] json NAV::VectorNavBinaryConverter::save() const | |
| 118 | { | ||
| 119 | LOG_TRACE("{}: called", nameId()); | ||
| 120 | |||
| 121 | ✗ | json j; | |
| 122 | |||
| 123 | ✗ | j["outputType"] = _outputType; | |
| 124 | ✗ | j["posVelSource"] = _posVelSource; | |
| 125 | ✗ | j["forceStatic"] = _forceStatic; | |
| 126 | ✗ | j["useCompensatedData"] = _useCompensatedData; | |
| 127 | |||
| 128 | ✗ | return j; | |
| 129 | ✗ | } | |
| 130 | |||
| 131 | 32 | void NAV::VectorNavBinaryConverter::restore(json const& j) | |
| 132 | { | ||
| 133 | LOG_TRACE("{}: called", nameId()); | ||
| 134 | |||
| 135 |
1/2✓ Branch 1 taken 32 times.
✗ Branch 2 not taken.
|
32 | if (j.contains("outputType")) |
| 136 | { | ||
| 137 | 32 | j.at("outputType").get_to(_outputType); | |
| 138 | |||
| 139 |
1/2✓ Branch 1 taken 32 times.
✗ Branch 2 not taken.
|
32 | if (!outputPins.empty()) |
| 140 | { | ||
| 141 |
2/2✓ Branch 0 taken 16 times.
✓ Branch 1 taken 16 times.
|
32 | if (_outputType == OutputType::ImuObsWDelta) |
| 142 | { | ||
| 143 |
3/6✓ Branch 1 taken 16 times.
✗ Branch 2 not taken.
✓ Branch 3 taken 16 times.
✓ Branch 4 taken 16 times.
✗ Branch 6 not taken.
✗ Branch 7 not taken.
|
32 | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::ImuObsWDelta::type() }; |
| 144 |
2/4✓ Branch 1 taken 16 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 16 times.
✗ Branch 5 not taken.
|
16 | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::ImuObsWDelta::type(); |
| 145 | } | ||
| 146 |
1/2✗ Branch 0 not taken.
✓ Branch 1 taken 16 times.
|
16 | else if (_outputType == OutputType::ImuObs) |
| 147 | { | ||
| 148 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::ImuObs::type() }; | |
| 149 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::ImuObs::type(); | |
| 150 | } | ||
| 151 |
1/2✓ Branch 0 taken 16 times.
✗ Branch 1 not taken.
|
16 | else if (_outputType == OutputType::PosVelAtt) |
| 152 | { | ||
| 153 |
3/6✓ Branch 1 taken 16 times.
✗ Branch 2 not taken.
✓ Branch 3 taken 16 times.
✓ Branch 4 taken 16 times.
✗ Branch 6 not taken.
✗ Branch 7 not taken.
|
32 | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::PosVelAtt::type() }; |
| 154 |
2/4✓ Branch 1 taken 16 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 16 times.
✗ Branch 5 not taken.
|
16 | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::PosVelAtt::type(); |
| 155 | } | ||
| 156 | ✗ | else if (_outputType == OutputType::GnssObs) | |
| 157 | { | ||
| 158 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).dataIdentifier = { NAV::GnssObs::type() }; | |
| 159 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_CONVERTED).name = NAV::GnssObs::type(); | |
| 160 | } | ||
| 161 | } | ||
| 162 | } | ||
| 163 |
1/2✓ Branch 1 taken 32 times.
✗ Branch 2 not taken.
|
32 | if (j.contains("posVelSource")) |
| 164 | { | ||
| 165 | 32 | j.at("posVelSource").get_to(_posVelSource); | |
| 166 | } | ||
| 167 |
1/2✓ Branch 1 taken 32 times.
✗ Branch 2 not taken.
|
32 | if (j.contains("forceStatic")) |
| 168 | { | ||
| 169 | 32 | _forceStatic = j.at("forceStatic"); | |
| 170 | } | ||
| 171 |
1/2✓ Branch 1 taken 32 times.
✗ Branch 2 not taken.
|
32 | if (j.contains("useCompensatedData")) |
| 172 | { | ||
| 173 | 32 | _useCompensatedData = j.at("useCompensatedData"); | |
| 174 | } | ||
| 175 | 64 | } | |
| 176 | |||
| 177 | 96 | bool NAV::VectorNavBinaryConverter::initialize() | |
| 178 | { | ||
| 179 | LOG_TRACE("{}: called", nameId()); | ||
| 180 | |||
| 181 | 96 | _posVelAtt__init = nullptr; | |
| 182 | |||
| 183 | 96 | return true; | |
| 184 | } | ||
| 185 | |||
| 186 | 28384 | void NAV::VectorNavBinaryConverter::receiveObs(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */) | |
| 187 | { | ||
| 188 |
1/2✓ Branch 1 taken 28384 times.
✗ Branch 2 not taken.
|
28384 | auto vnObs = std::static_pointer_cast<const VectorNavBinaryOutput>(queue.extract_front()); |
| 189 | |||
| 190 | 28384 | std::shared_ptr<const NodeData> convertedData = nullptr; | |
| 191 | |||
| 192 |
2/2✓ Branch 0 taken 25776 times.
✓ Branch 1 taken 2608 times.
|
28384 | if (_outputType == OutputType::ImuObsWDelta) |
| 193 | { | ||
| 194 |
1/2✓ Branch 1 taken 25776 times.
✗ Branch 2 not taken.
|
25776 | convertedData = convert2ImuObsWDelta(vnObs); |
| 195 | } | ||
| 196 |
1/2✗ Branch 0 not taken.
✓ Branch 1 taken 2608 times.
|
2608 | else if (_outputType == OutputType::ImuObs) |
| 197 | { | ||
| 198 | ✗ | convertedData = convert2ImuObs(vnObs); | |
| 199 | } | ||
| 200 |
1/2✓ Branch 0 taken 2608 times.
✗ Branch 1 not taken.
|
2608 | else if (_outputType == OutputType::PosVelAtt) |
| 201 | { | ||
| 202 |
1/2✓ Branch 1 taken 2608 times.
✗ Branch 2 not taken.
|
2608 | convertedData = convert2PosVelAtt(vnObs); |
| 203 | } | ||
| 204 | ✗ | else if (_outputType == OutputType::GnssObs) | |
| 205 | { | ||
| 206 | ✗ | convertedData = convert2GnssObs(vnObs); | |
| 207 | } | ||
| 208 | |||
| 209 |
1/2✓ Branch 1 taken 28384 times.
✗ Branch 2 not taken.
|
28384 | if (convertedData) |
| 210 | { | ||
| 211 |
1/2✓ Branch 1 taken 28384 times.
✗ Branch 2 not taken.
|
28384 | invokeCallbacks(OUTPUT_PORT_INDEX_CONVERTED, convertedData); |
| 212 | } | ||
| 213 | 28384 | } | |
| 214 | |||
| 215 | 25776 | std::shared_ptr<const NAV::ImuObsWDelta> NAV::VectorNavBinaryConverter::convert2ImuObsWDelta(const std::shared_ptr<const VectorNavBinaryOutput>& vnObs) const // NOLINT(readability-convert-member-functions-to-static) | |
| 216 | { | ||
| 217 |
1/2✓ Branch 2 taken 25776 times.
✗ Branch 3 not taken.
|
25776 | auto imuObs = std::make_shared<ImuObsWDelta>(vnObs->imuPos); |
| 218 | |||
| 219 |
2/6✗ Branch 2 not taken.
✓ Branch 3 taken 25776 times.
✗ Branch 6 not taken.
✗ Branch 7 not taken.
✓ Branch 8 taken 25776 times.
✗ Branch 9 not taken.
|
25776 | if (vnObs->gnss1Outputs || vnObs->gnss2Outputs) // If there is no GNSS data selected in the vnSensor, Imu messages should still be sent out. The VN-100 will not provide any data otherwise. |
| 220 | { | ||
| 221 | 25776 | if (!vnObs->timeOutputs | |
| 222 |
2/4✓ Branch 3 taken 25776 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 25776 times.
✗ Branch 6 not taken.
|
25776 | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS) |
| 223 |
1/2✓ Branch 3 taken 25776 times.
✗ Branch 4 not taken.
|
25776 | || !vnObs->timeOutputs->timeStatus.dateOk() |
| 224 |
1/2✓ Branch 3 taken 25776 times.
✗ Branch 4 not taken.
|
25776 | || !vnObs->timeOutputs->timeStatus.timeOk() |
| 225 |
2/4✓ Branch 3 taken 25776 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 25776 times.
✗ Branch 6 not taken.
|
25776 | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW) |
| 226 |
4/8✓ Branch 0 taken 25776 times.
✗ Branch 1 not taken.
✓ Branch 5 taken 25776 times.
✗ Branch 6 not taken.
✗ Branch 7 not taken.
✓ Branch 8 taken 25776 times.
✗ Branch 9 not taken.
✓ Branch 10 taken 25776 times.
|
51552 | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK)) |
| 227 | { | ||
| 228 | ✗ | return nullptr; | |
| 229 | } | ||
| 230 |
1/2✓ Branch 7 taken 25776 times.
✗ Branch 8 not taken.
|
25776 | imuObs->insTime = InsTime(InsTime_GPSweekTow(0, static_cast<int32_t>(vnObs->timeOutputs->gpsWeek), static_cast<double>(vnObs->timeOutputs->gpsTow) * 1e-9L)); |
| 231 | } | ||
| 232 | else | ||
| 233 | { | ||
| 234 | // VN-100 vnObs->insTime is set from | ||
| 235 | // - 'timeSyncMaster->ppsTime + timeSyncIn' when working together with the VN-310E or | ||
| 236 | // - the computer time | ||
| 237 | ✗ | imuObs->insTime = vnObs->insTime; | |
| 238 | } | ||
| 239 | |||
| 240 |
1/2✓ Branch 2 taken 25776 times.
✗ Branch 3 not taken.
|
25776 | if (vnObs->timeOutputs) |
| 241 | { | ||
| 242 |
2/4✓ Branch 3 taken 25776 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 25776 times.
✗ Branch 6 not taken.
|
25776 | if (vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTARTUP) |
| 243 | { | ||
| 244 | 25776 | imuObs->timeSinceStartup = vnObs->timeOutputs->timeStartup; | |
| 245 | } | ||
| 246 | } | ||
| 247 | 25776 | bool accelFound = false; | |
| 248 | 25776 | bool gyroFound = false; | |
| 249 | 25776 | bool dThetaFound = false; | |
| 250 | 25776 | bool dVelFound = false; | |
| 251 |
1/2✓ Branch 2 taken 25776 times.
✗ Branch 3 not taken.
|
25776 | if (vnObs->imuOutputs) |
| 252 | { | ||
| 253 |
1/2✗ Branch 0 not taken.
✓ Branch 1 taken 25776 times.
|
25776 | if (!_useCompensatedData) |
| 254 | { | ||
| 255 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG) | |
| 256 | { | ||
| 257 | ✗ | imuObs->p_magneticField = vnObs->imuOutputs->uncompMag.cast<double>(); | |
| 258 | } | ||
| 259 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL) | |
| 260 | { | ||
| 261 | ✗ | imuObs->p_acceleration = vnObs->imuOutputs->uncompAccel.cast<double>(); | |
| 262 | ✗ | accelFound = true; | |
| 263 | } | ||
| 264 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO) | |
| 265 | { | ||
| 266 | ✗ | imuObs->p_angularRate = vnObs->imuOutputs->uncompGyro.cast<double>(); | |
| 267 | ✗ | gyroFound = true; | |
| 268 | } | ||
| 269 | } | ||
| 270 | else | ||
| 271 | { | ||
| 272 |
2/4✓ Branch 3 taken 25776 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 25776 times.
✗ Branch 6 not taken.
|
25776 | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG) |
| 273 | { | ||
| 274 |
2/4✓ Branch 3 taken 25776 times.
✗ Branch 4 not taken.
✓ Branch 7 taken 25776 times.
✗ Branch 8 not taken.
|
25776 | imuObs->p_magneticField = vnObs->imuOutputs->mag.cast<double>(); |
| 275 | } | ||
| 276 |
2/4✓ Branch 3 taken 25776 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 25776 times.
✗ Branch 6 not taken.
|
25776 | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL) |
| 277 | { | ||
| 278 |
2/4✓ Branch 3 taken 25776 times.
✗ Branch 4 not taken.
✓ Branch 7 taken 25776 times.
✗ Branch 8 not taken.
|
25776 | imuObs->p_acceleration = vnObs->imuOutputs->accel.cast<double>(); |
| 279 | 25776 | accelFound = true; | |
| 280 | } | ||
| 281 |
2/4✓ Branch 3 taken 25776 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 25776 times.
✗ Branch 6 not taken.
|
25776 | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE) |
| 282 | { | ||
| 283 |
2/4✓ Branch 3 taken 25776 times.
✗ Branch 4 not taken.
✓ Branch 7 taken 25776 times.
✗ Branch 8 not taken.
|
25776 | imuObs->p_angularRate = vnObs->imuOutputs->angularRate.cast<double>(); |
| 284 | 25776 | gyroFound = true; | |
| 285 | } | ||
| 286 | } | ||
| 287 |
2/4✓ Branch 3 taken 25776 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 25776 times.
✗ Branch 6 not taken.
|
25776 | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_TEMP) |
| 288 | { | ||
| 289 | 25776 | imuObs->temperature = vnObs->imuOutputs->temp; | |
| 290 | } | ||
| 291 |
2/4✓ Branch 3 taken 25776 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 25776 times.
✗ Branch 6 not taken.
|
25776 | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA) |
| 292 | { | ||
| 293 | 25776 | imuObs->dtime = vnObs->imuOutputs->deltaTime; | |
| 294 |
3/6✓ Branch 3 taken 25776 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 25776 times.
✗ Branch 7 not taken.
✓ Branch 10 taken 25776 times.
✗ Branch 11 not taken.
|
25776 | imuObs->dtheta = deg2rad(vnObs->imuOutputs->deltaTheta.cast<double>()); |
| 295 | 25776 | dThetaFound = true; | |
| 296 | } | ||
| 297 |
2/4✓ Branch 3 taken 25776 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 25776 times.
✗ Branch 6 not taken.
|
25776 | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL) |
| 298 | { | ||
| 299 |
2/4✓ Branch 3 taken 25776 times.
✗ Branch 4 not taken.
✓ Branch 7 taken 25776 times.
✗ Branch 8 not taken.
|
25776 | imuObs->dvel = vnObs->imuOutputs->deltaV.cast<double>(); |
| 300 | 25776 | dVelFound = true; | |
| 301 | } | ||
| 302 | } | ||
| 303 | |||
| 304 |
4/8✓ Branch 0 taken 25776 times.
✗ Branch 1 not taken.
✓ Branch 2 taken 25776 times.
✗ Branch 3 not taken.
✓ Branch 4 taken 25776 times.
✗ Branch 5 not taken.
✓ Branch 6 taken 25776 times.
✗ Branch 7 not taken.
|
25776 | if (accelFound && gyroFound && dThetaFound && dVelFound) |
| 305 | { | ||
| 306 | 25776 | return imuObs; | |
| 307 | } | ||
| 308 | |||
| 309 | ✗ | LOG_ERROR("{}: Conversion failed. Need {} acceleration and gyroscope measurements and deltaTheta and deltaVel in the input data.", | |
| 310 | nameId(), _useCompensatedData ? "compensated" : "uncompensated"); | ||
| 311 | ✗ | return nullptr; | |
| 312 | 25776 | } | |
| 313 | |||
| 314 | ✗ | std::shared_ptr<const NAV::ImuObs> NAV::VectorNavBinaryConverter::convert2ImuObs(const std::shared_ptr<const VectorNavBinaryOutput>& vnObs) const // NOLINT(readability-convert-member-functions-to-static) | |
| 315 | { | ||
| 316 | ✗ | auto imuObs = std::make_shared<ImuObs>(vnObs->imuPos); | |
| 317 | |||
| 318 | ✗ | if (vnObs->gnss1Outputs || vnObs->gnss2Outputs) // If there is no GNSS data selected in the vnSensor, Imu messages should still be sent out. The VN-100 will not provide any data otherwise. | |
| 319 | { | ||
| 320 | ✗ | if (!vnObs->timeOutputs | |
| 321 | ✗ | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS) | |
| 322 | ✗ | || !vnObs->timeOutputs->timeStatus.dateOk() | |
| 323 | ✗ | || !vnObs->timeOutputs->timeStatus.timeOk() | |
| 324 | ✗ | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW) | |
| 325 | ✗ | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK)) | |
| 326 | { | ||
| 327 | ✗ | return nullptr; | |
| 328 | } | ||
| 329 | ✗ | imuObs->insTime = InsTime(InsTime_GPSweekTow(0, static_cast<int32_t>(vnObs->timeOutputs->gpsWeek), static_cast<double>(vnObs->timeOutputs->gpsTow) * 1e-9L)); | |
| 330 | } | ||
| 331 | else | ||
| 332 | { | ||
| 333 | // VN-100 vnObs->insTime is set from | ||
| 334 | // - 'timeSyncMaster->ppsTime + timeSyncIn' when working together with the VN-310E or | ||
| 335 | // - the computer time | ||
| 336 | ✗ | imuObs->insTime = vnObs->insTime; | |
| 337 | } | ||
| 338 | |||
| 339 | ✗ | if (vnObs->timeOutputs) | |
| 340 | { | ||
| 341 | ✗ | if (vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTARTUP) | |
| 342 | { | ||
| 343 | ✗ | imuObs->timeSinceStartup = vnObs->timeOutputs->timeStartup; | |
| 344 | } | ||
| 345 | } | ||
| 346 | ✗ | bool accelFound = false; | |
| 347 | ✗ | bool gyroFound = false; | |
| 348 | ✗ | if (vnObs->imuOutputs) | |
| 349 | { | ||
| 350 | ✗ | if (!_useCompensatedData) | |
| 351 | { | ||
| 352 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG) | |
| 353 | { | ||
| 354 | ✗ | imuObs->p_magneticField = vnObs->imuOutputs->uncompMag.cast<double>(); | |
| 355 | } | ||
| 356 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL) | |
| 357 | { | ||
| 358 | ✗ | imuObs->p_acceleration = vnObs->imuOutputs->uncompAccel.cast<double>(); | |
| 359 | ✗ | accelFound = true; | |
| 360 | } | ||
| 361 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO) | |
| 362 | { | ||
| 363 | ✗ | imuObs->p_angularRate = vnObs->imuOutputs->uncompGyro.cast<double>(); | |
| 364 | ✗ | gyroFound = true; | |
| 365 | } | ||
| 366 | } | ||
| 367 | else | ||
| 368 | { | ||
| 369 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG) | |
| 370 | { | ||
| 371 | ✗ | imuObs->p_magneticField = vnObs->imuOutputs->mag.cast<double>(); | |
| 372 | } | ||
| 373 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL) | |
| 374 | { | ||
| 375 | ✗ | imuObs->p_acceleration = vnObs->imuOutputs->accel.cast<double>(); | |
| 376 | ✗ | accelFound = true; | |
| 377 | } | ||
| 378 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE) | |
| 379 | { | ||
| 380 | ✗ | imuObs->p_angularRate = vnObs->imuOutputs->angularRate.cast<double>(); | |
| 381 | ✗ | gyroFound = true; | |
| 382 | } | ||
| 383 | } | ||
| 384 | ✗ | if (vnObs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_TEMP) | |
| 385 | { | ||
| 386 | ✗ | imuObs->temperature = vnObs->imuOutputs->temp; | |
| 387 | } | ||
| 388 | } | ||
| 389 | |||
| 390 | ✗ | if (accelFound && gyroFound) | |
| 391 | { | ||
| 392 | ✗ | return imuObs; | |
| 393 | } | ||
| 394 | |||
| 395 | ✗ | LOG_ERROR("{}: Conversion failed. Need {} acceleration and gyroscope measurements in the input data.", nameId(), _useCompensatedData ? "compensated" : "uncompensated"); | |
| 396 | ✗ | return nullptr; | |
| 397 | ✗ | } | |
| 398 | |||
| 399 | 2608 | std::shared_ptr<const NAV::PosVelAtt> NAV::VectorNavBinaryConverter::convert2PosVelAtt(const std::shared_ptr<const VectorNavBinaryOutput>& vnObs) // NOLINT(readability-convert-member-functions-to-static) | |
| 400 | { | ||
| 401 | 2608 | std::optional<Eigen::Quaterniond> n_Quat_b; | |
| 402 | 2608 | std::optional<Eigen::Vector3d> e_position; | |
| 403 | 2608 | std::optional<Eigen::Vector3d> lla_position; | |
| 404 | 2608 | std::optional<Eigen::Vector3d> n_velocity; | |
| 405 | |||
| 406 |
1/2✓ Branch 2 taken 2608 times.
✗ Branch 3 not taken.
|
2608 | if (vnObs->attitudeOutputs) |
| 407 | { | ||
| 408 |
2/4✓ Branch 3 taken 2608 times.
✗ Branch 4 not taken.
✗ Branch 5 not taken.
✓ Branch 6 taken 2608 times.
|
2608 | if (vnObs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION) |
| 409 | { | ||
| 410 | ✗ | n_Quat_b = vnObs->attitudeOutputs->qtn.cast<double>(); | |
| 411 | } | ||
| 412 |
2/4✓ Branch 3 taken 2608 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 2608 times.
✗ Branch 6 not taken.
|
2608 | else if (vnObs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL) |
| 413 | { | ||
| 414 |
3/6✓ Branch 3 taken 2608 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 2608 times.
✗ Branch 7 not taken.
✓ Branch 9 taken 2608 times.
✗ Branch 10 not taken.
|
2608 | Eigen::Vector3d ypr = deg2rad(vnObs->attitudeOutputs->ypr.cast<double>()); |
| 415 |
4/8✓ Branch 1 taken 2608 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 2608 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 2608 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 2608 times.
✗ Branch 11 not taken.
|
2608 | n_Quat_b = trafo::n_Quat_b(ypr(2), ypr(1), ypr(0)); |
| 416 | } | ||
| 417 | ✗ | else if (vnObs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM) | |
| 418 | { | ||
| 419 | ✗ | n_Quat_b = vnObs->attitudeOutputs->dcm.cast<double>(); | |
| 420 | } | ||
| 421 | } | ||
| 422 | |||
| 423 |
1/2✓ Branch 1 taken 2608 times.
✗ Branch 2 not taken.
|
2608 | auto posVelAttObs = std::make_shared<PosVelAtt>(); |
| 424 | |||
| 425 | ✗ | if ((_posVelSource == PosVelSource_Best || _posVelSource == PosVelSource_Ins) | |
| 426 |
1/2✓ Branch 2 taken 2608 times.
✗ Branch 3 not taken.
|
2608 | && vnObs->insOutputs |
| 427 |
3/6✗ Branch 0 not taken.
✓ Branch 1 taken 2608 times.
✓ Branch 5 taken 2608 times.
✗ Branch 6 not taken.
✗ Branch 7 not taken.
✓ Branch 8 taken 2608 times.
|
7824 | && (vnObs->insOutputs->insStatus.mode() == NAV::vendor::vectornav::InsStatus::Mode::Aligning |
| 428 |
1/2✗ Branch 3 not taken.
✓ Branch 4 taken 2608 times.
|
2608 | || vnObs->insOutputs->insStatus.mode() == NAV::vendor::vectornav::InsStatus::Mode::Tracking)) |
| 429 | { | ||
| 430 | ✗ | if (!vnObs->timeOutputs | |
| 431 | ✗ | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS) | |
| 432 | ✗ | || !vnObs->timeOutputs->timeStatus.dateOk() | |
| 433 | ✗ | || !vnObs->timeOutputs->timeStatus.timeOk() | |
| 434 | ✗ | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW) | |
| 435 | ✗ | || !(vnObs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK)) | |
| 436 | { | ||
| 437 | ✗ | return nullptr; | |
| 438 | } | ||
| 439 | |||
| 440 | ✗ | posVelAttObs->insTime = InsTime(InsTime_GPSweekTow(0, static_cast<int32_t>(vnObs->timeOutputs->gpsWeek), static_cast<double>(vnObs->timeOutputs->gpsTow) * 1e-9L)); | |
| 441 | |||
| 442 | ✗ | if (vnObs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSLLA) | |
| 443 | { | ||
| 444 | ✗ | lla_position = { deg2rad(vnObs->insOutputs->posLla(0)), | |
| 445 | ✗ | deg2rad(vnObs->insOutputs->posLla(1)), | |
| 446 | ✗ | vnObs->insOutputs->posLla(2) }; | |
| 447 | } | ||
| 448 | ✗ | if (vnObs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSECEF) | |
| 449 | { | ||
| 450 | ✗ | e_position = vnObs->insOutputs->posEcef; | |
| 451 | } | ||
| 452 | |||
| 453 | ✗ | if (vnObs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELNED) | |
| 454 | { | ||
| 455 | ✗ | n_velocity = vnObs->insOutputs->velNed.cast<double>(); | |
| 456 | } | ||
| 457 | ✗ | else if ((vnObs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF) | |
| 458 | ✗ | && (e_position.has_value() || lla_position.has_value())) | |
| 459 | { | ||
| 460 | ✗ | Eigen::Vector3d lla = lla_position.has_value() ? lla_position.value() : trafo::ecef2lla_WGS84(e_position.value()); | |
| 461 | ✗ | n_velocity = trafo::n_Quat_e(lla(0), lla(1)) * vnObs->insOutputs->velEcef.cast<double>(); | |
| 462 | } | ||
| 463 | ✗ | else if ((vnObs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELBODY) | |
| 464 | ✗ | && n_Quat_b.has_value()) | |
| 465 | { | ||
| 466 | ✗ | n_velocity = n_Quat_b.value() * vnObs->insOutputs->velBody.cast<double>(); | |
| 467 | } | ||
| 468 | } | ||
| 469 | |||
| 470 | ✗ | if ((_posVelSource == PosVelSource_Best || _posVelSource == PosVelSource_Gnss1) | |
| 471 |
4/8✗ Branch 0 not taken.
✓ Branch 1 taken 2608 times.
✓ Branch 4 taken 2608 times.
✗ Branch 5 not taken.
✓ Branch 8 taken 2608 times.
✗ Branch 9 not taken.
✓ Branch 10 taken 2608 times.
✗ Branch 11 not taken.
|
2608 | && vnObs->gnss1Outputs && vnObs->gnss1Outputs->fix >= 2) |
| 472 | { | ||
| 473 | 2608 | if (!vnObs->gnss1Outputs | |
| 474 |
1/2✓ Branch 3 taken 2608 times.
✗ Branch 4 not taken.
|
2608 | || !vnObs->gnss1Outputs->timeInfo.status.timeOk() |
| 475 |
3/6✓ Branch 0 taken 2608 times.
✗ Branch 1 not taken.
✗ Branch 5 not taken.
✓ Branch 6 taken 2608 times.
✗ Branch 7 not taken.
✓ Branch 8 taken 2608 times.
|
5216 | || !vnObs->gnss1Outputs->timeInfo.status.dateOk()) |
| 476 | { | ||
| 477 | ✗ | return nullptr; | |
| 478 | } | ||
| 479 | |||
| 480 |
1/2✓ Branch 7 taken 2608 times.
✗ Branch 8 not taken.
|
2608 | posVelAttObs->insTime = InsTime(InsTime_GPSweekTow(0, static_cast<int32_t>(vnObs->gnss1Outputs->week), static_cast<double>(vnObs->gnss1Outputs->tow) * 1e-9L)); |
| 481 | |||
| 482 |
3/6✓ Branch 1 taken 2608 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 2608 times.
✗ Branch 5 not taken.
✓ Branch 6 taken 2608 times.
✗ Branch 7 not taken.
|
2608 | if (!e_position.has_value() && !lla_position.has_value()) |
| 483 | { | ||
| 484 |
2/4✓ Branch 3 taken 2608 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 2608 times.
✗ Branch 6 not taken.
|
2608 | if (vnObs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA) |
| 485 | { | ||
| 486 |
1/2✓ Branch 3 taken 2608 times.
✗ Branch 4 not taken.
|
2608 | lla_position = { deg2rad(vnObs->gnss1Outputs->posLla(0)), |
| 487 |
1/2✓ Branch 3 taken 2608 times.
✗ Branch 4 not taken.
|
2608 | deg2rad(vnObs->gnss1Outputs->posLla(1)), |
| 488 |
2/4✓ Branch 3 taken 2608 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 2608 times.
✗ Branch 7 not taken.
|
2608 | vnObs->gnss1Outputs->posLla(2) }; |
| 489 | } | ||
| 490 |
2/4✓ Branch 3 taken 2608 times.
✗ Branch 4 not taken.
✗ Branch 5 not taken.
✓ Branch 6 taken 2608 times.
|
2608 | if (vnObs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF) |
| 491 | { | ||
| 492 | ✗ | e_position = vnObs->gnss1Outputs->posEcef; | |
| 493 | } | ||
| 494 | } | ||
| 495 | |||
| 496 |
1/2✓ Branch 1 taken 2608 times.
✗ Branch 2 not taken.
|
2608 | if (!n_velocity.has_value()) |
| 497 | { | ||
| 498 |
2/4✓ Branch 3 taken 2608 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 2608 times.
✗ Branch 6 not taken.
|
2608 | if (vnObs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED) |
| 499 | { | ||
| 500 |
2/4✓ Branch 3 taken 2608 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 2608 times.
✗ Branch 7 not taken.
|
2608 | n_velocity = vnObs->gnss1Outputs->velNed.cast<double>(); |
| 501 | } | ||
| 502 | ✗ | else if ((vnObs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF) | |
| 503 | ✗ | && (e_position.has_value() || lla_position.has_value())) | |
| 504 | { | ||
| 505 | ✗ | Eigen::Vector3d lla = lla_position.has_value() ? lla_position.value() : trafo::ecef2lla_WGS84(e_position.value()); | |
| 506 | ✗ | n_velocity = trafo::n_Quat_e(lla(0), lla(1)) * vnObs->gnss1Outputs->velEcef.cast<double>(); | |
| 507 | } | ||
| 508 | } | ||
| 509 | } | ||
| 510 | ✗ | if ((_posVelSource == PosVelSource_Best || _posVelSource == PosVelSource_Gnss2) | |
| 511 |
3/8✗ Branch 0 not taken.
✓ Branch 1 taken 2608 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 2608 times.
✗ Branch 8 not taken.
✗ Branch 9 not taken.
✗ Branch 10 not taken.
✓ Branch 11 taken 2608 times.
|
2608 | && vnObs->gnss2Outputs && vnObs->gnss2Outputs->fix >= 2) |
| 512 | { | ||
| 513 | ✗ | if (!vnObs->gnss2Outputs | |
| 514 | ✗ | || !vnObs->gnss2Outputs->timeInfo.status.timeOk() | |
| 515 | ✗ | || !vnObs->gnss2Outputs->timeInfo.status.dateOk()) | |
| 516 | { | ||
| 517 | ✗ | return nullptr; | |
| 518 | } | ||
| 519 | |||
| 520 | ✗ | posVelAttObs->insTime = InsTime(InsTime_GPSweekTow(0, static_cast<int32_t>(vnObs->gnss2Outputs->week), static_cast<double>(vnObs->gnss2Outputs->tow) * 1e-9L)); | |
| 521 | |||
| 522 | ✗ | if (!e_position.has_value() && !lla_position.has_value()) | |
| 523 | { | ||
| 524 | ✗ | if (vnObs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA) | |
| 525 | { | ||
| 526 | ✗ | lla_position = { deg2rad(vnObs->gnss2Outputs->posLla(0)), | |
| 527 | ✗ | deg2rad(vnObs->gnss2Outputs->posLla(1)), | |
| 528 | ✗ | vnObs->gnss2Outputs->posLla(2) }; | |
| 529 | } | ||
| 530 | ✗ | if (vnObs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF) | |
| 531 | { | ||
| 532 | ✗ | e_position = vnObs->gnss2Outputs->posEcef; | |
| 533 | } | ||
| 534 | } | ||
| 535 | |||
| 536 | ✗ | if (!n_velocity.has_value()) | |
| 537 | { | ||
| 538 | ✗ | if (vnObs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED) | |
| 539 | { | ||
| 540 | ✗ | n_velocity = vnObs->gnss2Outputs->velNed.cast<double>(); | |
| 541 | } | ||
| 542 | ✗ | else if ((vnObs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF) | |
| 543 | ✗ | && (e_position.has_value() || lla_position.has_value())) | |
| 544 | { | ||
| 545 | ✗ | Eigen::Vector3d lla = lla_position.has_value() ? lla_position.value() : trafo::ecef2lla_WGS84(e_position.value()); | |
| 546 | ✗ | n_velocity = trafo::n_Quat_e(lla(0), lla(1)) * vnObs->gnss2Outputs->velEcef.cast<double>(); | |
| 547 | } | ||
| 548 | } | ||
| 549 | } | ||
| 550 | |||
| 551 |
4/8✓ Branch 1 taken 2608 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 2608 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 2608 times.
✗ Branch 8 not taken.
✓ Branch 9 taken 2608 times.
✗ Branch 10 not taken.
|
2608 | if ((e_position.has_value() || lla_position.has_value()) && n_velocity.has_value()) |
| 552 | { | ||
| 553 |
1/2✗ Branch 1 not taken.
✓ Branch 2 taken 2608 times.
|
2608 | if (e_position.has_value()) |
| 554 | { | ||
| 555 | ✗ | posVelAttObs->setPosition_e(e_position.value()); | |
| 556 | } | ||
| 557 | else | ||
| 558 | { | ||
| 559 |
2/4✓ Branch 2 taken 2608 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 2608 times.
✗ Branch 6 not taken.
|
2608 | posVelAttObs->setPosition_lla(lla_position.value()); |
| 560 | } | ||
| 561 |
2/4✓ Branch 2 taken 2608 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 2608 times.
✗ Branch 6 not taken.
|
2608 | posVelAttObs->setVelocity_n(n_velocity.value()); |
| 562 | |||
| 563 |
1/2✗ Branch 1 not taken.
✓ Branch 2 taken 2608 times.
|
2608 | if (!n_Quat_b.has_value()) |
| 564 | { | ||
| 565 | ✗ | LOG_DEBUG("{}: Conversion succeeded but has no attitude info.", nameId()); | |
| 566 | } | ||
| 567 | else | ||
| 568 | { | ||
| 569 |
2/4✓ Branch 2 taken 2608 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 2608 times.
✗ Branch 6 not taken.
|
2608 | posVelAttObs->setAttitude_n_Quat_b(n_Quat_b.value()); |
| 570 | } | ||
| 571 | |||
| 572 |
2/2✓ Branch 1 taken 16 times.
✓ Branch 2 taken 2592 times.
|
2608 | if (_posVelAtt__init == nullptr) |
| 573 | { | ||
| 574 | 16 | _posVelAtt__init = posVelAttObs; | |
| 575 | } | ||
| 576 | |||
| 577 |
1/2✗ Branch 0 not taken.
✓ Branch 1 taken 2608 times.
|
2608 | if (_forceStatic) |
| 578 | { | ||
| 579 | ✗ | posVelAttObs->setPosition_e(_posVelAtt__init->e_position()); | |
| 580 | ✗ | posVelAttObs->setVelocity_n(Eigen::Vector3d::Zero()); | |
| 581 | ✗ | posVelAttObs->setAttitude_n_Quat_b(_posVelAtt__init->n_Quat_b()); | |
| 582 | } | ||
| 583 | |||
| 584 | 2608 | return posVelAttObs; | |
| 585 | } | ||
| 586 | |||
| 587 | ✗ | LOG_ERROR("{}: Conversion failed. No position or velocity data found in the input data.", nameId()); | |
| 588 | ✗ | return nullptr; | |
| 589 | 2608 | } | |
| 590 | |||
| 591 | ✗ | std::shared_ptr<const NAV::GnssObs> NAV::VectorNavBinaryConverter::convert2GnssObs(const std::shared_ptr<const VectorNavBinaryOutput>& vnObs) | |
| 592 | { | ||
| 593 | ✗ | auto gnssObs = std::make_shared<GnssObs>(); | |
| 594 | |||
| 595 | ✗ | if (!vnObs->gnss1Outputs | |
| 596 | ✗ | || !vnObs->gnss1Outputs->timeInfo.status.timeOk() | |
| 597 | ✗ | || !vnObs->gnss1Outputs->timeInfo.status.dateOk()) | |
| 598 | { | ||
| 599 | ✗ | return nullptr; | |
| 600 | } | ||
| 601 | |||
| 602 | ✗ | gnssObs->insTime = InsTime(InsTime_GPSweekTow(0, static_cast<int32_t>(vnObs->gnss1Outputs->raw.week), vnObs->gnss1Outputs->raw.tow)); | |
| 603 | |||
| 604 | ✗ | if (vnObs->gnss1Outputs) | |
| 605 | { | ||
| 606 | ✗ | if (vnObs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS) | |
| 607 | { | ||
| 608 | ✗ | for (const auto& satRaw : vnObs->gnss1Outputs->raw.satellites) | |
| 609 | { | ||
| 610 | ✗ | bool skipMeasurement = false; | |
| 611 | ✗ | SatelliteSystem satSys = SatSys_None; | |
| 612 | ✗ | switch (satRaw.sys) | |
| 613 | { | ||
| 614 | ✗ | case vendor::vectornav::SatSys::GPS: | |
| 615 | ✗ | satSys = GPS; | |
| 616 | ✗ | break; | |
| 617 | ✗ | case vendor::vectornav::SatSys::SBAS: | |
| 618 | ✗ | satSys = SBAS; | |
| 619 | ✗ | break; | |
| 620 | ✗ | case vendor::vectornav::SatSys::Galileo: | |
| 621 | ✗ | satSys = GAL; | |
| 622 | ✗ | break; | |
| 623 | ✗ | case vendor::vectornav::SatSys::BeiDou: | |
| 624 | ✗ | satSys = BDS; | |
| 625 | ✗ | break; | |
| 626 | ✗ | case vendor::vectornav::SatSys::IMES: | |
| 627 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' is not supported yet. Skipping measurement.", satRaw.sys); | ||
| 628 | ✗ | skipMeasurement = true; | |
| 629 | ✗ | break; | |
| 630 | ✗ | case vendor::vectornav::SatSys::QZSS: | |
| 631 | ✗ | satSys = QZSS; | |
| 632 | ✗ | break; | |
| 633 | ✗ | case vendor::vectornav::SatSys::GLONASS: | |
| 634 | ✗ | satSys = GLO; | |
| 635 | ✗ | break; | |
| 636 | ✗ | default: // IRNSS not in vectorNav | |
| 637 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' is not supported yet. Skipping measurement.", satRaw.sys); | ||
| 638 | ✗ | skipMeasurement = true; | |
| 639 | ✗ | break; | |
| 640 | } | ||
| 641 | |||
| 642 | ✗ | Frequency frequency = Freq_None; | |
| 643 | ✗ | Code code; | |
| 644 | ✗ | switch (SatelliteSystem_(satSys)) | |
| 645 | { | ||
| 646 | ✗ | case GPS: | |
| 647 | ✗ | switch (satRaw.freq) | |
| 648 | { | ||
| 649 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L1: | |
| 650 | ✗ | frequency = G01; | |
| 651 | ✗ | switch (satRaw.chan) | |
| 652 | { | ||
| 653 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::P_Code: | |
| 654 | ✗ | code = Code::G1P; | |
| 655 | ✗ | break; | |
| 656 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::CA_Code: | |
| 657 | ✗ | code = Code::G1C; | |
| 658 | ✗ | break; | |
| 659 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Y_Code: | |
| 660 | ✗ | code = Code::G1Y; | |
| 661 | ✗ | break; | |
| 662 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::M_Code: | |
| 663 | ✗ | code = Code::G1M; | |
| 664 | ✗ | break; | |
| 665 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Codeless: | |
| 666 | ✗ | code = Code::G1N; | |
| 667 | ✗ | break; | |
| 668 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::M_Chan: | |
| 669 | ✗ | code = Code::G1S; | |
| 670 | ✗ | break; | |
| 671 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::L_Chan: | |
| 672 | ✗ | code = Code::G1L; | |
| 673 | ✗ | break; | |
| 674 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 675 | ✗ | code = Code::G1X; | |
| 676 | ✗ | break; | |
| 677 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Z_Tracking: | |
| 678 | ✗ | code = Code::G1W; | |
| 679 | ✗ | break; | |
| 680 | ✗ | default: | |
| 681 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 682 | ✗ | skipMeasurement = true; | |
| 683 | ✗ | break; | |
| 684 | } | ||
| 685 | ✗ | break; | |
| 686 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L2: | |
| 687 | ✗ | frequency = G02; | |
| 688 | ✗ | switch (satRaw.chan) | |
| 689 | { | ||
| 690 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::P_Code: | |
| 691 | ✗ | code = Code::G2P; | |
| 692 | ✗ | break; | |
| 693 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::CA_Code: | |
| 694 | ✗ | code = Code::G2C; | |
| 695 | ✗ | break; | |
| 696 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::SemiCodeless: | |
| 697 | ✗ | code = Code::G2D; | |
| 698 | ✗ | break; | |
| 699 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Y_Code: | |
| 700 | ✗ | code = Code::G2Y; | |
| 701 | ✗ | break; | |
| 702 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::M_Code: | |
| 703 | ✗ | code = Code::G2M; | |
| 704 | ✗ | break; | |
| 705 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Codeless: | |
| 706 | ✗ | code = Code::G2N; | |
| 707 | ✗ | break; | |
| 708 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::M_Chan: | |
| 709 | ✗ | code = Code::G2S; | |
| 710 | ✗ | break; | |
| 711 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::L_Chan: | |
| 712 | ✗ | code = Code::G2L; | |
| 713 | ✗ | break; | |
| 714 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 715 | ✗ | code = Code::G2X; | |
| 716 | ✗ | break; | |
| 717 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Z_Tracking: | |
| 718 | ✗ | code = Code::G2W; | |
| 719 | ✗ | break; | |
| 720 | ✗ | default: | |
| 721 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 722 | ✗ | skipMeasurement = true; | |
| 723 | ✗ | break; | |
| 724 | } | ||
| 725 | ✗ | break; | |
| 726 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L5: | |
| 727 | ✗ | frequency = G05; | |
| 728 | ✗ | switch (satRaw.chan) | |
| 729 | { | ||
| 730 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 731 | ✗ | code = Code::G5I; | |
| 732 | ✗ | break; | |
| 733 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 734 | ✗ | code = Code::G5Q; | |
| 735 | ✗ | break; | |
| 736 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 737 | ✗ | code = Code::G5X; | |
| 738 | ✗ | break; | |
| 739 | ✗ | default: | |
| 740 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 741 | ✗ | skipMeasurement = true; | |
| 742 | ✗ | break; | |
| 743 | } | ||
| 744 | ✗ | break; | |
| 745 | ✗ | default: | |
| 746 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq); | ||
| 747 | ✗ | skipMeasurement = true; | |
| 748 | ✗ | break; | |
| 749 | } | ||
| 750 | ✗ | break; | |
| 751 | ✗ | case SBAS: | |
| 752 | ✗ | switch (satRaw.freq) | |
| 753 | { | ||
| 754 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L1: | |
| 755 | ✗ | frequency = S01; | |
| 756 | ✗ | switch (satRaw.chan) | |
| 757 | { | ||
| 758 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::CA_Code: | |
| 759 | ✗ | code = Code::S1C; | |
| 760 | ✗ | break; | |
| 761 | ✗ | default: | |
| 762 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 763 | ✗ | skipMeasurement = true; | |
| 764 | ✗ | break; | |
| 765 | } | ||
| 766 | ✗ | break; | |
| 767 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L5: | |
| 768 | ✗ | frequency = S05; | |
| 769 | ✗ | switch (satRaw.chan) | |
| 770 | { | ||
| 771 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 772 | ✗ | code = Code::S5I; | |
| 773 | ✗ | break; | |
| 774 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 775 | ✗ | code = Code::S5Q; | |
| 776 | ✗ | break; | |
| 777 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 778 | ✗ | code = Code::S5X; | |
| 779 | ✗ | break; | |
| 780 | ✗ | default: | |
| 781 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 782 | ✗ | skipMeasurement = true; | |
| 783 | ✗ | break; | |
| 784 | } | ||
| 785 | ✗ | break; | |
| 786 | ✗ | default: | |
| 787 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq); | ||
| 788 | ✗ | skipMeasurement = true; | |
| 789 | ✗ | break; | |
| 790 | } | ||
| 791 | ✗ | break; | |
| 792 | ✗ | case GAL: | |
| 793 | ✗ | switch (satRaw.freq) | |
| 794 | { | ||
| 795 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L1: | |
| 796 | ✗ | frequency = E01; | |
| 797 | ✗ | switch (satRaw.chan) | |
| 798 | { | ||
| 799 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::CA_Code: | |
| 800 | ✗ | code = Code::E1C; | |
| 801 | ✗ | break; | |
| 802 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::A_Chan: | |
| 803 | ✗ | code = Code::E1A; | |
| 804 | ✗ | break; | |
| 805 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::B_Chan: | |
| 806 | ✗ | code = Code::E1B; | |
| 807 | ✗ | break; | |
| 808 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 809 | ✗ | code = Code::E1X; | |
| 810 | ✗ | break; | |
| 811 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::ABC: | |
| 812 | ✗ | code = Code::E1Z; | |
| 813 | ✗ | break; | |
| 814 | ✗ | default: | |
| 815 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 816 | ✗ | skipMeasurement = true; | |
| 817 | ✗ | break; | |
| 818 | } | ||
| 819 | ✗ | break; | |
| 820 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L5: | |
| 821 | ✗ | frequency = E08; | |
| 822 | ✗ | switch (satRaw.chan) | |
| 823 | { | ||
| 824 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 825 | ✗ | code = Code::E8I; | |
| 826 | ✗ | break; | |
| 827 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 828 | ✗ | code = Code::E8Q; | |
| 829 | ✗ | break; | |
| 830 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 831 | ✗ | code = Code::E8X; | |
| 832 | ✗ | break; | |
| 833 | ✗ | default: | |
| 834 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 835 | ✗ | skipMeasurement = true; | |
| 836 | ✗ | break; | |
| 837 | } | ||
| 838 | ✗ | break; | |
| 839 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::E6: | |
| 840 | ✗ | frequency = E06; | |
| 841 | ✗ | switch (satRaw.chan) | |
| 842 | { | ||
| 843 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::B_Chan: | |
| 844 | ✗ | code = Code::E6B; | |
| 845 | ✗ | break; | |
| 846 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::CA_Code: | |
| 847 | ✗ | code = Code::E6C; | |
| 848 | ✗ | break; | |
| 849 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 850 | ✗ | code = Code::E6X; | |
| 851 | ✗ | break; | |
| 852 | ✗ | default: | |
| 853 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 854 | ✗ | skipMeasurement = true; | |
| 855 | ✗ | break; | |
| 856 | } | ||
| 857 | ✗ | break; | |
| 858 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::E5a: | |
| 859 | ✗ | frequency = E05; | |
| 860 | ✗ | switch (satRaw.chan) | |
| 861 | { | ||
| 862 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 863 | ✗ | code = Code::E5I; | |
| 864 | ✗ | break; | |
| 865 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 866 | ✗ | code = Code::E5Q; | |
| 867 | ✗ | break; | |
| 868 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 869 | ✗ | code = Code::E5X; | |
| 870 | ✗ | break; | |
| 871 | ✗ | default: | |
| 872 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 873 | ✗ | skipMeasurement = true; | |
| 874 | ✗ | break; | |
| 875 | } | ||
| 876 | ✗ | break; | |
| 877 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::E5b: | |
| 878 | ✗ | frequency = E07; | |
| 879 | ✗ | switch (satRaw.chan) | |
| 880 | { | ||
| 881 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 882 | ✗ | code = Code::E7I; | |
| 883 | ✗ | break; | |
| 884 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 885 | ✗ | code = Code::E7Q; | |
| 886 | ✗ | break; | |
| 887 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 888 | ✗ | code = Code::E7X; | |
| 889 | ✗ | break; | |
| 890 | ✗ | default: | |
| 891 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 892 | ✗ | skipMeasurement = true; | |
| 893 | ✗ | break; | |
| 894 | } | ||
| 895 | ✗ | break; | |
| 896 | ✗ | default: | |
| 897 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq); | ||
| 898 | ✗ | skipMeasurement = true; | |
| 899 | ✗ | break; | |
| 900 | } | ||
| 901 | ✗ | break; | |
| 902 | ✗ | case BDS: | |
| 903 | ✗ | switch (satRaw.freq) | |
| 904 | { | ||
| 905 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L1: | |
| 906 | ✗ | frequency = B01; | |
| 907 | ✗ | switch (satRaw.chan) | |
| 908 | { | ||
| 909 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 910 | ✗ | code = Code::B2I; | |
| 911 | ✗ | break; | |
| 912 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 913 | ✗ | code = Code::B2Q; | |
| 914 | ✗ | break; | |
| 915 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 916 | ✗ | code = Code::B2X; | |
| 917 | ✗ | break; | |
| 918 | ✗ | default: | |
| 919 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 920 | ✗ | skipMeasurement = true; | |
| 921 | ✗ | break; | |
| 922 | } | ||
| 923 | ✗ | break; | |
| 924 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::E6: | |
| 925 | ✗ | frequency = B06; | |
| 926 | ✗ | switch (satRaw.chan) | |
| 927 | { | ||
| 928 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::A_Chan: | |
| 929 | ✗ | code = Code::B6A; | |
| 930 | ✗ | break; | |
| 931 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 932 | ✗ | code = Code::B6I; | |
| 933 | ✗ | break; | |
| 934 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 935 | ✗ | code = Code::B6Q; | |
| 936 | ✗ | break; | |
| 937 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 938 | ✗ | code = Code::B6X; | |
| 939 | ✗ | break; | |
| 940 | ✗ | default: | |
| 941 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 942 | ✗ | skipMeasurement = true; | |
| 943 | ✗ | break; | |
| 944 | } | ||
| 945 | ✗ | break; | |
| 946 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::E5b: | |
| 947 | ✗ | frequency = B08; | |
| 948 | ✗ | switch (satRaw.chan) | |
| 949 | { | ||
| 950 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 951 | ✗ | code = Code::B7I; | |
| 952 | ✗ | break; | |
| 953 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 954 | ✗ | code = Code::B7Q; | |
| 955 | ✗ | break; | |
| 956 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 957 | ✗ | code = Code::B7X; | |
| 958 | ✗ | break; | |
| 959 | ✗ | default: | |
| 960 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 961 | ✗ | skipMeasurement = true; | |
| 962 | ✗ | break; | |
| 963 | } | ||
| 964 | ✗ | break; | |
| 965 | ✗ | default: | |
| 966 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq); | ||
| 967 | ✗ | skipMeasurement = true; | |
| 968 | ✗ | break; | |
| 969 | } | ||
| 970 | ✗ | break; | |
| 971 | ✗ | case QZSS: | |
| 972 | ✗ | switch (satRaw.freq) | |
| 973 | { | ||
| 974 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L1: | |
| 975 | ✗ | frequency = J01; | |
| 976 | ✗ | switch (satRaw.chan) | |
| 977 | { | ||
| 978 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::CA_Code: | |
| 979 | ✗ | code = Code::J1C; | |
| 980 | ✗ | break; | |
| 981 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::M_Chan: | |
| 982 | ✗ | code = Code::J1S; | |
| 983 | ✗ | break; | |
| 984 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::L_Chan: | |
| 985 | ✗ | code = Code::J1L; | |
| 986 | ✗ | break; | |
| 987 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 988 | ✗ | code = Code::J1X; | |
| 989 | ✗ | break; | |
| 990 | ✗ | default: | |
| 991 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 992 | ✗ | skipMeasurement = true; | |
| 993 | ✗ | break; | |
| 994 | } | ||
| 995 | ✗ | break; | |
| 996 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L2: | |
| 997 | ✗ | frequency = J02; | |
| 998 | ✗ | switch (satRaw.chan) | |
| 999 | { | ||
| 1000 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::M_Chan: | |
| 1001 | ✗ | code = Code::J2S; | |
| 1002 | ✗ | break; | |
| 1003 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::L_Chan: | |
| 1004 | ✗ | code = Code::J2L; | |
| 1005 | ✗ | break; | |
| 1006 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 1007 | ✗ | code = Code::J2X; | |
| 1008 | ✗ | break; | |
| 1009 | ✗ | default: | |
| 1010 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 1011 | ✗ | skipMeasurement = true; | |
| 1012 | ✗ | break; | |
| 1013 | } | ||
| 1014 | ✗ | break; | |
| 1015 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L5: | |
| 1016 | ✗ | frequency = J05; | |
| 1017 | ✗ | switch (satRaw.chan) | |
| 1018 | { | ||
| 1019 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::I_Chan: | |
| 1020 | ✗ | code = Code::J5I; | |
| 1021 | ✗ | break; | |
| 1022 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::Q_Chan: | |
| 1023 | ✗ | code = Code::J5Q; | |
| 1024 | ✗ | break; | |
| 1025 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 1026 | ✗ | code = Code::J5X; | |
| 1027 | ✗ | break; | |
| 1028 | ✗ | default: | |
| 1029 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 1030 | ✗ | skipMeasurement = true; | |
| 1031 | ✗ | break; | |
| 1032 | } | ||
| 1033 | ✗ | break; | |
| 1034 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::E6: | |
| 1035 | ✗ | frequency = J06; | |
| 1036 | ✗ | switch (satRaw.chan) | |
| 1037 | { | ||
| 1038 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::M_Chan: | |
| 1039 | ✗ | code = Code::J6S; | |
| 1040 | ✗ | break; | |
| 1041 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::L_Chan: | |
| 1042 | ✗ | code = Code::J6L; | |
| 1043 | ✗ | break; | |
| 1044 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::BC_Chan: | |
| 1045 | ✗ | code = Code::J6X; | |
| 1046 | ✗ | break; | |
| 1047 | ✗ | default: | |
| 1048 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 1049 | ✗ | skipMeasurement = true; | |
| 1050 | ✗ | break; | |
| 1051 | } | ||
| 1052 | ✗ | break; | |
| 1053 | ✗ | default: | |
| 1054 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq); | ||
| 1055 | ✗ | skipMeasurement = true; | |
| 1056 | ✗ | break; | |
| 1057 | } | ||
| 1058 | ✗ | break; | |
| 1059 | ✗ | case GLO: | |
| 1060 | ✗ | switch (satRaw.freq) | |
| 1061 | { | ||
| 1062 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L1: | |
| 1063 | ✗ | frequency = R01; | |
| 1064 | ✗ | switch (satRaw.chan) | |
| 1065 | { | ||
| 1066 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::CA_Code: | |
| 1067 | ✗ | code = Code::R1C; | |
| 1068 | ✗ | break; | |
| 1069 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::P_Code: | |
| 1070 | ✗ | code = Code::R1P; | |
| 1071 | ✗ | break; | |
| 1072 | ✗ | default: | |
| 1073 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 1074 | ✗ | skipMeasurement = true; | |
| 1075 | ✗ | break; | |
| 1076 | } | ||
| 1077 | ✗ | break; | |
| 1078 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Freq::L2: | |
| 1079 | ✗ | frequency = R02; | |
| 1080 | ✗ | switch (satRaw.chan) | |
| 1081 | { | ||
| 1082 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::CA_Code: | |
| 1083 | ✗ | code = Code::R2C; | |
| 1084 | ✗ | break; | |
| 1085 | ✗ | case vendor::vectornav::RawMeas::SatRawElement::Chan::P_Code: | |
| 1086 | ✗ | code = Code::R2P; | |
| 1087 | ✗ | break; | |
| 1088 | ✗ | default: | |
| 1089 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' channel '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq, satRaw.chan); | ||
| 1090 | ✗ | skipMeasurement = true; | |
| 1091 | ✗ | break; | |
| 1092 | } | ||
| 1093 | ✗ | break; | |
| 1094 | ✗ | default: | |
| 1095 | LOG_TRACE("VectorNav SatRawElement satellite system '{}' frequency '{}' is not supported yet. Skipping measurement.", satRaw.sys, satRaw.freq); | ||
| 1096 | ✗ | skipMeasurement = true; | |
| 1097 | ✗ | break; | |
| 1098 | } | ||
| 1099 | ✗ | break; | |
| 1100 | ✗ | case IRNSS: // IRNSS not in vectorNav | |
| 1101 | case SatSys_None: | ||
| 1102 | ✗ | skipMeasurement = true; | |
| 1103 | ✗ | break; | |
| 1104 | } | ||
| 1105 | |||
| 1106 | ✗ | if (skipMeasurement) | |
| 1107 | { | ||
| 1108 | ✗ | continue; | |
| 1109 | } | ||
| 1110 | |||
| 1111 | ✗ | (*gnssObs)(SatSigId(code, satRaw.svId)).pseudorange = { .value = satRaw.pr }; | |
| 1112 | ✗ | (*gnssObs)(SatSigId(code, satRaw.svId)).carrierPhase = { .value = satRaw.cp }; | |
| 1113 | ✗ | (*gnssObs)(SatSigId(code, satRaw.svId)).doppler = satRaw.dp; | |
| 1114 | ✗ | (*gnssObs)(SatSigId(code, satRaw.svId)).CN0 = satRaw.cno; | |
| 1115 | |||
| 1116 | // LLI has not been implemented yet, but can be calculated from vendor::vectornav::RawMeas::SatRawElement::Flags | ||
| 1117 | // (*gnssObs)[{ frequency, satRaw.svId }].LLI = ... | ||
| 1118 | } | ||
| 1119 | } | ||
| 1120 | } | ||
| 1121 | |||
| 1122 | ✗ | return gnssObs; | |
| 1123 | ✗ | } | |
| 1124 | |||
| 1125 | ✗ | const char* NAV::to_string(NAV::VectorNavBinaryConverter::OutputType value) | |
| 1126 | { | ||
| 1127 | ✗ | switch (value) | |
| 1128 | { | ||
| 1129 | ✗ | case NAV::VectorNavBinaryConverter::OutputType::ImuObs: | |
| 1130 | ✗ | return "ImuObs"; | |
| 1131 | ✗ | case NAV::VectorNavBinaryConverter::OutputType::ImuObsWDelta: | |
| 1132 | ✗ | return "ImuObsWDelta"; | |
| 1133 | ✗ | case NAV::VectorNavBinaryConverter::OutputType::PosVelAtt: | |
| 1134 | ✗ | return "PosVelAtt"; | |
| 1135 | ✗ | case NAV::VectorNavBinaryConverter::OutputType::GnssObs: | |
| 1136 | ✗ | return "GnssObs"; | |
| 1137 | ✗ | case NAV::VectorNavBinaryConverter::OutputType::COUNT: | |
| 1138 | ✗ | return ""; | |
| 1139 | } | ||
| 1140 | ✗ | return ""; | |
| 1141 | } | ||
| 1142 |