Commit b7233868 authored by Sigurd M. Albrektsen's avatar Sigurd M. Albrektsen
Browse files

Added initial parser (STIM)

parent f53f638b

parsers/CMakeLists.txt

+1 −0
Changes for parsers/CMakeLists.txt: 1 added line, 0 removed lines.
Original line number Diff line number Diff line
@@ -55,6 +55,7 @@ endif() 
set(SENTIBOARD_TEST_SRCS

  ${TEST_SRC_DIR}/testmain.cpp

  ${TEST_SRC_DIR}/sentiboard_reader_test.cpp

  ${TEST_SRC_DIR}/stim_parser_test.cpp

  ${TEST_SRC_DIR}/test_utils.cpp

)

parsers/include/sentiboard/Package.hpp

+20 −8
Changes for parsers/include/sentiboard/Package.hpp: 20 added lines, 8 removed lines.
Original line number Diff line number Diff line
@@ -19,11 +19,11 @@ class Package { 
    bool SyncPackage(const std::shared_ptr<std::istream> inData);

    bool _isGood = false;

    bool _hasOnboardTimestamp = false;

    double _onboardTimestamp;

    double _onboardTimestamp = 0;



    uint32_t _tov;

    uint32_t _toa;

    uint32_t _tot;

    uint32_t _tov = 0;

    uint32_t _toa = 0;

    uint32_t _tot = 0;



    uint8_t _protocolVersion;
@@ -40,19 +40,31 @@ class Package { 
    bool IsGood() {

        return _isGood;

    }

    size_t SensorIx() {

    size_t SensorIx() const {

        return _sensor_ix;

    }

    size_t OnboardTimestamp() const {

        return _onboardTimestamp;

    }



    uint32_t tov() {

    uint32_t tov() const {

        return _tov;

    }

    uint32_t toa() {

    uint32_t toa() const {

        return _toa;

    }

    uint32_t tot() {

    uint32_t tot() const {

        return _tot;

    }



    const size_t data_start_position() const;



    const uint8_t *data() const {

        return reinterpret_cast<const uint8_t *>(&_data[data_start_position()]);

    }

    const size_t data_len() const {

        return _data.size() - data_start_position() - 2;

    }

};



}  // namespace sentiboard

parsers/include/sentiboard/messages/ImuMessage.hpp

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Changes for parsers/include/sentiboard/messages/ImuMessage.hpp: 54 added lines, 0 removed lines.
Original line number Diff line number Diff line 
// Copyright [2017] <Sigurd M. Albrektsen>



#ifndef INCLUDE_SENTIBOARD_MESSAGES_IMUMESSAGE_HPP_

#define INCLUDE_SENTIBOARD_MESSAGES_IMUMESSAGE_HPP_



#include <tuple>

#include "SentiboardMessage.hpp"

#include "sentiboard/Package.hpp"



class ImuMessage : public SentiboardMessage {

 public:

    ImuMessage() { }

    ImuMessage(const sentiboard::Package package,

               std::tuple<float, float, float> accl,

               std::tuple<float, float, float> gyro,

               bool has_delta_values)

        : SentiboardMessage(package) {

        populate(package, accl, gyro, has_delta_values);

    }



    bool populate(const sentiboard::Package package,

                  std::tuple<float, float, float> accl,

                  std::tuple<float, float, float> gyro,

                  bool has_delta_values) {

        accl_ = accl;

        gyro_ = gyro;

        has_delta_values_ = has_delta_values;

        if(!SentiboardMessage::initialized()) {

            SentiboardMessage::populate(package);

        }

        return true;

    }



    void has_delta_values(bool val) {

        has_delta_values_ = true;

    }

    bool has_delta_values() {

        return has_delta_values_;

    }

    std::tuple<float, float, float> accl() {

        return accl_;

    }



    std::tuple<float, float, float> gyro() {

        return gyro_;

    }



private:

    std::tuple<float, float, float> accl_;

    std::tuple<float, float, float> gyro_;

    bool has_delta_values_;

};



#endif // INCLUDE_SENTIBOARD_MESSAGES_IMUMESSAGE_HPP_

parsers/include/sentiboard/messages/SentiboardMessage.hpp

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Changes for parsers/include/sentiboard/messages/SentiboardMessage.hpp: 111 added lines, 0 removed lines.
Original line number Diff line number Diff line 
// Copyright [2017] <Sigurd M. Albrektsen>



#ifndef INCLUDE_SENTIBOARD_MESSAGES_SENTIBOARDMESSAGE_HPP_

#define INCLUDE_SENTIBOARD_MESSAGES_SENTIBOARDMESSAGE_HPP_



#include "sentiboard/Package.hpp"



class SentiboardMessage {

public:

    SentiboardMessage(const sentiboard::Package& package) {

        populate(package);

    }

    SentiboardMessage() {

        initialized_ = false;

    }



    bool populate(const sentiboard::Package& package) {

        sensor_ix_ = package.SensorIx();

        tov_ = package.tov();

        toa_ = package.toa();

        tot_ = package.tot();

        onboard_timestamp_ = package.OnboardTimestamp();

        initialized_ = true;

        return true;

    }



    ~SentiboardMessage() { }



    SentiboardMessage(const SentiboardMessage& other) {// copy constructor

        sensor_ix_ = other.sensor_ix_;



        tov_ = other.tov_;

        toa_ = other.toa_;

        tot_ = other.tot_;



        onboard_timestamp_ = other.onboard_timestamp_;

    }



    //copy assignment

    SentiboardMessage& operator=(const SentiboardMessage& other) {

        sensor_ix_ = other.sensor_ix_;



        tov_ = other.tov_;

        toa_ = other.toa_;

        tot_ = other.tot_;



        onboard_timestamp_ = other.onboard_timestamp_;

        return *this;

    }



    //Copy constructor

    SentiboardMessage(const SentiboardMessage &&other) {

        sensor_ix_ = other.sensor_ix_;



        tov_ = other.tov_;

        toa_ = other.toa_;

        tot_ = other.tot_;



        onboard_timestamp_ = other.onboard_timestamp_;

    }

    //move assignment

    SentiboardMessage& operator=(SentiboardMessage&& other) {

        if(this == &other) {

            return *this;

        }



        this->sensor_ix_ = other.sensor_ix_;



        this->tov_ = other.tov_;

        this->toa_ = other.toa_;

        this->tot_ = other.tot_;



        this->onboard_timestamp_ = other.onboard_timestamp_;

        return *this;

    }



    uint8_t sensor_ix() const {

        return sensor_ix_;

    }



    uint32_t tov() const {

        return tov_;

    }

    uint32_t toa() const {

        return toa_;

    }

    uint32_t tot() const {

        return tot_;

    }



    double onboard_timestamp() const {

        return onboard_timestamp_;

    }



    bool initialized() {

        return initialized_;

    }



private:

    uint8_t sensor_ix_;



    uint32_t tov_;

    uint32_t toa_;

    uint32_t tot_;



    double onboard_timestamp_;



    bool initialized_;

};



#endif // INCLUDE_SENTIBOARD_MESSAGES_SENTIBOARDMESSAGE_HPP_

parsers/include/sentiboard/sensors/SentiboardParser.hpp

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Changes for parsers/include/sentiboard/sensors/SentiboardParser.hpp: 16 added lines, 0 removed lines.
Original line number Diff line number Diff line 
// Copyright [2017] <Sigurd M. Albrektsen>



#ifndef INCLUDE_SENTIBOARD_SENSORS_SENTIBOARDPARSER_HPP_

#define INCLUDE_SENTIBOARD_SENSORS_SENTIBOARDPARSER_HPP_



#include "sentiboard/messages/SentiboardMessage.hpp"



class SentiboardParser {

 public:

    virtual SentiboardMessage parse(const sentiboard::Package package) {

        SentiboardMessage msg(package);

        return msg;

    }

};



#endif  // INCLUDE_SENTIBOARD_SENSORS_SENTIBOARDPARSER_HPP_