sick_generic_imu.h

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//
// Created by michael on 10/4/18.
//

#ifndef SICK_SCAN_SICK_GENERIC_IMU_H
#define SICK_SCAN_SICK_GENERIC_IMU_H

/*
 * Copyright (C) 2018, Ing.-Buero Dr. Michael Lehning, Hildesheim
 * Copyright (C) 2018, SICK AG, Waldkirch
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Osnabrück University nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 *  Created on: 28th May 2018
 *
 *      Authors:
 *       Michael Lehning <michael.lehning@lehning.de>
 *
 */

#include <stdio.h>
#include <stdlib.h>
#include <string>
#include <string.h>
#include <vector>

#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <std_msgs/String.h>

#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
#include <sick_scan/sick_scan_common_nw.h>
#include <sick_scan/RadarScan.h> // generated by msg-generator

#ifndef _MSC_VER

#include <dynamic_reconfigure/server.h>
#include <sick_scan/SickScanConfig.h>

#endif

#include "sick_scan/sick_generic_parser.h"
#include "sick_scan/sick_scan_common_nw.h"
#include <ros/ros.h>
#include <sensor_msgs/Imu.h>
#include "softwarePLL.h"

namespace sick_scan
{


  class SickScanImuValue
  {
  public:
    UINT64 TimeStamp() const
    { return timeStamp; }

    void TimeStamp(UINT64 val)
    { timeStamp = val; }

    float QuaternionX() const
    { return quaternionX; }

    void QuaternionX(float val)
    { quaternionX = val; }

    float QuaternionY() const
    { return quaternionY; }

    void QuaternionY(float val)
    { quaternionY = val; }

    float QuaternionZ() const
    { return quaternionZ; }

    void QuaternionZ(float val)
    { quaternionZ = val; }

    float QuaternionW() const
    { return quaternionW; }

    void QuaternionW(float val)
    { quaternionW = val; }

    float QuaternionAccuracy() const
    { return quaternionAccuracy; }

    void QuaternionAccuracy(float val)
    { quaternionAccuracy = val; }


    float AngularVelocityX() const
    { return velocityX; }

    void AngularVelocityX(float val)
    { velocityX = val; }

    float AngularVelocityY() const
    { return velocityY; }

    void AngularVelocityY(float val)
    { velocityY = val; }

    float AngularVelocityZ() const
    { return velocityZ; }

    void AngularVelocityZ(float val)
    { velocityZ = val; }

    UINT16 AngularVelocityReliability() const
    { return velocityReliability; }

    void AngularVelocityReliability(UINT16 val)
    { velocityReliability = val; }

    float LinearAccelerationX() const
    { return linearAccelerationX; }

    void LinearAccelerationX(float val)
    { linearAccelerationX = val; }

    float LinearAccelerationY() const
    { return linearAccelerationY; }

    void LinearAccelerationY(float val)
    { linearAccelerationY = val; }

    float LinearAccelerationZ() const
    { return linearAccelerationZ; }

    void LinearAccelerationZ(float val)
    { linearAccelerationZ = val; }

    UINT16 LinearAccelerationReliability() const
    { return linearAccelerationReliability; }

    void LinearAccelerationReliability(UINT16 val)
    { linearAccelerationReliability = val; }

  private:
    UINT32 timeStamp;
    float quaternionX;
    float quaternionY;
    float quaternionZ;
    float quaternionW;
    float quaternionAccuracy;
    float velocityX;
    float velocityY;
    float velocityZ;
    UINT16 velocityReliability;
    float linearAccelerationX;
    float linearAccelerationY;
    float linearAccelerationZ;
    UINT16 linearAccelerationReliability;

  };

  class SickScanImu
  {
  public:
    SickScanImu(SickScanCommon *commonPtr_)
    {
      commonPtr = commonPtr_;
    }

    bool isImuDatagram(char *datagram, size_t datagram_length);

    bool isImuBinaryDatagram(char *datagram, size_t datagram_length);

    bool isImuAsciiDatagram(char *datagram, size_t datagram_length);

    bool isImuAckDatagram(char *datagram, size_t datagram_length);

    int parseDatagram(ros::Time timeStamp, unsigned char *receiveBuffer, int actual_length, bool useBinaryProtocol);

    int parseAsciiDatagram(char *datagram, size_t datagram_length, SickScanImuValue *imValuePtr);

    int parseBinaryDatagram(char *datagram, size_t datagram_length, SickScanImuValue *imValuePtr);

    static void imuParserTest();

    static void quaternion2rpyTest(); // test for converting quaternion to rpy

    double simpleFmodTwoPi(double angle);

  private:
    SickScanCommon *commonPtr;
    bool emul;
  };

} /* namespace sick_scan */


#endif //SICK_SCAN_SICK_GENERIC_IMU_H