parsing_utilities.hpp

Go to the documentation of this file.

// *****************************************************************************
//
// © Copyright 2020, Septentrio NV/SA.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//    1. Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//    2. 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.
//    3. Neither the name of the copyright holder 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 HOLDER 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.
//
// *****************************************************************************

#ifndef PARSING_UTILITIES_HPP
#define PARSING_UTILITIES_HPP

// C++ library includes
#include <cmath>   // C++ header, corresponds to <math.h> in C
#include <cstdint> // C++ header, corresponds to <stdint.h> in C
#include <ctime>   // C++ header, corresponds to <time.h> in C
#include <string>  // C++ header, corresponds to <string.h> in C
// Eigen Includes
#include <Eigen/Core>
#include <Eigen/LU>
// Boost includes
#include <boost/math/constants/constants.hpp>
// ROS includes
#include <septentrio_gnss_driver/abstraction/typedefs.hpp>

namespace parsing_utilities {

    constexpr double pi_half = boost::math::constants::pi<double>() / 2.0;

    /***********************************************************************
     * Square value
     **********************************************************************/
    template <class T>
    inline T square(T val)
    {
        return val * val;
    }

    /***********************************************************************
     * Convert degrees to radians
     **********************************************************************/
    template <class T>
    inline T deg2rad(T deg)
    {
        return deg * boost::math::constants::degree<T>();
    }

    /***********************************************************************
     * Convert degrees^2 to radians^2
     **********************************************************************/
    template <class T>
    inline T deg2radSq(T deg)
    {
        return deg * boost::math::constants::degree<T>() *
               boost::math::constants::degree<T>();
    }

    /***********************************************************************
     * Convert radians to degree
     **********************************************************************/
    template <class T>
    inline T rad2deg(T rad)
    {
        return rad * boost::math::constants::radian<T>();
    }

    /***********************************************************************
     * Convert Euler angles to rotation matrix
     **********************************************************************/
    inline Eigen::Matrix3d rpyToRot(double roll, double pitch, double yaw)
    {
        Eigen::Matrix3d M;
        double sa, ca, sb, cb, sc, cc;
        sa = std::sin(roll);
        ca = std::cos(roll);
        sb = std::sin(pitch);
        cb = std::cos(pitch);
        sc = std::sin(yaw);
        cc = std::cos(yaw);

        M << cb * cc, -ca * sc + sa * sb * cc, sc * sa + ca * sb * cc, cb * sc,
            ca * cc + sa * sb * sc, -sa * cc + ca * sb * sc, -sb, sa * cb, ca * cb;
        return M;
    }

    double wrapAngle180to180(double angle);

    double parseDouble(const uint8_t* buffer);

    bool parseDouble(const std::string& string, double& value);

    float parseFloat(const uint8_t* buffer);

    bool parseFloat(const std::string& string, float& value);

    int16_t parseInt16(const uint8_t* buffer);

    bool parseInt16(const std::string& string, int16_t& value, int32_t base = 10);

    int32_t parseInt32(const uint8_t* buffer);

    bool parseInt32(const std::string& string, int32_t& value, int32_t base = 10);

    bool parseUInt8(const std::string& string, uint8_t& value, int32_t base = 10);

    uint16_t parseUInt16(const uint8_t* buffer);

    bool parseUInt16(const std::string& string, uint16_t& value, int32_t base = 10);

    uint32_t parseUInt32(const uint8_t* buffer);

    bool parseUInt32(const std::string& string, uint32_t& value, int32_t base = 10);

    double convertUTCDoubleToSeconds(double utc_double);

    std::time_t convertUTCtoUnix(double utc_double);

    double convertDMSToDegrees(double dms);

    QuaternionMsg convertEulerToQuaternion(double yaw, double pitch, double roll);

    std::string convertUserPeriodToRxCommand(uint32_t period_user);

    uint16_t getCrc(const uint8_t* buffer);

    uint16_t getId(const uint8_t* buffer);

    uint16_t getLength(const uint8_t* buffer);

    uint32_t getTow(const uint8_t* buffer);

    uint16_t getWnc(const uint8_t* buffer);
} // namespace parsing_utilities

#endif // PARSING_UTILITIES_HPP