/* Copyright (c) 2020-2022 Skyward Experimental Rocketry
* Authors: Luca Conterio, Alberto Nidasio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#pragma once
#include <Eigen/Core>
#include <ostream>
namespace Boardcore
{
/**
* @brief Generic error codes that a sensor can generate.
*
* Sensors can extend this enum by defining a new set of errors,
* starting from END_OF_BASE_ERRORS.
*/
enum SensorErrors : uint8_t
{
NO_ERRORS = 0,
INVALID_WHOAMI = 1,
INIT_FAIL = 2,
NOT_INIT = 3, // if some method called before init()
ALREADY_INIT = 4, // if init() called multiple times
SELF_TEST_FAIL = 5,
BUS_FAULT = 6,
NO_NEW_DATA = 7, // no new data available from the sensor
INVALID_FIFO_INDEX = 8,
DMA_ERROR = 9,
COMMAND_FAILED = 10,
END_OF_BASE_ERRORS = 11 // used to extend this enum
};
struct TimestampData
{
uint64_t timestamp;
};
struct LoadCellData
{
uint64_t loadTimestamp = 0;
float load = 0;
static std::string header() { return "loadTimestamp,load\n"; }
void print(std::ostream& os) const
{
os << loadTimestamp << "," << load << "\n";
}
};
struct TemperatureData
{
uint64_t temperatureTimestamp = 0;
float temperature = 0;
static std::string header() { return "timestamp,temperature\n"; }
void print(std::ostream& os) const
{
os << temperatureTimestamp << "," << temperature << "\n";
}
};
struct PressureData
{
uint64_t pressureTimestamp = 0;
float pressure = 0;
static std::string header() { return "timestamp,pressure\n"; }
void print(std::ostream& os) const
{
os << pressureTimestamp << "," << pressure << "\n";
}
};
/**
* @brief Structure to handle humidity data.
*/
struct HumidityData
{
uint64_t humidityTimestamp = 0;
float humidity = 0;
};
/**
* @brief Structure to handle accelerometer data.
*/
struct AccelerometerData
{
uint64_t accelerationTimestamp = 0;
float accelerationX = 0;
float accelerationY = 0;
float accelerationZ = 0;
AccelerometerData() {}
AccelerometerData(uint64_t timestamp, float x, float y, float z)
: accelerationTimestamp(timestamp), accelerationX(x), accelerationY(y),
accelerationZ(z)
{
}
AccelerometerData(const AccelerometerData& data) = default;
explicit AccelerometerData(const Eigen::Vector3f& acc)
: accelerationX(acc(0)), accelerationY(acc(1)), accelerationZ(acc(2))
{
}
static std::string header()
{
return "timestamp,accelerationX,accelerationY,accelerationZ\n";
}
void print(std::ostream& os) const
{
os << accelerationTimestamp << "," << accelerationX << ","
<< accelerationY << "," << accelerationZ << "\n";
}
operator Eigen::Vector3f() const
{
return {accelerationX, accelerationY, accelerationZ};
}
};
/**
* @brief Structure to handle quaternion data.
*/
struct QuaternionData
{
uint64_t quaternionTimestamp = 0;
float quaternionX = 0;
float quaternionY = 0;
float quaternionZ = 0;
float quaternionW = 0;
QuaternionData() {}
QuaternionData(uint64_t timestamp, float x, float y, float z, float w)
: quaternionTimestamp(timestamp), quaternionX(x), quaternionY(y),
quaternionZ(z), quaternionW(w)
{
}
QuaternionData(const QuaternionData& data) = default;
explicit QuaternionData(const Eigen::Vector4f& quat)
: quaternionX(quat(0)), quaternionY(quat(1)), quaternionZ(quat(2)),
quaternionW(quat(3))
{
}
static std::string header()
{
return "timestamp,quaternionX,quaternionY,quaternionZ,quaterionW\n";
}
void print(std::ostream& os) const
{
os << quaternionTimestamp << "," << quaternionX << "," << quaternionY
<< "," << quaternionZ << "," << quaternionW << "\n";
}
operator Eigen::Vector4f() const
{
return {quaternionX, quaternionY, quaternionZ, quaternionW};
}
};
/**
* @brief Structure to handle gyroscope data.
*/
struct GyroscopeData
{
uint64_t angularSpeedTimestamp = 0;
float angularSpeedX = 0;
float angularSpeedY = 0;
float angularSpeedZ = 0;
GyroscopeData() {}
GyroscopeData(uint64_t timestamp, float x, float y, float z)
: angularSpeedTimestamp(timestamp), angularSpeedX(x), angularSpeedY(y),
angularSpeedZ(z)
{
}
GyroscopeData(const GyroscopeData& data) = default;
explicit GyroscopeData(const Eigen::Vector3f& vel)
: angularSpeedX(vel(0)), angularSpeedY(vel(1)), angularSpeedZ(vel(2))
{
}
static std::string header()
{
return "timestamp,angularSpeedX,angularSpeedY,angularSpeedZ\n";
}
void print(std::ostream& os) const
{
os << angularSpeedTimestamp << "," << angularSpeedX << ","
<< angularSpeedY << "," << angularSpeedZ << "\n";
}
operator Eigen::Vector3f() const
{
return {angularSpeedX, angularSpeedY, angularSpeedZ};
}
};
/**
* @brief Structure to handle magnetometer data.
*/
struct MagnetometerData
{
uint64_t magneticFieldTimestamp = 0;
float magneticFieldX = 0;
float magneticFieldY = 0;
float magneticFieldZ = 0;
MagnetometerData() {}
MagnetometerData(uint64_t timestamp, float x, float y, float z)
: magneticFieldTimestamp(timestamp), magneticFieldX(x),
magneticFieldY(y), magneticFieldZ(z)
{
}
MagnetometerData(const MagnetometerData& data) = default;
explicit MagnetometerData(const Eigen::Vector3f& mag)
: magneticFieldX(mag(0)), magneticFieldY(mag(1)), magneticFieldZ(mag(2))
{
}
static std::string header()
{
return "timestamp,magneticFieldX,magneticFieldY,magneticFieldZ\n";
}
void print(std::ostream& os) const
{
os << magneticFieldTimestamp << "," << magneticFieldX << ","
<< magneticFieldY << "," << magneticFieldZ << "\n";
}
operator Eigen::Vector3f() const
{
return {magneticFieldX, magneticFieldY, magneticFieldZ};
}
};
/**
* @brief Structure to handle GPS data.
*/
struct GPSData
{
uint64_t gpsTimestamp = 0;
float latitude = 0; // [deg]
float longitude = 0; // [deg]
float height = 0; // [m]
float velocityNorth = 0; // [m/s]
float velocityEast = 0; // [m/s]
float velocityDown = 0; // [m/s]w
float speed = 0; // [m/s]
float track = 0; // [deg]
float positionDOP = 0; // [?]
uint8_t satellites = 0; // [1]
uint8_t fix = 0; // 0 = no fix
static std::string header()
{
return "timestamp,latitude,longitude,height,velocityNorth,velocityEast,"
"velocityDown,speed,track,positionDOP,satellites,fix\n";
}
void print(std::ostream& os) const
{
os << gpsTimestamp << "," << longitude << "," << latitude << ","
<< height << "," << velocityNorth << "," << velocityEast << ","
<< velocityDown << "," << speed << "," << track << "," << positionDOP
<< "," << (int)satellites << "," << (int)fix << "\n";
}
};
/**
* @brief Structure to handle ADC data.
*/
struct ADCData
{
uint64_t voltageTimestamp = 0;
uint8_t channelId = 0;
float voltage = 0;
};
/**
* @brief Structure to handle current data.
*/
struct CurrentData
{
uint64_t currentTimestamp = 0;
float current = 0;
static std::string header() { return "timestamp,current\n"; }
void print(std::ostream& os) const
{
os << currentTimestamp << "," << current << "\n";
}
};
} // namespace Boardcore