291 lines
7.0 KiB
C++
291 lines
7.0 KiB
C++
/*
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otp/transform.h
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Copyright (c) 2021 Kevin Matz (kevin.matz@gmail.com)
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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*/
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#pragma once
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#include "pdu.h"
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#include <chrono>
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namespace OTP::Transform {
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using Timestamp = std::chrono::time_point<std::chrono::system_clock>;
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namespace Point {
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/**
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* @brief The address struct
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*/
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struct address
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: PDU::pdu_stream_object
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{
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uint8_t system; //!< system referance number
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uint16_t group; //!< group referance number
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uint32_t point; //!< point referance number
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size_t streamSize() const override { return 7; }
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void iStream(PDU::Stream) override;
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void oStream(PDU::Stream) const override;
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};
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namespace Module {
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/**
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* @brief Figure 16-1: Module Identifier Structure
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*/
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struct module_id
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{
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uint16_t manufacturer; //!< ESTA manufacturer ID
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uint16_t number; //!< manurfactuer assigned model number
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};
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/// Table 16-1: Standard Module Types
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static const uint16_t Position = 0x0001; //!< the current position of a Point in all three linear directions.
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static const uint16_t Position_VA = 0x0002; //!< the positional velocity and acceleration of a Point.
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static const uint16_t Rotation = 0x0003; //!< the current rotation of the Point using intrinsic Euler rotation
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static const uint16_t Rotation_VA = 0x0004; //!< the rotational velocity and acceleration of the Point
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static const uint16_t Scale = 0x0005; //!< the unitless, absolute scale of the Point
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static const uint16_t Reference_Frame = 0x0006; //!< the Address of the Reference Frame of the Point.
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/**
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* @brief The OTP::Transform::Point::Module::pdu class
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*/
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class pdu
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: public OTP::PDU::pdu
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{
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public:
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void iStream(PDU::Stream) override;
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};
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struct module : PDU::pdu_stream_object {};
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/**
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* @brief The position_module struct
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*/
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struct position_module
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: module
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{
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union {
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uint8_t options;
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struct {
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uint8_t o_reserved : 7;
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bool scaling : 1;
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};
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};
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int32_t x; //!< x-axis position
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int32_t y; //!< y-axis position
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int32_t z; //!< z-axis position
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size_t streamSize() const override { return 13; }
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void iStream(PDU::Stream) override;
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void oStream(PDU::Stream) const override;
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};
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/**
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* @brief The position_va_module struct
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*/
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struct position_va_module
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: module
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{
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int32_t Vx; //!< x-axis velocity
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int32_t Vy; //!< y-axis velocity
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int32_t Vz; //!< z-axis velocity
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int32_t Ax; //!< x-axis acceleration
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int32_t Ay; //!< y-axis acceleration
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int32_t Az; //!< z-axis acceleration
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size_t streamSize() const override { return 24; }
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void iStream(PDU::Stream) override;
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void oStream(PDU::Stream) const override;
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};
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/**
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* @brief The rotation_module struct
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*/
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struct rotation_module
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: module
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{
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int32_t Rx; //!< x-axis rotation
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int32_t Ry; //!< y-axis rotation
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int32_t Rz; //!< z-axis rotation
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size_t streamSize() const override { return 12; }
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void iStream(PDU::Stream) override;
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void oStream(PDU::Stream) const override;
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};
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/**
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* @brief The rotation_va_module struct
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*/
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struct rotation_va_module
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: module
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{
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int32_t Vrx; //!< x-axis rotational velocity
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int32_t Vry; //!< y-axis rotational velocity
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int32_t Vrz; //!< z-axis rotational velocity
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int32_t Arx; //!< x-axis rotational acceleration
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int32_t Ary; //!< y-axis rotational acceleration
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int32_t Arz; //!< z-axis rotational acceleration
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size_t streamSize() const override { return 24; }
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void iStream(PDU::Stream) override;
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void oStream(PDU::Stream) const override;
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};
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/**
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* @brief The scale_module struct
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*/
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struct scale_module
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: module
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{
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int32_t scale_x; //!< x-axis scale
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int32_t scale_y; //!< y-axis scale
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int32_t scale_z; //!< z-axis scale
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size_t streamSize() const override { return 12; }
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void iStream(PDU::Stream) override;
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void oStream(PDU::Stream) const override;
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};
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/**
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* @brief The reference_frame_module struct
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*/
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struct reference_frame_module
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: module
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{
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address point; //!< referance point
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size_t streamSize() const override { return point.streamSize(); }
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void iStream(PDU::Stream s) override;
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void oStream(PDU::Stream s) const override;
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};
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/**
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* @brief The module_data struct
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*/
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struct module_data
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: OTP::PDU::pdu_data
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{
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~module_data();
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uint16_t number; //!< module number
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module * mod = nullptr; //!< module object
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size_t streamSize() const override;
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void iStream(PDU::Stream) override;
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void oStream(PDU::Stream) const override;
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};
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} // namespace Module
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/**
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* @brief The OTP::Transform::Point::pdu class
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*/
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class pdu
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: public OTP::PDU::pdu
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{
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public:
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void iStream(PDU::Stream) override;
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};
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/**
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* @brief The point_data struct
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*/
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struct point_data
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: OTP::PDU::pdu_data
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{
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uint8_t priority = 100; //!< priority, between 0 and 200
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uint16_t group; //!< group number
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uint32_t point; //!< point number
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Timestamp timestamp; //!< timestamp
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union {
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uint8_t options;
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struct {
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uint8_t f_reserved : 8;
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};
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};
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uint32_t reserved; //!< reserved
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PDU::Block<Module::pdu> modules; //!< block of module PDU
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size_t streamSize() const override;
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void iStream(PDU::Stream) override;
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void oStream(PDU::Stream) const override;
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};
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} // namespace Point
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/**
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* @brief The OTP::Transform::pdu class
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*/
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class pdu
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: public OTP::PDU::pdu
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{
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public:
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void iStream(PDU::Stream) override;
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};
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/**
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* @brief The transform_data struct
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*/
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struct transform_data
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: OTP::PDU::pdu_data
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{
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uint8_t system; //!< system number
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Timestamp timestamp; //!< timestamp
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union {
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uint8_t options;
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struct {
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uint8_t f_reserved : 7;
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bool full_set : 1;
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};
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};
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uint32_t reserved; //!< reserved
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PDU::Block<Point::pdu> points; //!< block of Point PDU
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size_t streamSize() const override;
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void iStream(PDU::Stream) override;
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void oStream(PDU::Stream) const override;
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};
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ACN::PDU::pdu_stream& operator>>(ACN::PDU::pdu_stream&, OTP::Transform::Timestamp&);
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ACN::PDU::pdu_stream& operator<<(ACN::PDU::pdu_stream&, const OTP::Transform::Timestamp&);
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} // namespace OTP::Transform
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