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M1Interface.cpp
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M1Interface.cpp
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//
// m1-orientationmanager
// Copyright © 2022 Mach1. All rights reserved.
//
#include "M1Interface.h"
M1Interface::M1Interface()
{
}
M1Interface::~M1Interface()
{
}
float* M1Interface::updateOrientation(std::string queueString, std::vector<unsigned char> queueBuffer) {
anythingNewDetected = false;
decoded = decode3PieceString(queueString, 'Y', 'P', 'R', 4);
if (decoded.gotY || decoded.gotP || decoded.gotR) {
anythingNewDetected = true;
// cleanup
queueBuffer.clear();
queueString.clear();
float newOrientation[3];
newOrientation[0] = decoded.y;
newOrientation[1] = decoded.p;
newOrientation[2] = decoded.r;
return newOrientation;
}
}
void M1Interface::setDeviceTrailingPoints(int trailingpoints){
trailingPoints = trailingpoints;
}
M1Interface::CalcResult M1Interface::DecodeIMUData(unsigned char chrTemp[])
{
switch(chrTemp[1])
{
case 0x53:
Angle[0] = ((short) (chrTemp[3]<<8|chrTemp[2]))/32768.0*180;
Angle[1] = ((short) (chrTemp[5]<<8|chrTemp[4]))/32768.0*180;
Angle[2] = ((short)(chrTemp[7]<<8|chrTemp[6]))/32768.0*180;
T = ((short)(chrTemp[9]<<8|chrTemp[8]))/340.0+36.25;
printf("Angle = %4.2f\t%4.2f\t%4.2f\tT=%4.2f\r\n",Angle[0],Angle[1],Angle[2],T);
M1Interface::CalcResult success;
success.y = (float)Angle[2];
success.gotY = true;
success.p = (float)Angle[1] + 90;
success.gotP = true;
success.r = 0;
success.gotR = true;
return success;
}
M1Interface::CalcResult fail;
return fail;
}
M1Interface::CalcResult M1Interface::decode3PieceString(std::string stringToDecode, char symbolY, char symbolP, char symbolR, int numberOfDecimalPlaces) {
int cursor = 0;
struct utility {
static bool decodeNumberAtPoint(std::string str, int startIndex, int minDigitsAfterDot, std::string & decodedNumber) {
int cursor = startIndex + 1;
std::string numberString = "";
bool stringFinished = false;
int afterDotCounter = -99999;
while ((cursor < str.length()) && (!stringFinished)) {
if ((std::isdigit(str[cursor])) || (str[cursor] == '.') || (str[cursor] == '-'))
numberString += str[cursor];
else stringFinished = true;
if (str[cursor] == '.')
afterDotCounter = 0;
else {
if (std::isdigit(str[cursor]))
afterDotCounter++;
}
cursor++;
}
decodedNumber = numberString;
if (afterDotCounter >= minDigitsAfterDot) {
return true;
} else return false;
}
};
M1Interface::CalcResult success;
while (cursor < stringToDecode.size()) {
const char currentChar = stringToDecode.at(cursor);
std::string decodedNumber = "";
if (currentChar == symbolY) {
if (!utility::decodeNumberAtPoint(stringToDecode, cursor, numberOfDecimalPlaces, decodedNumber)) {
} else { // succeeded getting the number and there is enough decimals
success.gotY = true;
success.y = std::stof(decodedNumber);
}
}
if (currentChar == symbolP) {
if (!utility::decodeNumberAtPoint(stringToDecode, cursor, numberOfDecimalPlaces, decodedNumber)) {
} else { // succeeded getting the number and there is enough decimals
success.gotP = true;
success.p = std::stof(decodedNumber);
}
}
if (currentChar == symbolR) {
if (!utility::decodeNumberAtPoint(stringToDecode, cursor, numberOfDecimalPlaces, decodedNumber)) {
} else { // succeeded getting the number and there is enough decimals
success.gotR = true;
success.r = std::stof(decodedNumber);
}
}
cursor++;
}
return success;
}
bool M1Interface::getNewDataFromQueue(std::string queueString, float & Y, float & P, float & R) {
auto decoded = decode3PieceString(queueString, 'Y', 'P', 'R', trailingPoints);
bool anythingNewDetected = false;
if (decoded.gotY) {
Y = decoded.y;
anythingNewDetected = true;
}
if (decoded.gotP) {
P = decoded.p;
anythingNewDetected = true;
}
if (decoded.gotR) {
R = decoded.r;
anythingNewDetected = true;
}
return anythingNewDetected;
}