1 | /*********************************************************************
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2 | // created: 20011/07/06 - 16:51
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3 | // filename: DbtPlyCPTComponent.h
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4 | //
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5 | // author: Sergio Rodriguez
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6 | // Copyright Heudiasyc UMR UTC/CNRS 6599
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7 | //
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8 | // version: $Id: $
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9 | //
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10 | // purpose:
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11 | *********************************************************************/
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12 |
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13 | #ifndef DBTPLYCPTCOMPONENT_H
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14 | #define DBTPLYCPTCOMPONENT_H
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15 |
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16 | #include "DbitePlayer/DbtPlyFileManager.h"
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17 | #include "../NMEA0183/include/nmea0183.h"
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18 |
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19 | //#include <boost/scoped_ptr.hpp>
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20 | //#include <QScopedPointer>
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21 |
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22 | // Export macro for CPT DLL for Windows only
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23 | #ifdef WIN32
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24 | # ifdef CPT_EXPORTS
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25 | // make DLL
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26 | # define CPT_API __declspec(dllexport)
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27 | # else
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28 | // use DLL
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29 | # define CPT_API __declspec(dllimport)
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30 | # endif
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31 | #else
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32 | // On other platforms, simply ignore this
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33 | # define CPT_API
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34 | #endif
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35 |
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36 | #define UNKNOWN_NMEA_FRAME -1
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37 |
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38 | struct CPT_API Stream8Position
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39 | {
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40 | int32_t dataPos;
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41 | int32_t length;
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42 | };
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43 |
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44 |
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45 | #include "../Gps/structure_gps.h"
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46 | //#include "structure/genericStructures.h"
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47 | #include "Pacpus/kernel/road_time.h"
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48 | #include <QVector3D>
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49 | #include <QMatrix4x4>
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50 | namespace pacpus {
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51 | class PacpusTimeStampedData {
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52 | public:
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53 | road_time_t time;
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54 | road_timerange_t timerange;
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55 | unsigned int sequenceNumber;
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56 | };
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57 | class Pose3D : public PacpusTimeStampedData {
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58 | public:
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59 | QVector3D position;
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60 | QVector3D angle;
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61 | //QMatrix3x3 poscov;
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62 | //QMatrix3x3 angconv;
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63 | QMatrix4x4 transform;
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64 | };
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65 | }
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66 | //#include "../PoseViewer/PoseViewer.h"
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67 |
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68 | namespace pacpus {
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69 |
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70 | //class PoseViewer;
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71 | class ShMem;
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72 |
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73 | //struct Pose;
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74 |
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75 | class CPT_API DbtPlyCPTComponent
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76 | : public DbtPlyFileManager
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77 | {
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78 | Q_OBJECT
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79 |
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80 | public:
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81 | DbtPlyCPTComponent(QString name);
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82 | ~DbtPlyCPTComponent();
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83 |
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84 | protected:
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85 | void processData(road_time_t t, road_timerange_t tr , void * buf);
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86 | void displayUI();
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87 |
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88 | ComponentBase::COMPONENT_CONFIGURATION configureComponent(XmlComponentConfig config);
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89 | void startActivity();
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90 | void stopActivity();
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91 |
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92 | virtual void addInputs();
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93 | virtual void addOutputs();
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94 |
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95 | //Q_SIGNALS:
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96 | //void newPoseAvailable(Pose pose);
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97 |
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98 | private:
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99 | //boost::scoped_ptr<PoseViewer> mPoseViewer;
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100 | //QScopedPointer<PoseViewer> mPoseViewer;
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101 |
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102 | //ShMems
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103 | ShMem * mShMem;
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104 | //ShMem data variables
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105 | char * allFramesBuffer;
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106 |
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107 | QString mDataFilename;
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108 |
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109 | //NMEA to do
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110 | NMEA0183 nmea0183_;
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111 |
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112 | trame_gga_dbl ggaFrame_;
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113 | trame_gsa gsaFrame_;
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114 | trame_gst gstFrame_;
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115 | trame_gsv gsvFrame_;
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116 | trame_hdt hdtFrame_;
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117 | trame_rmc rmcFrame_;
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118 | trame_rot rotFrame_;
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119 | trame_vtg vtgFrame_;
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120 | trame_zda zdaFrame_;
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121 |
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122 | //SPAN done
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123 | TimestampedBestgpsposaFrame bestgpsposaFrame_;
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124 | TimestampedInspvaaFrame inspvaFrame_;
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125 | TimestampedInscovFrame inscovFrame_;
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126 | TimestampedRawimusaFrame rawimuFrame_;
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127 |
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128 | Pose3D genericEnuPose_;
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129 | };
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130 |
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131 | } // namespace pacpus
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132 |
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133 | #endif // DBTPLYCPTCOMPONENT_H
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