marvelmind.h

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#pragma once
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>
#include <pthread.h>
 
#define DATA_INPUT_SEMAPHORE "/mm_data_input_semaphore"
 
struct PositionValue {
  uint8_t address;
  uint32_t timestamp;
  int32_t x, y, z; // coordinates in millimeters
 
  double angle;
 
  bool highResolution;
 
  bool ready;
  bool processed;
};
 
struct RawIMUValue {
  int16_t acc_x;
  int16_t acc_y;
  int16_t acc_z;
 
  int16_t gyro_x;
  int16_t gyro_y;
  int16_t gyro_z;
 
  int16_t compass_x;
  int16_t compass_y;
  int16_t compass_z;
 
  uint32_t timestamp;
 
  bool updated;
};
 
struct FusionIMUValue {
  int32_t x;
  int32_t y;
  int32_t z; // coordinates in mm
 
  int16_t qw;
  int16_t qx;
  int16_t qy;
  int16_t qz; // quaternion, normalized to 10000
 
  int16_t vx;
  int16_t vy;
  int16_t vz; // velocity, mm/s
 
  int16_t ax;
  int16_t ay;
  int16_t az; // acceleration, mm/s^2
 
  uint32_t timestamp;
 
  bool updated;
};
 
struct RawDistanceItem {
  uint8_t address_beacon;
  uint32_t distance; // distance, mm
};
struct RawDistances {
  uint8_t address_hedge;
  struct RawDistanceItem distances[4];
 
  bool updated;
};
 
struct StationaryBeaconPosition {
  uint8_t address;
  int32_t x, y, z; // coordinates in millimeters
 
  bool highResolution;
};
#define MAX_STATIONARY_BEACONS 30
struct StationaryBeaconsPositions {
  uint8_t numBeacons;
  struct StationaryBeaconPosition beacons[MAX_STATIONARY_BEACONS];
 
  bool updated;
};
 
#define MAX_BUFFERED_POSITIONS 3
struct MarvelmindHedge {
  // serial port device name (physical or USB/virtual). It should be provided as
  // an argument:
  // /dev/ttyACM0 - typical for Linux / Raspberry Pi
  // /dev/tty.usbmodem1451 - typical for Mac OS X
  const char* ttyFileName;
 
  // Baud rate. Should be match to baudrate of hedgehog-beacon
  // default: 9600
  uint32_t baudRate;
 
  // buffer of measurements
  struct PositionValue* positionBuffer;
 
  struct StationaryBeaconsPositions positionsBeacons;
 
  struct RawIMUValue rawIMU;
  struct FusionIMUValue fusionIMU;
 
  struct RawDistances rawDistances;
 
  // verbose flag which activate console output
  //        default: False
  bool verbose;
 
  //    pause flag. If True, class would not read serial data
  bool pause;
 
  //  If True, thread would exit from main loop and stop
  bool terminationRequired;
 
  //  receiveDataCallback is callback function to recieve data
  void (*receiveDataCallback)(struct PositionValue position);
  void (*anyInputPacketCallback)();
 
  // private variables
  uint8_t lastValuesCount_;
  uint8_t lastValues_next;
  bool haveNewValues_;
#ifdef WIN32
  HANDLE thread_;
  CRITICAL_SECTION lock_;
#else
  pthread_t thread_;
  pthread_mutex_t lock_;
#endif
};
 
#define POSITION_DATAGRAM_ID                  0x0001
#define BEACONS_POSITIONS_DATAGRAM_ID         0x0002
#define POSITION_DATAGRAM_HIGHRES_ID          0x0011
#define BEACONS_POSITIONS_DATAGRAM_HIGHRES_ID 0x0012
#define IMU_RAW_DATAGRAM_ID                   0x0003
#define BEACON_RAW_DISTANCE_DATAGRAM_ID       0x0004
#define IMU_FUSION_DATAGRAM_ID                0x0005
 
struct MarvelmindHedge* createMarvelmindHedge();
void destroyMarvelmindHedge(struct MarvelmindHedge* hedge);
void startMarvelmindHedge(struct MarvelmindHedge* hedge);
 
void printPositionFromMarvelmindHedge(struct MarvelmindHedge* hedge,
                                      bool onlyNew);
bool getPositionFromMarvelmindHedge(struct MarvelmindHedge* hedge,
                                    struct PositionValue* position);
 
bool getStationaryBeaconsPositionsFromMarvelmindHedge(struct MarvelmindHedge* hedge,
                                                      struct StationaryBeaconsPositions* positions);
void printStationaryBeaconsPositionsFromMarvelmindHedge(struct MarvelmindHedge* hedge,
                                                        bool onlyNew);
 
bool getRawDistancesFromMarvelmindHedge(struct MarvelmindHedge* hedge,
                                        struct RawDistances* rawDistances);
void printRawDistancesFromMarvelmindHedge(struct MarvelmindHedge* hedge,
                                          bool onlyNew);
 
bool getRawIMUFromMarvelmindHedge(struct MarvelmindHedge* hedge,
                                  struct RawIMUValue* rawIMU);
void printRawIMUFromMarvelmindHedge(struct MarvelmindHedge* hedge,
                                    bool onlyNew);
 
bool getFusionIMUFromMarvelmindHedge(struct MarvelmindHedge* hedge,
                                     struct FusionIMUValue* fusionIMU);
void printFusionIMUFromMarvelmindHedge(struct MarvelmindHedge* hedge,
                                       bool onlyNew);
 
void stopMarvelmindHedge(struct MarvelmindHedge* hedge);
 
#ifdef WIN32
#define DEFAULT_TTY_FILENAME "\\\\.\\COM3"
#else
#define DEFAULT_TTY_FILENAME "/dev/ttyACM0"
#endif // WIN32