/** * @file * @brief * @details * @author Junlong Cheng. Email: chengjunlong@whu.edu.cn * @date 2021/10/19 * @version 1.0 * @par Copyright(c) 2012-2021 School of Geodesy and Geomatics, University of Wuhan. All Rights Reserved. * @par History: * 2021/10/19,Junlong Cheng, new \n */ #ifndef __X_DEFINE_INTERNAL_H__ #define __X_DEFINE_INTERNAL_H__ #define GLOBAL_ROS_NAMESPACE "planet_smartpnt" #define DEVICE_TYPE_NONE 0x00 #define DEVICE_TYPE_MCS_TCP 0x01 #define DEVICE_TYPE_MCS_UDP 0x02 #define DEVICE_TYPE_CAM_UDP 0x03 #define DEVICE_TYPE_IMU_UDP 0x04 #define DEVICE_TYPE_CAM 0x05 #define DEVICE_TYPE_IMU 0x06 #define DEVICE_TYPE_LID 0x07 #define DEVICE_TYPE_ODO 0x08 #define DEVICE_TYPE_GPS 0x09 #define DEVICE_TYPE_ALL 0xFF #define DEVICE_STATUS_ROS_TOPIC "/device_status_ros_msg" #define DEVICE_STATUS_UNKNOWN 0 // not open or timeout #define DEVICE_STATUS_START 1 // has already started #define DEVICE_STATUS_ACTIVE 2 // active #define DEVICE_STATUS_TIMEOUT 3 // timeout #define DEVICE_STATUS_STOP 4 // timeout #define DEVICE_COMMAND_ROS_TOPIC "/device_command_ros_msg" #define DEVICE_COMMAND_UNKNOWN 0 // unknown #define DEVICE_COMMAND_START 1 // start #define DEVICE_COMMAND_ACTIVE 2 // stop #define DEVICE_COMMAND_STATUS 3 // status #define MAX_CAM_COUNT 8 #define CAM_SYNC_ROS_TOPIC "/cam_sync_ros_msg" #define CAM_SYNC_MSG_QUE_PREFIX "cam_sync_msg_que" #define CAM_SYNC_MSG_QUE_FORMAT "%02d" #define MAX_IMU_COUNT 3 #define MAX_GPS_COUNT 4 #define MAX_LID_COUNT 1 #define DEVICE_START_REQUEST_SRV_NAME "device_start_req_ros_srv" #define DEVICE_STATUS_QUERY_SRV_NAME "device_status_query_srv" typedef struct CAM_SYNC_MSG { long seq; double systime; double gpstime; CAM_SYNC_MSG() { seq = 0; systime = 0.0; gpstime = 0.0; } } CAM_SYNC_MSG; typedef struct CAM_SYNC_MSG_QUE { long int msg_type; CAM_SYNC_MSG msg; CAM_SYNC_MSG_QUE() { msg_type = -1; } } CAM_SYNC_MSG_QUE; typedef struct DEVICE_STATUS_MSG { int type; // device type int id; // device id int status; // device status DEVICE_STATUS_MSG() { type = DEVICE_TYPE_NONE; id = -1; status = DEVICE_STATUS_UNKNOWN; } } DEVICE_STATUS_MSG; // Linux消息队列相关，发送和接收方必须使用同一个，定义在这儿 //i = 0, msgStrKey = cam_sync_msg_que_00, msgQueKey = 48071, msgQueId = 262148 //i = 1, msgStrKey = cam_sync_msg_que_01, msgQueKey = 44006, msgQueId = 294917 //i = 2, msgStrKey = cam_sync_msg_que_02, msgQueKey = 39813, msgQueId = 327686 //i = 3, msgStrKey = cam_sync_msg_que_03, msgQueKey = 35748, msgQueId = 360455 //i = 4, msgStrKey = cam_sync_msg_que_04, msgQueKey = 64323, msgQueId = 393224 //i = 5, msgStrKey = cam_sync_msg_que_05, msgQueKey = 60258, msgQueId = 425993 //i = 6, msgStrKey = cam_sync_msg_que_06, msgQueKey = 56065, msgQueId = 458762 //i = 7, msgStrKey = cam_sync_msg_que_07, msgQueKey = 52000, msgQueId = 491531 static int CAM_SYNC_MSG_QUE_KRY[MAX_CAM_COUNT+1] = { 48071, /* cam_sync_msg_que_00 */ 44006, /* cam_sync_msg_que_01 */ 39813, /* cam_sync_msg_que_02 */ 35748, /* cam_sync_msg_que_03 */ 64323, /* cam_sync_msg_que_04 */ 60258, /* cam_sync_msg_que_05 */ 56065, /* cam_sync_msg_que_06 */ 52000, /* cam_sync_msg_que_07 */ 00000 }; typedef struct { short int year; short int month; short int day; short int hour; short int minute; short int second; } time_type; typedef struct { double dVersionNumber; ///< Program version number (i.e. 8.20) double dDataRateHz; ///< i.e. 100.0 records/second. If you do not know it, set this to zero ///< and then fill it in from the interface dialog boxes double dGyrosScaleFactor; ///< Scale (multiply) the gyro measurements by this to get degrees/sec, ///< if bDeltaTheta=0. Scale the gyros by this to get degrees, if ///< bDeltaTheta =1. If you do not know it, then the data can not be ///< processed. Our default is to store the gyro data in 0.01 arcsec ///< increments or 0.01 arcsec/sec, so that GYRO_SCALE = 360000(Needed) double dAccelScaleFactor; ///< Scale (multiply) the accel measurements by this to get m/s2 ///< if bDeltaVelocity=0. Scale the accels by this to get m/s, if ///< bDeltaVelocity =1. If you do not know it, the data can not be ///< processed. Our default is to store the accel data in 1e-6 m/s ///< increments or 1e-6 m/s2, so that ACCEL_SCALE = 1000000(Needed) double dTimeTagBias; ///< default is 0.0, but if you have a known millisecond-level bias in ///< in your GPS..INS time tags, then enter it here int bDeltaTheta; ///< Default is 1, which indicates the data to follow will be delta ///< thetas, meaning angular increments (i.e. scale and divide by ///< by dDataRateHz to get degrees/second). If the flag is set to 0, then ///< the data will be read directly as scaled angular rates ///< Comment:0-angular rate,1-angular increment(Needed) int bDeltaVelocity; ///< Default is 1, which indicates the data to follow will be delta v's, ///< meaning velocity increments (i.e. scale and divide by ///< dDataRateHz to get m/s2). If the flag is set to 0, then the data will ///< be read directly as scaled accelerations ///< Comment:0-angular rate,1-angular increment(Needed) int iUtcOrGpsTime; ///< Defines the time-tags as being in UTC or GPS seconds of the week ///< 0 – Unknown (default is GPS), 1 – UTC, 2 – GPS int iRcvTimeOrCorrTime; ///< Defines whether the GPS time-tags are on the nominal top of the ///< second or are corrected for receiver time bias ///< 0 - do not know (default is corrected time) ///< 1 - receive time on the nominal top of the epoch ///< 2 - corrected time i.e. corr_time = rcv_time - rcvr_clock_bias long lXoffset; ///< X value of lever arm, in millimeters long lYoffset; ///< Y value of lever arm, in millimeters long lZoffset; ///< Z value of lever arm, in millimeters time_type tCreate; ///< Creation time; skip if writing directly to this format (12 bytes) char szImuName[32]; ///< Name or type of inertial unit that is being used bool bDirValid; ///< Set to true if the sensor definition that follows is valid ///< Skip if writing directly to this format unsigned char ucX; ///< Direction of X-axis; skip if writing directly to this format unsigned char ucY; ///< Direction of Y-axis; skip if writing directly to this format unsigned char ucZ; ///< Direction of Z-axis; skip if writing directly to this format char szProgramName[32]; ///< Name of calling program; skip if writing directly to this format bool bLeverArmValid; ///< Set to true if the sensor definition that follows is valid ///< Lever arm is from IMU to GPS phase centre char szHeader[8]; ///< $IMURAW[\0] - NULL terminated ASCII string char bIsIntelOrMotorola; ///< 0 – Intel (Little Endian) - default ///< 1 – Motorola (Big Endian) - swap bytes for IExplorer ///< This can be set for any user who directly writes in our ///< format with a Big Endian processor. IExplorer will swap the bytes char Reserved[354]; ///< Reserved for future use; bytes should be zeroed double dt; ///< 采样间隔,通过读取IMU数据体得到的 } INS_HEAR, IE83_MIr_header_type, IE84_MIr_header_type; typedef struct { double Time; ///< GPS time frame – seconds of the week int gx, gy, gz; ///< delta theta or angular rate depending on flag in the header int ax, ay, az; ///< delta v or acceleration depending on flag in the header } IE83_INS_type, IE84_INS_type; ///< this is the binary structure type expected in GPSIMU #endif // __X_DEFINE_INTERNAL_H__