Write C input parser.

Sensor inputs can be read in from stdin if compiled without USE_ROS.
Now "callback" functions can be written.

1 files changed, 79 insertions, 0 deletions

diff --git a/src/main.h b/src/main.h
new file mode 100644
index 0000000..805e5a9
--- /dev/null
+++ b/src/main.h
@@ -0,0 +1,79 @@
+#ifndef  main_INC
+#define  main_INC
+
+//#define USE_ROS            /* Uncomment to use with ROS */
+
+#ifndef  USE_ROS
+#include <cstdio>
+#include <cstring>
+#endif     /* -----  USE_ROS  ----- */
+
+#include <iostream>
+#include <Eigen/Dense>
+
+#define MAXLINE 8192
+#define MAXFILENAME 1024
+
+// A struct for storing x,y,z data.
+typedef struct {
+    double x,y,z;
+} tuple;
+
+// A struct for storing velocity in world frame
+typedef struct {
+    double east, north, up;
+} velocity_t;
+
+// A struct for storing attitude data.
+typedef struct {
+    double roll,pitch,yaw;
+} attitude_t;
+
+// A struct for storing UTM data.
+typedef struct {
+    double northing,easting,up;
+    int zone_i;
+    char zone_c;
+} UTM;
+
+// A struct for storing GPS data.
+typedef struct {
+    double latitude, longitude, altitude;
+} gps;
+
+// Message types
+typedef enum {BESTUTM,IMG,INSCOVS,INSPVAS,RAWIMUS} message_type;
+
+/*
+ * The message struct is a general container for all message types. Not all
+ * members are used for all messages, so care must be taken not to use garbage
+ * values. 
+ */
+typedef struct {
+    int secs,nsecs;
+} timestamp;
+
+typedef struct {
+    // These should always be set.
+    timestamp stamp;
+    message_type msg_type;
+
+    // Only the members needed by the msg_type are stored.
+    tuple angular_velocity;
+    attitude_t attitude;
+    char image_names[2][MAXFILENAME];
+    tuple linear_acceleration;
+    gps position;
+    UTM utm;
+    velocity_t velocity;
+} message;
+
+int parseLine(char *line, message *msg);
+
+#ifdef  USE_ROS
+void imuCallback();
+#else      /* -----  not USE_ROS  ----- */
+void imuCallback(const message *msg);
+#endif     /* -----  not USE_ROS  ----- */
+
+#endif   /* ----- #ifndef main_INC  ----- */