include/KDIS/PDU/Live_Entity/TSPI_PDU.hpp

   1 /*********************************************************************
   2 Copyright 2013 Karl Jones
   3 All rights reserved.
   4
   5 Redistribution and use in source and binary forms, with or without
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  25 For Further Information Please Contact me at
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  27 http://p.sf.net/kdis/UserGuide
  28 *********************************************************************/
  29
  30 /********************************************************************
  31     class:      TSPI_PDU
  32     DIS:        (6) 1278.1a - 1998
  33     created:    30/06/2010
  34     author:     Karl Jones
  35
  36     purpose:    Time Space Position Information(TSPI).
  37                 The TSPI PDU shall communicate information about a LE's state
  38 vector. This PDU includes state information that is necessary for the receiving
  39                 simulation applications to represent the issuing LE's location
  40 and movement in its own simulation.
  41
  42     size:       200 bits / 25 octets - Min size
  43 *********************************************************************/
  44
  45 #pragma once
  46
  47 #include "KDIS/DataTypes/LE_DeadReckoningParameter.hpp"
  48 #include "KDIS/DataTypes/LE_EulerAngles.hpp"
  49 #include "KDIS/DataTypes/LE_Vector.hpp"
  50 #include "KDIS/DataTypes/OrientationError.hpp"
  51 #include "KDIS/DataTypes/PositionError.hpp"
  52 #include "KDIS/DataTypes/RelativeWorldCoordinates.hpp"
  53 #include "KDIS/PDU/Live_Entity/LE_Header.hpp"
  54
  55 namespace KDIS {
  56 namespace PDU {
  57
  58 class KDIS_EXPORT TSPI_PDU : public LE_Header {
  59  protected:
  60   union {
  61     struct {
  62       KUINT8 m_ui8LinVel : 1;
  63       KUINT8 m_ui8Ori : 1;
  64       KUINT8 m_ui8PosErr : 1;
  65       KUINT8 m_ui8OriErr : 1;
  66       KUINT8 m_ui8DRM : 1;
  67       KUINT8 m_ui8Spd : 1;
  68       KUINT8 m_ui8Data : 1;
  69       KUINT8 m_ui8Reserved : 1;
  70     };
  71     KUINT8 m_ui8Flag;
  72   } m_TSPIFlagUnion;
  73
  74   KDIS::DATA_TYPE::RelativeWorldCoordinates m_Loc;
  75
  76   KDIS::DATA_TYPE::LE_Vector16_3 m_LinVel;
  77
  78   KDIS::DATA_TYPE::LE_EulerAngles m_Ori;
  79
  80   KDIS::DATA_TYPE::PositionError m_PosErr;
  81
  82   KDIS::DATA_TYPE::OrientationError m_OriErr;
  83
  84   KDIS::DATA_TYPE::LE_DeadReckoningParameter m_DeadReckoningParameter;
  85
  86   KDIS::DATA_TYPE::KFIXED16_3 m_MeasureSpd;
  87
  88   KUINT8 m_ui8SSDLen;
  89
  90   std::vector<KOCTET> m_vSSD;
  91
  92  public:
  93   static const KUINT16 TSPI_PDU_SIZE =
  94       25;  // Min size, not including optional fields
  95
  96   TSPI_PDU();
  97
  98   TSPI_PDU(KDataStream& stream);
  99
 100   TSPI_PDU(const Header& H, KDataStream& stream);
 101
 102   TSPI_PDU(const KDIS::DATA_TYPE::LE_EntityIdentifier& ID);
 103
 104   virtual ~TSPI_PDU();
 105
 106   //************************************
 107   // FullName:    KDIS::PDU::TSPI_PDU::SetEntityLinearVelocityFlag
 108   //              KDIS::PDU::TSPI_PDU::GetEntityLinearVelocityFlag
 109   //              KDIS::PDU::TSPI_PDU::SetEntityOrientationFlag
 110   //              KDIS::PDU::TSPI_PDU::GetEntityOrientationFlag
 111   //              KDIS::PDU::TSPI_PDU::SetPositionErrorFlag
 112   //              KDIS::PDU::TSPI_PDU::GetPositionErrorFlag
 113   //              KDIS::PDU::TSPI_PDU::SetOrientationErrorFlag
 114   //              KDIS::PDU::TSPI_PDU::GetOrientationErrorFlag
 115   //              KDIS::PDU::TSPI_PDU::SetDeadReckoningParameterFlag
 116   //              KDIS::PDU::TSPI_PDU::GetDeadReckoningParameterFlag
 117   //              KDIS::PDU::TSPI_PDU::SetMeasuredSpeedFlag
 118   //              KDIS::PDU::TSPI_PDU::GetMeasuredSpeedFlag
 119   //              KDIS::PDU::TSPI_PDU::SetSystemSpecificDataFlag
 120   //              KDIS::PDU::TSPI_PDU::GetSystemSpecificDataFlag
 121   // Description: These flags are used to indicate which optional fields are
 122   //              included in the PDU. When setting one of the optional fields
 123   //              the flag will also be set to true automatically.
 124   // Parameter:   KBOOL F
 125   //************************************
 126   void SetEntityLinearVelocityFlag(KBOOL F);
 127   KBOOL GetEntityLinearVelocityFlag() const;
 128   void SetEntityOrientationFlag(KBOOL F);
 129   KBOOL GetEntityOrientationFlag() const;
 130   void SetPositionErrorFlag(KBOOL F);
 131   KBOOL GetPositionErrorFlag() const;
 132   void SetOrientationErrorFlag(KBOOL F);
 133   KBOOL GetOrientationErrorFlag() const;
 134   void SetDeadReckoningParameterFlag(KBOOL F);
 135   KBOOL GetDeadReckoningParameterFlag() const;
 136   void SetMeasuredSpeedFlag(KBOOL F);
 137   KBOOL GetMeasuredSpeedFlag() const;
 138   void SetSystemSpecificDataFlag(KBOOL F);
 139   KBOOL GetSystemSpecificDataFlag() const;
 140
 141   //************************************
 142   // FullName:    KDIS::PDU::TSPI_PDU::SetEntityLocation
 143   //              KDIS::PDU::TSPI_PDU::GetEntityLocation
 144   // Description: The entity's physical location in the real world.
 145   //              Each delta distance component shall represent distance in
 146   //              decimeters.
 147   // Parameter:   const RelativeWorldCoordinates & L
 148   //************************************
 149   void SetEntityLocation(const KDIS::DATA_TYPE::RelativeWorldCoordinates& L);
 150   const KDIS::DATA_TYPE::RelativeWorldCoordinates& GetEntityLocation() const;
 151   KDIS::DATA_TYPE::RelativeWorldCoordinates& GetEntityLocation();
 152
 153   //************************************
 154   // FullName:    KDIS::PDU::TSPI_PDU::SetEntityLinearVelocity
 155   //              KDIS::PDU::TSPI_PDU::GetEntityLinearVelocity
 156   // Description: Optional field. Specifies an entity's linear velocity.
 157   //              The coordinate system for an entity's linear velocity depends
 158   //              on the dead reckoning algorithm used. Each vector component
 159   //              shall represent velocity in decimeters per second. Note:
 160   //              Setting this value will also cause the relevant flag to be set
 161   //              to true.
 162   // Parameter:   const LE_Vector16_3 & V
 163   //************************************
 164   void SetEntityLinearVelocity(const KDIS::DATA_TYPE::LE_Vector16_3& V);
 165   const KDIS::DATA_TYPE::LE_Vector16_3& GetEntityLinearVelocity() const;
 166   KDIS::DATA_TYPE::LE_Vector16_3& GetEntityLinearVelocity();
 167
 168   //************************************
 169   // FullName:    KDIS::PDU::TSPI_PDU::SetEntityLinearOrientation
 170   //              KDIS::PDU::TSPI_PDU::GetEntityLinearOrientation
 171   // Description: Optional field. The entity's orientation.
 172   //              Note: Setting this value will also cause the relevant flag to
 173   //              be set to true.
 174   // Parameter:   const LE_EulerAngles & O
 175   //************************************
 176   void SetEntityLinearOrientation(const KDIS::DATA_TYPE::LE_EulerAngles& O);
 177   const KDIS::DATA_TYPE::LE_EulerAngles& GetEntityLinearOrientation() const;
 178   KDIS::DATA_TYPE::LE_EulerAngles& GetEntityLinearOrientation();
 179
 180   //************************************
 181   // FullName:    KDIS::PDU::TSPI_PDU::SetPositionError
 182   //              KDIS::PDU::TSPI_PDU::GetPositionError
 183   // Description: Optional field. Specifies the potential horizontal and
 184   // vertical
 185   //              position error of the reporting entity.
 186   //              Note: Setting this value will also cause the relevant flag to
 187   //              be set to true.
 188   // Parameter:   const PositionError & PE
 189   //************************************
 190   void SetPositionError(const KDIS::DATA_TYPE::PositionError& PE);
 191   const KDIS::DATA_TYPE::PositionError& GetPositionError() const;
 192   KDIS::DATA_TYPE::PositionError& GetPositionError();
 193
 194   //************************************
 195   // FullName:    KDIS::PDU::TSPI_PDU::SetOrientationError
 196   //              KDIS::PDU::TSPI_PDU::GetOrientationError
 197   // Description: Optional field. Specifies the potential orientation error of
 198   // the reporting entity.
 199   //              Note: Setting this value will also cause the relevant flag to
 200   //              be set to true.
 201   // Parameter:   const OrientationError & OE
 202   //************************************
 203   void SetOrientationError(const KDIS::DATA_TYPE::OrientationError& OE);
 204   const KDIS::DATA_TYPE::OrientationError& GetOrientationError() const;
 205   KDIS::DATA_TYPE::OrientationError& GetOrientationError();
 206
 207   //************************************
 208   // FullName:    KDIS::PDU::TSPI_PDU::SetDeadReckoningParameter
 209   //              KDIS::PDU::TSPI_PDU::GetDeadReckoningParameter
 210   // Description: Optional field. Dead reckoning algorithm in use, entity linear
 211   // acceleration (optional based
 212   //              on dead reckoning algorithm in use), and entity angular
 213   //              velocity (optional based on dead reckoning algorithm in use)
 214   //              shall be included as part of the dead reckoning parameters. If
 215   //              the Dead Reckoning Parameters field is not included in the
 216   //              PDU, the recipient shall assume the use of a linear dead
 217   //              reckoning algorithm [DRM (FPW)] and shall assume all angular
 218   //              velocity and linear acceleration parameters to be zero. Note:
 219   //              Setting this value will also cause the relevant flag to be set
 220   //              to true.
 221   // Parameter:   const DeadReckoningParameter & DRP
 222   //************************************
 223   void SetDeadReckoningParameter(
 224       const KDIS::DATA_TYPE::LE_DeadReckoningParameter& DRP);
 225   const KDIS::DATA_TYPE::LE_DeadReckoningParameter& GetDeadReckoningParameter()
 226       const;
 227   KDIS::DATA_TYPE::LE_DeadReckoningParameter& GetDeadReckoningParameter();
 228
 229   //************************************
 230   // FullName:    KDIS::PDU::TSPI_PDU::SetMeasuredSpeed
 231   //              KDIS::PDU::TSPI_PDU::GetMeasuredSpeed
 232   // Description: Optional field. Specifies the entity's own measurement of
 233   // speed (e.g., air speed for aircraft).
 234   //              Speed in deci-meters per second.
 235   //              Note: The position of the binary point is not defined in the
 236   //              standard for this parameter so I have assumed it is 3. Note:
 237   //              Setting this value will also cause the relevant flag to be set
 238   //              to true.
 239   // Parameter:   KFIXED16_3 S
 240   //************************************
 241   void SetMeasuredSpeed(KDIS::DATA_TYPE::KFIXED16_3 S);
 242   KDIS::DATA_TYPE::KFIXED16_3 GetMeasuredSpeed() const;
 243
 244   //************************************
 245   // FullName:    KDIS::PDU::TSPI_PDU::GetSystemSpecificDataLength
 246   // Description: The number of octets of system-specific data stored in this
 247   // PDU.
 248   //************************************
 249   KUINT8 GetSystemSpecificDataLength() const;
 250
 251   //************************************
 252   // FullName:    KDIS::PDU::TSPI_PDU::SetSystemSpecificData
 253   //              KDIS::PDU::TSPI_PDU::SetSystemSpecificData
 254   //              KDIS::PDU::TSPI_PDU::ClearSystemSpecificData
 255   // Description: Optional. User-defined data.
 256   //              The contents of this field are arbitrary and outside the
 257   //              bounds of the DIS specification with the exception that no
 258   //              data shall be transmitted in this field that duplicates or can
 259   //              be derived from the data transmitted in this or other LE
 260   //              Information/Interaction PDU. Note: Setting this value will
 261   //              also cause the relevant flag to be set to true.
 262   // Parameter:   const vector<KOCTET> & SSD, const KOCTET * Data
 263   // Parameter:   KUINT8 Length
 264   //************************************
 265   void SetSystemSpecificData(const std::vector<KOCTET>& SSD);
 266   void SetSystemSpecificData(const KOCTET* Data, KUINT8 Length);
 267   const std::vector<KOCTET>& GetSystemSpecificData() const;
 268   void ClearSystemSpecificData();
 269
 270   //************************************
 271   // FullName:    KDIS::PDU::TSPI_PDU::GetAsString
 272   // Description: Returns a string representation of the PDU
 273   //************************************
 274   virtual KString GetAsString() const;
 275
 276   //************************************
 277   // FullName:    KDIS::PDU::TSPI_PDU::Decode
 278   // Description: Convert From Network Data.
 279   // Parameter:   KDataStream & stream
 280   // Parameter:   bool ignoreHeader = false - Decode the header from the stream?
 281   //************************************
 282   virtual void Decode(KDataStream& stream, bool ignoreHeader = false);
 283
 284   //************************************
 285   // FullName:    KDIS::PDU::TSPI_PDU::Encode
 286   // Description: Convert To Network Data.
 287   // Parameter:   KDataStream & stream
 288   //************************************
 289   virtual KDataStream Encode() const;
 290   virtual void Encode(KDataStream& stream) const;
 291
 292   KBOOL operator==(const TSPI_PDU& Value) const;
 293   KBOOL operator!=(const TSPI_PDU& Value) const;
 294 };
 295
 296 }  // END namespace PDU
 297 }  // END namespace KDIS