EncoderOutput.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
store, distribute, publish, copy or otherwise disseminate, use or expose this
material unless having a written signed agreement with Algoryx Simulation AB, or having been
advised so by Algoryx Simulation AB for a time limited evaluation, or having purchased a
valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
#pragma once
#include <agxSensor/SensorOutput.h>
#include <agxSensor/SystemNode.h>
 
#include <agx/Referenced.h>
 
namespace agxSensor
{
  AGX_DECLARE_POINTER_TYPES( EncoderOutput );
 
  class AGXSENSOR_EXPORT EncoderOutput : public SystemNode, public ISensorOutput
  {
    public:
      enum Field : int32_t
      {
        POSITION_F64,
        SPEED_F64,
        NUM_FIELDS
      };
 
      using FieldVector = std::vector<Field>;
 
    public:
      static size_t sizeOf( Field field );
 
      static const char* getFieldName( Field field );
 
    public:
      EncoderOutput() = default;
 
      template<Field... field>
      void build();
 
      EncoderOutput& add( Field field );
 
      virtual size_t getElementSize() const override;
 
      virtual const BinaryOutputBuffer& getData() override;
 
      virtual bool hasUnreadData( bool markAsRead = true ) override;
 
      bool contains(Field field) const;
 
      size_t getOffset(Field field) const;
 
      const FieldVector& getFields() const;
 
      agx::Vec2 computeCovariance() const;
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      virtual ~EncoderOutput() = default;
 
      virtual void result( const CallbackData& data ) override;
      virtual void cleanup() override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agxSensor::EncoderOutput );
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      FieldVector m_fields{};
      size_t m_elementSize{ 0u };
      bool m_hasUnreadData{ false };
      BinaryOutputBuffer m_output{};
  };
 
  template<EncoderOutput::Field... field>
  void EncoderOutput::build()
  {
    m_fields.clear();
    m_elementSize = 0u;
    ( this->add( field ), ... );
  }
 
  DOXYGEN_START_INTERNAL_BLOCK()  // swig
 
#pragma pack(push, 1)
  struct PositionSpeedValue
  {
      agx::Real position, speed;
 
      inline PositionSpeedValue() {}
      inline PositionSpeedValue(const agx::Vec2& v)
        : position(v.x())
        , speed(v.y())
      {
      }
      inline PositionSpeedValue(const PositionSpeedValue&) = default;
      inline PositionSpeedValue& operator=(const PositionSpeedValue&) = default;
 
      inline agx::Vec2 asVec2() const { return agx::Vec2(position, speed); }
  };
#pragma pack(pop)
 
  class AGXSENSOR_EXPORT EncoderOutputPosition : public EncoderOutput
  {
    public:
      EncoderOutputPosition();
  };
 
  class AGXSENSOR_EXPORT EncoderOutputSpeed : public EncoderOutput
  {
    public:
      EncoderOutputSpeed();
  };
 
  class AGXSENSOR_EXPORT EncoderOutputPositionSpeed : public EncoderOutput
  {
    public:
      EncoderOutputPositionSpeed();
  };
 
  DOXYGEN_END_INTERNAL_BLOCK()
}