Version 1.1 #21
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Version 1.1 #21
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* Add AHRS IO Proc files into newer pull from dev * Fix names and built with python script * Fix pull request comments * Make edits for the pull request There is a problem that may be cause by these changes, that being not closing the handle, since the loop will run forever, I would have to close the loop on some sort of exit condition. I am not sure if the handle closes if the process is killed, if so, then I guess it should be fine. * Untabify AHRSInputIOProcessor.cpp * Hmmm * Revert "Hmmm" This reverts commit 5a9cb08. * Add functionality to get roll and pitch angles This reverts commit e2ea108. * Change order of #includes fixed build errors... I have no idea why exactly but the build errors only got fixed when I changed the order of the includes in AHRSInputIOProcessor.hpp. * Add Comments Explaining Byte Capture I added some comments explaining how I am capturing the bytes of the Euler Angles from the message in the buffer. Quick version here, I first capute a 2 times the size of the message into a buffer, I then search for the begining of the message, when I find it, I then jump to the index where the Angles are stored. I then add each group of 8 bytes for each angle backwords into arrays to then be converted. I add them in backwords since the AHRS is big endian and the computer we are converting them to doubles on is little endian. After each angle's 8 bytes are storred in an array, I then cast them into doubles, where they can then be sent. Hopefully that makes sense, feel free to ask me any questions about it. * Fix confusing math I fixed the math for getting the bytes for the Angles to make a bit easier to understand. I also clarfied my comments a bit to try and make them clearer with the explanation. * Fix Comments More I further clarified my comments and also renamed index to dataStart to make it more clear what it was. * Rename Attribute Keys * Fix type in comments Changed "index" to "dataStart" in diagram to make it more clear. * Add more specifics to Config message comments * Change arround data byte capture math Changed the for loop to loop backwords itself so that the equations for actually getting the bytes only use +'s. They are still basically the same equations, but hopefully they are a little more intuitive...
final tactor output processor code
* Add AHRS IO Proc files into newer pull from dev * Fix names and built with python script * Fix pull request comments * Make edits for the pull request There is a problem that may be cause by these changes, that being not closing the handle, since the loop will run forever, I would have to close the loop on some sort of exit condition. I am not sure if the handle closes if the process is killed, if so, then I guess it should be fine. * Untabify AHRSInputIOProcessor.cpp * Hmmm * Revert "Hmmm" This reverts commit 5a9cb08. * Add functionality to get roll and pitch angles This reverts commit e2ea108. * Change order of #includes fixed build errors... I have no idea why exactly but the build errors only got fixed when I changed the order of the includes in AHRSInputIOProcessor.hpp. * Add Comments Explaining Byte Capture I added some comments explaining how I am capturing the bytes of the Euler Angles from the message in the buffer. Quick version here, I first capute a 2 times the size of the message into a buffer, I then search for the begining of the message, when I find it, I then jump to the index where the Angles are stored. I then add each group of 8 bytes for each angle backwords into arrays to then be converted. I add them in backwords since the AHRS is big endian and the computer we are converting them to doubles on is little endian. After each angle's 8 bytes are storred in an array, I then cast them into doubles, where they can then be sent. Hopefully that makes sense, feel free to ask me any questions about it. * Fix confusing math I fixed the math for getting the bytes for the Angles to make a bit easier to understand. I also clarfied my comments a bit to try and make them clearer with the explanation. * Fix Comments More I further clarified my comments and also renamed index to dataStart to make it more clear what it was. * Rename Attribute Keys * Fix type in comments Changed "index" to "dataStart" in diagram to make it more clear. * Add more specifics to Config message comments * Change arround data byte capture math Changed the for loop to loop backwords itself so that the equations for actually getting the bytes only use +'s. They are still basically the same equations, but hopefully they are a little more intuitive... * Revert "Add more specifics to Config message comments" This reverts commit 13c66ec. * Revert "Change arround data byte capture math" This reverts commit 9988615. * Revert "Revert "Add more specifics to Config message comments"" This reverts commit f50c2f1. * Revert "Revert "Change arround data byte capture math"" This reverts commit 596b9af. * Revert "Revert "Revert "Change arround data byte capture math""" This reverts commit 361589d. * Revert changes with arithmetic When I changed the arithmetic around it messed up the indexing of the byte arrays. The reason i went up(forward) was so that I could put it in the array, not to do some funky math. If we don't revert these changes the byte order will simply be wrong.
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Adding tactor output processor
Adding AHRS IMU input processor