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update FP_A-ODOMSTATUS #109

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Merged
flipflip8952 merged 1 commit into from
Jun 4, 2026
Merged

update FP_A-ODOMSTATUS #109

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2 changes: 1 addition & 1 deletion fixposition-sdk
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Submodule fixposition-sdk updated 4 files
+7 −5 fpsdk_common/include/fpsdk_common/parser/fpa.hpp
+2 −0 fpsdk_common/include/fpsdk_common/to_json/parser_fpa.hpp
+20 −19 fpsdk_common/src/parser/fpa.cpp
+38 −0 fpsdk_common/test/parser_fpa_test.cpp
14 changes: 7 additions & 7 deletions fixposition_driver_msgs/include/fixposition_driver_msgs/data_to_ros.hpp
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Expand Up @@ -269,13 +269,13 @@ template <typename RosMsgT>
inline int FpaCamStatusToMsg(const RosMsgT& msg, const fpsdk::common::parser::fpa::FpaCamStatus cam_status) {
// clang-format off
switch (cam_status) {
case fpsdk::common::parser::fpa::FpaCamStatus::UNSPECIFIED: return msg.consts.CAM_STATUS_UNSPECIFIED;
case fpsdk::common::parser::fpa::FpaCamStatus::CAM_UNAVL: return msg.consts.CAM_STATUS_CAM_UNAVL;
case fpsdk::common::parser::fpa::FpaCamStatus::BAD_FEAT: return msg.consts.CAM_STATUS_BAD_FEAT;
case fpsdk::common::parser::fpa::FpaCamStatus::RESERVED2: return msg.consts.CAM_STATUS_RESERVED2;
case fpsdk::common::parser::fpa::FpaCamStatus::RESERVED3: return msg.consts.CAM_STATUS_RESERVED3;
case fpsdk::common::parser::fpa::FpaCamStatus::RESERVED4: return msg.consts.CAM_STATUS_RESERVED4;
case fpsdk::common::parser::fpa::FpaCamStatus::GOOD: return msg.consts.CAM_STATUS_GOOD;
case fpsdk::common::parser::fpa::FpaCamStatus::UNSPECIFIED: return msg.consts.CAM_STATUS_UNSPECIFIED;
case fpsdk::common::parser::fpa::FpaCamStatus::CAM_UNAVL: return msg.consts.CAM_STATUS_CAM_UNAVL;
case fpsdk::common::parser::fpa::FpaCamStatus::BAD_FEAT: return msg.consts.CAM_STATUS_BAD_FEAT;
case fpsdk::common::parser::fpa::FpaCamStatus::NOT_CONVERGED: return msg.consts.CAM_STATUS_NOT_CONVERGED;
case fpsdk::common::parser::fpa::FpaCamStatus::WARMSTARTED: return msg.consts.CAM_STATUS_WARMSTARTED;
case fpsdk::common::parser::fpa::FpaCamStatus::RESERVED4: return msg.consts.CAM_STATUS_RESERVED4;
case fpsdk::common::parser::fpa::FpaCamStatus::GOOD: return msg.consts.CAM_STATUS_GOOD;
}
// clang-format on
return msg.consts.CAM_STATUS_UNSPECIFIED;
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4 changes: 2 additions & 2 deletions fixposition_driver_msgs/msg/FpaConsts.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -99,8 +99,8 @@ int8 CORR_STATUS_RESERVED9 = 9 # Reserved
int8 CAM_STATUS_UNSPECIFIED = -1 # Unspecified
int8 CAM_STATUS_CAM_UNAVL = 0 # Camera not available
int8 CAM_STATUS_BAD_FEAT = 1 # Camera available, but not usable (e.g. too dark)
int8 CAM_STATUS_RESERVED2 = 2 # Reserved
int8 CAM_STATUS_RESERVED3 = 3 # Reserved
int8 CAM_STATUS_NOT_CONVERGED = 2 # Camera not converged
int8 CAM_STATUS_WARMSTARTED = 3 # Camera warmstarted (previously converged)
int8 CAM_STATUS_RESERVED4 = 4 # Reserved
int8 CAM_STATUS_GOOD = 5 # Camera working and available

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4 changes: 3 additions & 1 deletion fixposition_driver_msgs/msg/FpaOdomstatus.msg
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Expand Up @@ -9,7 +9,8 @@ int8 fusion_imu # Fusion measurement status: IMU, s
int8 fusion_gnss1 # Fusion measurement status: GNSS 1, see consts.MEAS_STATUS_...
int8 fusion_gnss2 # Fusion measurement status: GNSS 2, see consts.MEAS_STATUS_...
int8 fusion_corr # Fusion measurement status: GNSS corrections, see consts.MEAS_STATUS_...
int8 fusion_cam1 # Fusion measurement status: camera, see consts.MEAS_STATUS_...
int8 fusion_cam1 # Fusion measurement status: camera 1, see consts.MEAS_STATUS_...
int8 fusion_cam2 # Fusion measurement status: camera 2, see consts.MEAS_STATUS_...
int8 fusion_ws # Fusion measurement status: wheelspeed, see consts.MEAS_STATUS_...
int8 fusion_markers # Fusion measurement status: markers, see consts.MEAS_STATUS_...
int8 imu_status # IMU bias status, see consts.IMU_STATUS_...
Expand All @@ -20,6 +21,7 @@ int8 gnss2_status # GNSS 2 fix status, see consts.GNS
int8 baseline_status # Baseline status, see consts.BASELINE_STATUS_...
int8 corr_status # GNSS correction status, see consts.CORR_STATUS_...
int8 cam1_status # Camera 1 status, see consts.CAM_STATUS_...
int8 cam2_status # Camera 2 status, see consts.CAM_STATUS_...
int8 ws_status # Wheelspeed status, see consts.WS_STATUS_...
int8 ws_conv # Wheelspeed convergence status, see consts.WS_CONV_...
int8 markers_status # Markers status, see consts.MARKERS_STATUS_...
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2 changes: 2 additions & 0 deletions fixposition_driver_ros1/src/data_to_ros1.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -236,6 +236,7 @@ static void FpaOdomstatusToMsg(const fpa::FpaOdomstatusPayload& payload, fixposi
msg.fusion_gnss2 = FpaMeasStatusToMsg(msg, payload.fusion_gnss2);
msg.fusion_corr = FpaMeasStatusToMsg(msg, payload.fusion_corr);
msg.fusion_cam1 = FpaMeasStatusToMsg(msg, payload.fusion_cam1);
msg.fusion_cam2 = FpaMeasStatusToMsg(msg, payload.fusion_cam2);
msg.fusion_ws = FpaMeasStatusToMsg(msg, payload.fusion_ws);
msg.fusion_markers = FpaMeasStatusToMsg(msg, payload.fusion_markers);
msg.imu_status = FpaImuStatusToMsg(msg, payload.imu_status);
Expand All @@ -246,6 +247,7 @@ static void FpaOdomstatusToMsg(const fpa::FpaOdomstatusPayload& payload, fixposi
msg.baseline_status = FpaBaselineStatusToMsg(msg, payload.baseline_status);
msg.corr_status = FpaCorrStatusToMsg(msg, payload.corr_status);
msg.cam1_status = FpaCamStatusToMsg(msg, payload.cam1_status);
msg.cam2_status = FpaCamStatusToMsg(msg, payload.cam2_status);
msg.ws_status = FpaWsStatusToMsg(msg, payload.ws_status);
msg.ws_conv = FpaWsConvToMsg(msg, payload.ws_conv);
msg.markers_status = FpaMarkersStatusToMsg(msg, payload.markers_status);
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2 changes: 2 additions & 0 deletions fixposition_driver_ros2/src/data_to_ros2.cpp
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Expand Up @@ -241,6 +241,7 @@ static void FpaOdomstatusToMsg(const fpa::FpaOdomstatusPayload& payload, fpmsgs:
msg.fusion_gnss2 = FpaMeasStatusToMsg(msg, payload.fusion_gnss2);
msg.fusion_corr = FpaMeasStatusToMsg(msg, payload.fusion_corr);
msg.fusion_cam1 = FpaMeasStatusToMsg(msg, payload.fusion_cam1);
msg.fusion_cam2 = FpaMeasStatusToMsg(msg, payload.fusion_cam2);
msg.fusion_ws = FpaMeasStatusToMsg(msg, payload.fusion_ws);
msg.fusion_markers = FpaMeasStatusToMsg(msg, payload.fusion_markers);
msg.imu_status = FpaImuStatusToMsg(msg, payload.imu_status);
Expand All @@ -251,6 +252,7 @@ static void FpaOdomstatusToMsg(const fpa::FpaOdomstatusPayload& payload, fpmsgs:
msg.baseline_status = FpaBaselineStatusToMsg(msg, payload.baseline_status);
msg.corr_status = FpaCorrStatusToMsg(msg, payload.corr_status);
msg.cam1_status = FpaCamStatusToMsg(msg, payload.cam1_status);
msg.cam2_status = FpaCamStatusToMsg(msg, payload.cam2_status);
msg.ws_status = FpaWsStatusToMsg(msg, payload.ws_status);
msg.ws_conv = FpaWsConvToMsg(msg, payload.ws_conv);
msg.markers_status = FpaMarkersStatusToMsg(msg, payload.markers_status);
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