add decoder for accel velocity submodules

src/decoders/index.ts

@@ -1,13 +1,17 @@
+import CentroidAccelVelocity from './motion/centroid-accel-velocity';
 import CentroidPosition from './motion/centroid-position';
 import OrientationEuler from './motion/orientation-euler';
 import OrientationQuaternion from './motion/orientation-quaternion';
+import TrackedPointAccelVelocity from './motion/tracked-point-accel-velocity';
 import TrackedPointPosition from './motion/tracked-point-position';
 import RTTrPHeader from './rttrp';
 
 export const Decoders = {
   RTTrPHeader,
   CentroidPosition,
+  CentroidAccelVelocity,
   TrackedPointPosition,
+  TrackedPointAccelVelocity,
   OrientationQuaternion,
   OrientationEuler,
 };

src/decoders/motion/centroid-accel-velocity.ts

@@ -0,0 +1,44 @@
+import { CentroidAccelVelocity } from '../../models';
+
+export default (bytes: Uint8Array, isLittleEndian: boolean = false): CentroidAccelVelocity => {
+  if (bytes.length !== 51) {
+    throw new Error('Centroid Acceleration and Velocity module must be 51 bytes');
+  }
+
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  const type = view.getUint8(0);
+  if (type !== 0x20) {
+    throw new Error('Centroid Acceleration and Velocity module must have a type of 0x20');
+  }
+
+  const size = view.getUint16(1, isLittleEndian);
+  if (size !== 51) {
+    throw new Error('Centroid Acceleration and Velocity module must be 51 bytes');
+  }
+  const x = view.getFloat64(3, isLittleEndian);
+  const y = view.getFloat64(11, isLittleEndian);
+  const z = view.getFloat64(19, isLittleEndian);
+
+  const accelX = view.getFloat32(27, isLittleEndian);
+  const accelY = view.getFloat32(31, isLittleEndian);
+  const accelZ = view.getFloat32(35, isLittleEndian);
+
+  const velocityX = view.getFloat32(39, isLittleEndian);
+  const velocityY = view.getFloat32(43, isLittleEndian);
+  const velocityZ = view.getFloat32(47, isLittleEndian);
+
+  return {
+    type,
+    size,
+    x,
+    y,
+    z,
+    accelX,
+    accelY,
+    accelZ,
+    velocityX,
+    velocityY,
+    velocityZ,
+  };
+};

src/decoders/motion/tracked-point-accel-velocity.ts

@@ -0,0 +1,47 @@
+import { TrackedPointAccelVelocity } from '../../models';
+
+export default (bytes: Uint8Array, isLittleEndian: boolean = false): TrackedPointAccelVelocity => {
+  if (bytes.length !== 52) {
+    throw new Error('Tracked Point Acceleration and Velocity module must be 52 bytes');
+  }
+
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  const type = view.getUint8(0);
+  if (type !== 0x21) {
+    throw new Error('Tracked Point Acceleration and Velocity module must have a type of 0x21');
+  }
+
+  const size = view.getUint16(1, isLittleEndian);
+  if (size !== 52) {
+    throw new Error('Tracked Point Acceleration and Velocity module must be 52 bytes');
+  }
+  const x = view.getFloat64(3, isLittleEndian);
+  const y = view.getFloat64(11, isLittleEndian);
+  const z = view.getFloat64(19, isLittleEndian);
+
+  const accelX = view.getFloat32(27, isLittleEndian);
+  const accelY = view.getFloat32(31, isLittleEndian);
+  const accelZ = view.getFloat32(35, isLittleEndian);
+
+  const velocityX = view.getFloat32(39, isLittleEndian);
+  const velocityY = view.getFloat32(43, isLittleEndian);
+  const velocityZ = view.getFloat32(47, isLittleEndian);
+
+  const index = view.getUint8(51);
+
+  return {
+    type,
+    size,
+    x,
+    y,
+    z,
+    accelX,
+    accelY,
+    accelZ,
+    velocityX,
+    velocityY,
+    velocityZ,
+    index,
+  };
+};

src/models.ts

@@ -18,6 +18,19 @@ export type CentroidPosition = {
   z: number;
 };
 
+export type CentroidAccelVelocity = {
+  type: number;
+  size: number;
+  x: number;
+  y: number;
+  z: number;
+  accelX: number;
+  accelY: number;
+  accelZ: number;
+  velocityX: number;
+  velocityY: number;
+  velocityZ: number;
+};
 
 export type TrackedPointPosition = {
   type: number;
@@ -29,6 +42,21 @@ export type TrackedPointPosition = {
   index: number;
 };
 
+export type TrackedPointAccelVelocity = {
+  type: number;
+  size: number;
+  x: number;
+  y: number;
+  z: number;
+  accelX: number;
+  accelY: number;
+  accelZ: number;
+  velocityX: number;
+  velocityY: number;
+  velocityZ: number;
+  index: number;
+};
+
 export type OrientationQuaternion = {
   type: number;
   size: number;

tests/decode.test.js

@@ -86,6 +86,51 @@ const goodTests = [
     },
     decoder: Decoders.OrientationEuler,
   },
+  {
+    description: 'Centroid Acceleration and Velocity',
+    bytes: new Uint8Array([
+      0x20, 0x00, 51, 0x3f, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+      0x40, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x80, 0x00, 0x00, 0x40, 0xa0, 0x00, 0x00, 0x40, 0xc0, 0x00,
+      0x00, 0x40, 0xe0, 0x00, 0x00, 0x41, 0x00, 0x00, 0x00, 0x41, 0x10, 0x00, 0x00,
+    ]),
+    expected: {
+      type: 0x20,
+      size: 51,
+      x: 1.0,
+      y: 2.0,
+      z: 3.0,
+      accelX: 4.0,
+      accelY: 5.0,
+      accelZ: 6.0,
+      velocityX: 7.0,
+      velocityY: 8.0,
+      velocityZ: 9.0,
+    },
+    decoder: Decoders.CentroidAccelVelocity,
+  },
+  {
+    description: 'Tracked Point Acceleration and Velocity',
+    bytes: new Uint8Array([
+      0x21, 0x00, 52, 0x3f, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+      0x40, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x80, 0x00, 0x00, 0x40, 0xa0, 0x00, 0x00, 0x40, 0xc0, 0x00,
+      0x00, 0x40, 0xe0, 0x00, 0x00, 0x41, 0x00, 0x00, 0x00, 0x41, 0x10, 0x00, 0x00, 0x01,
+    ]),
+    expected: {
+      type: 0x21,
+      size: 52,
+      x: 1.0,
+      y: 2.0,
+      z: 3.0,
+      accelX: 4.0,
+      accelY: 5.0,
+      accelZ: 6.0,
+      velocityX: 7.0,
+      velocityY: 8.0,
+      velocityZ: 9.0,
+      index: 1,
+    },
+    decoder: Decoders.TrackedPointAccelVelocity,
+  },
 ];
 
 describe('RTTrP Bytes Decoding', () => {