add decoder for RTTrPM packet

src/decoders/index.ts

@@ -2,6 +2,7 @@ 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 RTTrPM from './motion/rttrpm';
 import Trackable from './motion/trackable';
 import TrackedPointAccelVelocity from './motion/tracked-point-accel-velocity';
 import TrackedPointPosition from './motion/tracked-point-position';
@@ -11,6 +12,7 @@ import RTTrPHeader from './rttrp-header';
 
 export const Decoders = {
   RTTrPHeader,
+  RTTrPM,
   Trackable,
   CentroidPosition,
   CentroidAccelVelocity,

src/decoders/motion/rttrpm.ts

@@ -0,0 +1,38 @@
+import { Decoders } from '..';
+import { RTTrPM, Trackable } from '../../models';
+
+export default (bytes: Uint8Array): RTTrPM => {
+  if (bytes.byteLength < 18) {
+    throw new Error('RTTrPM packet must be at least 18 bytes long');
+  }
+  const header = Decoders.RTTrPHeader(bytes.subarray(0, 18));
+
+  if (bytes.byteLength !== header.size) {
+    throw new Error('RTTrPM packet size mismatch');
+  }
+
+  const modules: Trackable[] = [];
+  let packetModuleOffset = 18;
+
+  for (let index = 0; index < header.subModuleCount; index++) {
+    const moduleData = bytes.subarray(packetModuleOffset);
+    const moduleType = moduleData[0];
+    switch (moduleType) {
+      case 0x01:
+      case 0x51: {
+        const module = Decoders.Trackable(moduleData, header.isLittleEndian);
+        modules.push(module);
+        packetModuleOffset += module.size;
+        break;
+      }
+      default:
+        console.error(`unknown RTTrPM submodule type: ${moduleType}`);
+        break;
+    }
+  }
+
+  return {
+    header,
+    modules,
+  };
+};

src/models.ts

@@ -9,6 +9,10 @@ export type RTTrPHeader = {
   subModuleCount: number;
   isLittleEndian: boolean;
 };
+
+export type RTTrPM = {
+  header: RTTrPHeader;
+  modules: Trackable[];
 };
 
 export type TrackableModule =