feat(sdr): add helper method for common data extraction from SdrPaylo…

…ad packet

src/Asv.Mavlink/Microservices/AsvSdr/Store/AsvSdrRecordFileHelper.cs

@@ -1,12 +1,44 @@
+#nullable enable
 using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 using System.Linq;
 using Asv.IO;
 using Asv.Mavlink.V2.AsvSdr;
+using Asv.Mavlink.V2.Common;
 
 namespace Asv.Mavlink;
 
+public class CommonRecordData
+{
+    public uint DataIndex { get; set; }
+    public Guid RecordGuid { get; set; }
+    public DateTime TimeUnixUsec { get; set; }
+    public ulong TotalFreq { get; set; }
+    public int GnssLat { get; set; }
+    public int GnssLon { get; set; }
+    public int GnssAlt { get; set; }
+    public int GnssAltEllipsoid { get; set; }
+    public uint GnssHAcc { get; set; }
+    public uint GnssVAcc { get; set; }
+    public uint GnssVelAcc { get; set; }
+    public int Lat { get; set; }
+    public int Lon { get; set; }
+    public int Alt { get; set; }
+    public int RelativeAlt { get; set; }
+    public float Roll { get; set; }
+    public float Pitch { get; set; }
+    public float Yaw { get; set; }
+    public ushort GnssEph { get; set; }
+    public ushort GnssEpv { get; set; }
+    public ushort GnssVel { get; set; }
+    public short Vx { get; set; }
+    public short Vy { get; set; }
+    public short Vz { get; set; }
+    public ushort Hdg { get; set; }
+    public GpsFixType GnssFixType { get; set; }
+}
+
 public static class AsvSdrRecordFileHelper
 {
     public static void ReadRecordInfo(this IListDataFile<AsvSdrRecordFileMetadata> self,AsvSdrRecordPayload dest)
@@ -77,6 +109,119 @@ public static void Write(this IListDataFile<AsvSdrRecordFileMetadata> self, AsvS
         self.ReadMetadata().Info.CopyTo(record);
     }
 
+    public static bool TryReadCommonRecordData(IPacketV2<IPayload> packet, out CommonRecordData? data)
+    {
+        var type = (AsvSdrCustomMode)packet.MessageId;
+        data = null;
+        switch (type)
+        {
+            case AsvSdrCustomMode.AsvSdrCustomModeLlz:
+                var gp = packet as AsvSdrRecordDataLlzPacket;
+                Debug.Assert(gp != null);
+                data = new CommonRecordData
+                {
+                    DataIndex = gp.Payload.DataIndex,
+                    RecordGuid = MavlinkTypesHelper.GetGuid(gp.Payload.RecordGuid),
+                    TimeUnixUsec = MavlinkTypesHelper.FromUnixTimeUs(gp.Payload.TimeUnixUsec),
+                    TotalFreq = gp.Payload.TotalFreq,
+                    GnssLat = gp.Payload.GnssLat,
+                    GnssLon = gp.Payload.GnssLon,
+                    GnssAlt = gp.Payload.GnssAlt,
+                    GnssAltEllipsoid = gp.Payload.GnssAltEllipsoid,
+                    GnssHAcc = gp.Payload.GnssHAcc,
+                    GnssVAcc = gp.Payload.GnssVAcc,
+                    GnssVelAcc = gp.Payload.GnssVelAcc,
+                    Lat = gp.Payload.Lat,
+                    Lon = gp.Payload.Lon,
+                    Alt = gp.Payload.Alt,
+                    RelativeAlt = gp.Payload.RelativeAlt,
+                    Roll = gp.Payload.Roll,
+                    Pitch = gp.Payload.Pitch,
+                    Yaw = gp.Payload.Yaw,
+                    GnssEph = gp.Payload.GnssEph,
+                    GnssEpv = gp.Payload.GnssEpv,
+                    GnssVel = gp.Payload.GnssVel,
+                    Vx = gp.Payload.Vx,
+                    Vy = gp.Payload.Vy,
+                    Vz = gp.Payload.Vz,
+                    Hdg = gp.Payload.Hdg,
+                    GnssFixType = gp.Payload.GnssFixType,
+
+                };
+                return true;
+            case AsvSdrCustomMode.AsvSdrCustomModeGp:
+                var llz = packet as AsvSdrRecordDataGpPacket;
+                Debug.Assert(llz != null);
+                data = new CommonRecordData
+                {
+
+                    DataIndex = llz.Payload.DataIndex,
+                    RecordGuid = MavlinkTypesHelper.GetGuid(llz.Payload.RecordGuid),
+                    TimeUnixUsec = MavlinkTypesHelper.FromUnixTimeUs(llz.Payload.TimeUnixUsec),
+                    TotalFreq = llz.Payload.TotalFreq,
+                    GnssLat = llz.Payload.GnssLat,
+                    GnssLon = llz.Payload.GnssLon,
+                    GnssAlt = llz.Payload.GnssAlt,
+                    GnssAltEllipsoid = llz.Payload.GnssAltEllipsoid,
+                    GnssHAcc = llz.Payload.GnssHAcc,
+                    GnssVAcc = llz.Payload.GnssVAcc,
+                    GnssVelAcc = llz.Payload.GnssVelAcc,
+                    Lat = llz.Payload.Lat,
+                    Lon = llz.Payload.Lon,
+                    Alt = llz.Payload.Alt,
+                    RelativeAlt = llz.Payload.RelativeAlt,
+                    Roll = llz.Payload.Roll,
+                    Pitch = llz.Payload.Pitch,
+                    Yaw = llz.Payload.Yaw,
+                    GnssEph = llz.Payload.GnssEph,
+                    GnssEpv = llz.Payload.GnssEpv,
+                    GnssVel = llz.Payload.GnssVel,
+                    Vx = llz.Payload.Vx,
+                    Vy = llz.Payload.Vy,
+                    Vz = llz.Payload.Vz,
+                    Hdg = llz.Payload.Hdg,
+                    GnssFixType = llz.Payload.GnssFixType,
+                };
+                return true;
+            case AsvSdrCustomMode.AsvSdrCustomModeVor:
+                var vor = packet as AsvSdrRecordDataVorPacket;
+                Debug.Assert(vor != null);
+                data = new CommonRecordData
+                {
+                    DataIndex = vor.Payload.DataIndex,
+                    RecordGuid = MavlinkTypesHelper.GetGuid(vor.Payload.RecordGuid),
+                    TimeUnixUsec = MavlinkTypesHelper.FromUnixTimeUs(vor.Payload.TimeUnixUsec),
+                    TotalFreq = vor.Payload.TotalFreq,
+                    GnssLat = vor.Payload.GnssLat,
+                    GnssLon = vor.Payload.GnssLon,
+                    GnssAlt = vor.Payload.GnssAlt,
+                    GnssAltEllipsoid = vor.Payload.GnssAltEllipsoid,
+                    GnssHAcc = vor.Payload.GnssHAcc,
+                    GnssVAcc = vor.Payload.GnssVAcc,
+                    GnssVelAcc = vor.Payload.GnssVelAcc,
+                    Lat = vor.Payload.Lat,
+                    Lon = vor.Payload.Lon,
+                    Alt = vor.Payload.Alt,
+                    RelativeAlt = vor.Payload.RelativeAlt,
+                    Roll = vor.Payload.Roll,
+                    Pitch = vor.Payload.Pitch,
+                    Yaw = vor.Payload.Yaw,
+                    GnssEph = vor.Payload.GnssEph,
+                    GnssEpv = vor.Payload.GnssEpv,
+                    GnssVel = vor.Payload.GnssVel,
+                    Vx = vor.Payload.Vx,
+                    Vy = vor.Payload.Vy,
+                    Vz = vor.Payload.Vz,
+                    Hdg = vor.Payload.Hdg,
+                    GnssFixType = vor.Payload.GnssFixType,
+                };
+                return true;
+            case AsvSdrCustomMode.AsvSdrCustomModeIdle:
+            default:
+                return false;
+        }
+    }
+
     public static bool TryReadDataIndex(IPacketV2<IPayload> packet, out uint index)
     {
         var type = (AsvSdrCustomMode)packet.MessageId;