gnss_messages_common.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/utils/CStream.h>
#include <mrpt/system/datetime.h>
#include <iostream>
#include <cstring> // memset()
#include <mrpt/obs/link_pragmas.h>
#include <mrpt/obs/gnss_messages_type_list.h>

namespace mrpt {
namespace obs {
/** GNSS (GPS) data structures, mainly for use within mrpt::obs::CObservationGPS */
namespace gnss {

/** Pure virtual base for all message types. \sa mrpt::obs::CObservationGPS  */
struct OBS_IMPEXP gnss_message {
        gnss_message_type_t  message_type; //!< Type of GNSS message

        gnss_message(gnss_message_type_t msg_type_id) : message_type(msg_type_id) {}
        void writeToStream(mrpt::utils::CStream &out) const; //!< Save to binary stream. Launches an exception upon error
        void readFromStream(mrpt::utils::CStream &in); //!< Load from binary stream into this existing object. Launches an exception upon error.

        bool isOfType(const gnss_message_type_t type_id) const;
        template <class MSG_CLASS> 
        bool isOfClass() const { return isOfType(MSG_CLASS::msg_type); }

        static gnss_message* readAndBuildFromStream(mrpt::utils::CStream &in); //!< Load from binary stream and creates object detecting its type (class factory). Launches an exception upon error
        static gnss_message* Factory(const gnss_message_type_t msg_id); //!< Creates message \return NULL on unknown msg type
        static bool FactoryKnowsMsgType(const gnss_message_type_t msg_id); //!< Returns true if Factory() has a registered constructor for this msg type

        virtual void dumpToStream( mrpt::utils::CStream &out ) const = 0; //!< Dumps the contents of the observation in a human-readable form to a given output stream \sa dumpToConsole()
        void dumpToConsole(std::ostream &o = std::cout) const; //!< Dumps the contents of the observation in a human-readable form to an std::ostream (default=console)
        virtual bool getAllFieldDescriptions( std::ostream &o ) const { return false; } //!< Dumps a header for getAllFieldValues() \return false if not implemented for this message type
        virtual bool getAllFieldValues( std::ostream &o ) const { return false; } //!< Dumps a line with the sequence of all field values (without a line feed at the end). \sa getAllFieldDescriptions() \return false if not implemented for this message type
        const std::string & getMessageTypeAsString() const; //!< Returns "NMEA_GGA", etc.
        virtual ~gnss_message() {}
protected:
        virtual void internal_writeToStream(mrpt::utils::CStream &out) const = 0; //!< Save to binary stream. Launches an exception upon error
        virtual void internal_readFromStream(mrpt::utils::CStream &in) = 0; //!< Save to binary stream. Launches an exception upon error
};

/** A smart pointer to a GNSS message. \sa gnss_message, mrpt::obs::CObservationGPS  */
struct OBS_IMPEXP gnss_message_ptr 
{
protected:
        gnss_message *ptr;
public:
        gnss_message_ptr(); //!< Ctor (default: NULL pointer)
        gnss_message_ptr(const gnss_message_ptr &o); //!< Makes a copy of the pointee
        /** Assigns a pointer. Memory now belongs to this class. */
        explicit gnss_message_ptr(const gnss_message* p);
        gnss_message_ptr &operator =(const gnss_message_ptr&o); // Makes a copy of the pointee
        virtual ~gnss_message_ptr(); //!< Dtor: it frees the pointee memory
        bool operator == ( const gnss_message *o ) const { return o==ptr; }
        bool operator == ( const gnss_message_ptr &o )const { return o.ptr==ptr; }
        bool operator != ( const gnss_message *o )const { return o!=ptr; }
        bool operator != ( const gnss_message_ptr &o )const { return o.ptr!=ptr; }
        gnss_message*& get() { return ptr; }
        const gnss_message* get()const { return ptr; }
        gnss_message *& operator ->() { ASSERT_(ptr); return ptr; }
        const gnss_message * operator ->() const  { ASSERT_(ptr); return ptr; }
        void set(gnss_message* p); //!< Replaces the pointee with a new pointer. Its memory now belongs to this object, do not free manually.
};

#define GNSS_MESSAGE_BINARY_BLOCK(DATA_PTR,DATA_LEN) \
        protected: \
                void internal_writeToStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE { \
                        out << static_cast<uint32_t>(DATA_LEN); out.WriteBuffer(DATA_PTR,DATA_LEN); } \
                void internal_readFromStream(mrpt::utils::CStream &in) MRPT_OVERRIDE { \
                        uint32_t nBytesInStream; in >> nBytesInStream; \
                        ASSERT_EQUAL_(nBytesInStream,DATA_LEN); \
                        in.ReadBuffer(DATA_PTR,DATA_LEN); } \
        public:

#define GNSS_BINARY_MSG_DEFINITION_START(_MSG_ID) \
        struct OBS_IMPEXP Message_##_MSG_ID : public gnss_message { \
                GNSS_MESSAGE_BINARY_BLOCK(&fields,sizeof(fields)) \
                enum { msg_type = _MSG_ID };  /* Static msg type (member expected by templates)*/ \
                Message_##_MSG_ID() : gnss_message((gnss_message_type_t)msg_type) {} \
                struct OBS_IMPEXP content_t {

#define GNSS_BINARY_MSG_DEFINITION_MID \
                content_t() { ::memset(this,0,sizeof(*this)); } \
        }; \
        content_t  fields; /** Message content, accesible by individual fields */ \
        void dumpToStream( mrpt::utils::CStream &out ) const MRPT_OVERRIDE;


#define GNSS_BINARY_MSG_DEFINITION_MID_END \
        };

#define GNSS_BINARY_MSG_DEFINITION_END \
        GNSS_BINARY_MSG_DEFINITION_MID \
        GNSS_BINARY_MSG_DEFINITION_MID_END


// Pragma to ensure we can safely serialize some of these structures
#pragma pack(push,1)

/** UTC (Coordinated Universal Time) time-stamp structure for GPS messages. \sa mrpt::obs::CObservationGPS */
struct OBS_IMPEXP UTC_time
{
        uint8_t hour;
        uint8_t minute;
        double  sec;

        UTC_time();
        mrpt::system::TTimeStamp getAsTimestamp(const mrpt::system::TTimeStamp &date) const; //!< Build an MRPT timestamp with the hour/minute/sec of this structure and the date from the given timestamp.
        bool operator == (const UTC_time& o) const { return hour==o.hour && minute==o.minute && sec==o.sec; }
        bool operator != (const UTC_time& o) const { return hour!=o.hour || minute!=o.minute || sec!=o.sec; }
        void writeToStream(mrpt::utils::CStream &out) const; //!< Save to binary stream. Launches an exception upon error
        void readFromStream(mrpt::utils::CStream &in); //!< Save to binary stream. Launches an exception upon error
};

#pragma pack(pop) // End of pack = 1
} } } // End of namespaces