gnss_messages_ascii_nmea.cpp

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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    |
   +---------------------------------------------------------------------------+ */

#include "obs-precomp.h"   // Precompiled headers

#include <mrpt/obs/gnss_messages_ascii_nmea.h>

using namespace std;
using namespace mrpt::obs::gnss;

// ---------------------------------------
Message_NMEA_GGA::content_t::content_t() :
        UTCTime(),
        latitude_degrees(0),
        longitude_degrees(0),
        fix_quality(0),
        altitude_meters(0),
        geoidal_distance(),
        orthometric_altitude(),
        corrected_orthometric_altitude(),
        satellitesUsed(0),
        thereis_HDOP(false),
        HDOP(0)
{ }

void Message_NMEA_GGA::dumpToStream( mrpt::utils::CStream &out ) const
{
        out.printf("[NMEA GGA datum]\n");
        out.printf("  Longitude: %.09f deg  Latitude: %.09f deg  Height: %.03f m\n",
                fields.longitude_degrees,
                fields.latitude_degrees,
                fields.altitude_meters );

        out.printf("  Geoidal distance: %.03f m  Orthometric alt.: %.03f m  Corrected ort. alt.: %.03f m\n",
                fields.geoidal_distance,
                fields.orthometric_altitude,
                fields.corrected_orthometric_altitude );

        out.printf("  UTC time-stamp: %02u:%02u:%02.03f  #sats=%2u  ",
                fields.UTCTime.hour,
                fields.UTCTime.minute,
                fields.UTCTime.sec,
                fields.satellitesUsed );

        out.printf("Fix mode: %u ",fields.fix_quality);
        switch( fields.fix_quality )
        {
                case 0: out.printf("(Invalid)\n"); break;
                case 1: out.printf("(GPS fix)\n"); break;
                case 2: out.printf("(DGPS fix)\n"); break;
                case 3: out.printf("(PPS fix)\n"); break;
                case 4: out.printf("(Real Time Kinematic/RTK Fixed)\n"); break;
                case 5: out.printf("(Real Time Kinematic/RTK Float)\n"); break;
                case 6: out.printf("(Dead Reckoning)\n"); break;
                case 7: out.printf("(Manual)\n"); break;
                case 8: out.printf("(Simulation)\n"); break;
                case 9: out.printf("(mmGPS + RTK Fixed)\n"); break;
                case 10: out.printf("(mmGPS + RTK Float)\n"); break;
                default: out.printf("(UNKNOWN!)\n"); break;
        };

        out.printf("  HDOP (Horizontal Dilution of Precision): ");
        if (fields.thereis_HDOP)
                        out.printf(" %f\n", fields.HDOP);
        else    out.printf(" N/A\n");
}

bool Message_NMEA_GGA::getAllFieldDescriptions( std::ostream &o ) const
{
        o << "lon_deg lat_deg hgt_m undulation_m hour min sec num_sats fix_quality hdop";
        return true;
}
bool Message_NMEA_GGA::getAllFieldValues( std::ostream &o ) const
{
        o << mrpt::format("%.09f %.09f %.04f %.04f %02u %02u %02.03f %2u %u %f",
                fields.longitude_degrees,
                fields.latitude_degrees,
                fields.altitude_meters,
                fields.geoidal_distance,
                fields.UTCTime.hour,
                fields.UTCTime.minute,
                fields.UTCTime.sec,
                fields.satellitesUsed,
                fields.fix_quality,
                fields.HDOP
                );
        return true;
}

// ---------------------------------------
Message_NMEA_GLL::content_t::content_t() :
        UTCTime(),
        latitude_degrees(0),
        longitude_degrees(0),
        validity_char('V')
{ }

void Message_NMEA_GLL::dumpToStream( mrpt::utils::CStream &out ) const
{
        out.printf("[NMEA GLL datum]\n");
        out.printf("  Longitude: %.09f deg  Latitude: %.09f deg Validity: '%c'\n",
                fields.longitude_degrees,
                fields.latitude_degrees,
                fields.validity_char );
        out.printf("  UTC time-stamp: %02u:%02u:%02.03f\n",
                fields.UTCTime.hour,
                fields.UTCTime.minute,
                fields.UTCTime.sec);
}

bool Message_NMEA_GLL::getAllFieldDescriptions( std::ostream &o ) const
{
        o << "lon_deg lat_deg hour min sec validity";
        return true;
}
bool Message_NMEA_GLL::getAllFieldValues( std::ostream &o ) const
{
        o << mrpt::format("%.09f %.09f %02u %02u %02.03f %u",
                fields.longitude_degrees,
                fields.latitude_degrees,
                fields.UTCTime.hour,
                fields.UTCTime.minute,
                fields.UTCTime.sec,
                static_cast<unsigned int>(fields.validity_char=='A' ? 1:0)
                );
        return true;
}

// ---------------------------------------
Message_NMEA_VTG::content_t::content_t() :
        true_track(), magnetic_track(),ground_speed_knots(), ground_speed_kmh()
{ }

void Message_NMEA_VTG::dumpToStream( mrpt::utils::CStream &out ) const
{
        out.printf("[NMEA VTG datum]\n");
        out.printf("  True track: %.03f deg  Magnetic track: %.03f deg\n",fields.true_track, fields.magnetic_track);
        out.printf("  Ground speed: %.03f knots  %.03f km/h\n",fields.ground_speed_knots, fields.ground_speed_kmh);
}

bool Message_NMEA_VTG::getAllFieldDescriptions( std::ostream &o ) const
{
        o << "true_track mag_track gnd_speed_knots gnd_speed_kmh";
        return true;
}
bool Message_NMEA_VTG::getAllFieldValues( std::ostream &o ) const
{
        o << mrpt::format("%.09f %.09f %.09f %.09f",fields.true_track, fields.magnetic_track, fields.ground_speed_knots, fields.ground_speed_kmh);
        return true;
}

// ---------------------------------------
Message_NMEA_RMC::content_t::content_t() :
        UTCTime(),
        validity_char('V'),
        latitude_degrees(0),
        longitude_degrees(0),
        speed_knots(0),
        direction_degrees(0),
        date_day(0),
        date_month(0),
        date_year(0),
        magnetic_dir(),
        positioning_mode('N')
{ }

//!< Build an MRPT timestamp with the year/month/day of this observation.
mrpt::system::TTimeStamp Message_NMEA_RMC::getDateAsTimestamp() const
{
        using namespace mrpt::system;

        // Detect current century:
        uint16_t years_century; {
                TTimeParts dec_parts;
                timestampToParts(now(), dec_parts);
                years_century = (dec_parts.year/100)*100;
        }

        TTimeParts parts;
        parts.second = 
        parts.minute = 
        parts.hour = 0;

        parts.day   = fields.date_day;
        parts.month = fields.date_month;
        parts.year  = years_century + fields.date_year;

        return buildTimestampFromParts(parts);
}

void Message_NMEA_RMC::dumpToStream( mrpt::utils::CStream &out ) const
{
        out.printf("[NMEA RMC datum]\n");
        out.printf(" Positioning mode: `%c`\n ", (char)fields.positioning_mode);
        out.printf(" UTC time-stamp: %02u:%02u:%02.03f\n",
                fields.UTCTime.hour,
                fields.UTCTime.minute,
                fields.UTCTime.sec
                );
        out.printf(" Date (DD/MM/YY): %02u/%02u/%02u\n ",
                (unsigned)fields.date_day,(unsigned)fields.date_month, (unsigned)fields.date_year);
        out.printf("  Longitude: %.09f deg  Latitude: %.09f deg  Valid?: '%c'\n",
                fields.longitude_degrees,
                fields.latitude_degrees,
                fields.validity_char
                );
        out.printf(" Speed: %.05f knots  Direction:%.03f deg.\n ",
                fields.speed_knots,
                fields.direction_degrees
                );
        out.printf(" Magnetic variation direction: %.04f deg\n ", fields.magnetic_dir);
}

bool Message_NMEA_RMC::getAllFieldDescriptions( std::ostream &o ) const
{
        o << "lon_deg lat_deg hour min sec speed_knots direction_deg year month day";
        return true;
}
bool Message_NMEA_RMC::getAllFieldValues( std::ostream &o ) const
{
        o << mrpt::format("%.09f %.09f %02u %02u %02.03f %.05f %.03f %02u %02u %02u",
                fields.longitude_degrees,
                fields.latitude_degrees,
                fields.UTCTime.hour,
                fields.UTCTime.minute,
                fields.UTCTime.sec,
                fields.speed_knots,
                fields.direction_degrees,
                fields.date_year,
                fields.date_month,
                fields.date_day
                );
        return true;
}

// ---------------------------------------
Message_NMEA_ZDA::content_t::content_t() :
        UTCTime(), date_day(),date_month(),date_year()
{ }

void Message_NMEA_ZDA::dumpToStream( mrpt::utils::CStream &out ) const
{
        out.printf("[NMEA ZDA datum]\n");
        out.printf(" UTC time-stamp: %02u:%02u:%02.03f\n",
                fields.UTCTime.hour,
                fields.UTCTime.minute,
                fields.UTCTime.sec
                );
        out.printf(" Date (DD/MM/YY): %02u/%02u/%04u\n ",
                (unsigned)fields.date_day,(unsigned)fields.date_month, (unsigned)fields.date_year);
}

bool Message_NMEA_ZDA::getAllFieldDescriptions( std::ostream &o ) const
{
        o << "year month day hour minute second";
        return true;
}
bool Message_NMEA_ZDA::getAllFieldValues( std::ostream &o ) const
{
        o << mrpt::format("%04u %02u %02u %02u %02u %.05f",
                fields.date_year,
                fields.date_month,
                fields.date_day,
                fields.UTCTime.hour,
                fields.UTCTime.minute,
                fields.UTCTime.sec);
        return true;
}

mrpt::system::TTimeStamp Message_NMEA_ZDA::getDateTimeAsTimestamp() const
{
        return fields.UTCTime.getAsTimestamp( this->getDateAsTimestamp() );
}

//!< Build an MRPT timestamp with the year/month/day of this observation.
mrpt::system::TTimeStamp Message_NMEA_ZDA::getDateAsTimestamp() const
{
        using namespace mrpt::system;
        TTimeParts parts;
        parts.second = 
        parts.minute = 
        parts.hour = 0;
        parts.day   = fields.date_day;
        parts.month = fields.date_month;
        parts.year  = fields.date_year;
        return buildTimestampFromParts(parts);
}