gnss_messages_common.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.h> // Must include all message classes so we can implemente the class factory here
#include <mrpt/utils/CMemoryStream.h>
#include <map>
 
using namespace std;
using namespace mrpt::obs::gnss;
 
#define LIST_ALL_MSGS \
        /* ====== NMEA ======  */ \
        DOFOR(NMEA_GGA) \
        DOFOR(NMEA_RMC) \
        DOFOR(NMEA_ZDA) \
        DOFOR(NMEA_VTG) \
        DOFOR(NMEA_GLL) \
        /* ====== TopCon mmGPS ====== */  \
        DOFOR(TOPCON_PZS) \
        DOFOR(TOPCON_SATS) \
        /* ====== Novatel OEM6 ======  */  \
        DOFOR(NV_OEM6_GENERIC_FRAME) \
        DOFOR(NV_OEM6_BESTPOS) \
        /* ====== Novatel SPAN+OEM6 ====== */  \
        DOFOR(NV_OEM6_GENERIC_SHORT_FRAME) \
        DOFOR(NV_OEM6_INSPVAS) \
        DOFOR(NV_OEM6_RANGECMP) \
        DOFOR(NV_OEM6_RXSTATUS) \
        DOFOR(NV_OEM6_RAWEPHEM) \
        DOFOR(NV_OEM6_VERSION) \
        DOFOR(NV_OEM6_RAWIMUS) \
        DOFOR(NV_OEM6_MARKPOS) \
        DOFOR(NV_OEM6_MARKTIME) \
        DOFOR(NV_OEM6_MARK2TIME) \
        DOFOR(NV_OEM6_IONUTC) \
 
 
// Class factory:
gnss_message*  gnss_message::Factory(const gnss_message_type_t msg_id)
{
#define DOFOR(_MSG_ID)  case _MSG_ID: return new Message_##_MSG_ID();
        switch (msg_id)
        {
                LIST_ALL_MSGS
        default:
                return NULL;
        };
#undef DOFOR
}
bool gnss_message::FactoryKnowsMsgType(const gnss_message_type_t msg_id)
{
#define DOFOR(_MSG_ID)  case _MSG_ID: return true;
        switch (msg_id)
        {
                LIST_ALL_MSGS
        default:
                return false;
        };
#undef DOFOR
}
 
const std::string & gnss_message::getMessageTypeAsString() const
{
        static bool first_call = true;
        static std::map<gnss_message_type_t,std::string>  gnss_type2str;
        if (first_call)
        {
                first_call=false;
#define DOFOR(_MSG_ID)  gnss_type2str[_MSG_ID] = #_MSG_ID;
                LIST_ALL_MSGS
#undef DOFOR
        }
 
        return gnss_type2str[this->message_type];
}
 
 
// Save to binary stream. Launches an exception upon error
void gnss_message::writeToStream(mrpt::utils::CStream &out) const
{
        const int32_t msg_id = message_type;
        out << msg_id;
        this->internal_writeToStream(out);
}
 
// Load from binary stream. Launches an exception upon error
void gnss_message::readFromStream(mrpt::utils::CStream &in)
{
        int32_t msg_id;
        in >> msg_id;
        ASSERT_EQUAL_((int32_t)msg_id,this->message_type);
        this->internal_readFromStream(in);
}
 
// Load from binary stream and creates object detecting its type (class factory). Launches an exception upon error
gnss_message* gnss_message::readAndBuildFromStream(mrpt::utils::CStream &in)
{
        int32_t msg_id;
        in >> msg_id;
        gnss_message* msg = gnss_message::Factory(static_cast<gnss_message_type_t>(msg_id) );
        if (!msg)
                THROW_EXCEPTION_FMT("Error deserializing gnss_message: unknown message type '%i'",static_cast<int>(msg_id));
        msg->internal_readFromStream(in);
        return msg;
}
 
 
// Ctor (default: NULL pointer)
gnss_message_ptr::gnss_message_ptr() : ptr(NULL)
{}
// Ctor:Makes a copy of the pointee
gnss_message_ptr::gnss_message_ptr(const gnss_message_ptr &o)
{
        if (!o.ptr) {
                ptr=NULL;
        }
        else {
                mrpt::utils::CMemoryStream buf;
                o->writeToStream(buf);
                buf.Seek(0);
                ptr = gnss_message::readAndBuildFromStream(buf);
        }
}
/** Assigns a pointer */
gnss_message_ptr::gnss_message_ptr(const gnss_message* p) : 
        ptr(const_cast<gnss_message*>(p)) 
{ 
}
void gnss_message_ptr::set(gnss_message* p)
{
        if (ptr) { delete ptr; ptr=NULL; }
        ptr = p;
}
// Makes a copy of the pointee
gnss_message_ptr &gnss_message_ptr::operator =(const gnss_message_ptr&o)
{
        mrpt::utils::CMemoryStream buf;
        o->writeToStream(buf);
        buf.Seek(0);
        ptr = gnss_message::readAndBuildFromStream(buf);
        return *this;
}
gnss_message_ptr::~gnss_message_ptr()
{
        if (ptr) { delete ptr; ptr=NULL; }
}
 
// ---------------------------------------
UTC_time::UTC_time() :
        hour(0), minute(0), sec(0)
{
}
void UTC_time::writeToStream(mrpt::utils::CStream &out) const {
        out << hour << minute << sec;
}
void UTC_time::readFromStream(mrpt::utils::CStream &in) {
        in >> hour >> minute >> sec;
}
 
// Build an MRPT timestamp with the hour/minute/sec of this structure and the date from the given timestamp.
mrpt::system::TTimeStamp UTC_time::getAsTimestamp(const mrpt::system::TTimeStamp &date) const
{
        using namespace mrpt::system;
 
        TTimeParts parts;
        timestampToParts(date,parts, false /* UTC, not local */);
 
        parts.hour   = this->hour;
        parts.minute = this->minute;
        parts.second = this->sec;
 
        return buildTimestampFromParts(parts);
}