xsgpspvtdata.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#ifndef XSGPSPVTDATA_H
#define XSGPSPVTDATA_H

#include "pstdint.h"
#include "xstypesconfig.h"

#ifdef __cplusplus
extern "C"
{
#else
#define XSGPSPVTDATA_INITIALIZER                  \
    {                                             \
        0, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255 \
    }
#endif

    struct XsGpsPvtData;

    XSTYPES_DLL_API void XsGpsPvtData_destruct(struct XsGpsPvtData* thisPtr);
    XSTYPES_DLL_API int XsGpsPvtData_empty(const struct XsGpsPvtData* thisPtr);

#ifdef __cplusplus
}  // extern "C"
#endif

/*! \brief Data from the GPS unit of a legacy MTi-G.*/
struct XsGpsPvtData
{
    /** The pressure measurement in units of 2 Pascal, only valid if
     * m_pressureAge is not 255 */
    uint16_t m_pressure;
    /** The age of the pressure measurement in packets. When it decreases
     * relative to the previous packet, it indicates that new data is available.
     */
    uint8_t m_pressureAge;
    /** Integer time of week in ms */
    uint32_t m_itow;
    /** Latitude in 1e-7 degrees */
    int32_t m_latitude;
    /** Longitude in 1e-7 degrees */
    int32_t m_longitude;
    /** Height in mm */
    int32_t m_height;
    /** Velocity towards north in cm/s */
    int32_t m_veln;
    /** Velocity towards east in cm/s */
    int32_t m_vele;
    /** Velocity towards down in cm/s */
    int32_t m_veld;
    /** Horizontal accuracy estimate, expected error standard deviation in mm */
    uint32_t m_hacc;
    /** Vertical accuracy estimate, expected error standard deviation in mm */
    uint32_t m_vacc;
    /** Speed accuracy estimate, expected error standard deviation in cm/s */
    uint32_t m_sacc;
    /** The age of the GPS measurement in packets. When it decreases relative to
     * the previous packet, it indicates that new data is available. */
    uint8_t m_gpsAge;

#ifdef __cplusplus
    /*! \brief \copybrief XsGpsPvtData_destruct */
    inline void clear() { XsGpsPvtData_destruct(this); }
    /*! \brief \copybrief XsGpsPvtData_empty */
    inline bool empty() const { return 0 != XsGpsPvtData_empty(this); }
#endif
};

typedef struct XsGpsPvtData XsGpsPvtData;

#endif  // file guard