CObservationGPS.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

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

#include <mrpt/math/matrix_serialization.h>  // for << of matrices
#include <mrpt/obs/CObservationGPS.h>
#include <mrpt/serialization/CArchive.h>
#include <iomanip>

using namespace std;
using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::math;

// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CObservationGPS, CObservation, mrpt::obs)

void CObservationGPS::swap(CObservationGPS& o)
{
    std::swap(timestamp, o.timestamp);
    std::swap(originalReceivedTimestamp, o.originalReceivedTimestamp);
    std::swap(has_satellite_timestamp, o.has_satellite_timestamp);
    std::swap(sensorLabel, o.sensorLabel);
    std::swap(sensorPose, o.sensorPose);
    messages.swap(o.messages);
}

uint8_t CObservationGPS::serializeGetVersion() const { return 11; }
void CObservationGPS::serializeTo(mrpt::serialization::CArchive& out) const
{
    out << timestamp << originalReceivedTimestamp << sensorLabel << sensorPose;
    out << has_satellite_timestamp;  // v11

    const uint32_t nMsgs = messages.size();
    out << nMsgs;
    for (const auto& message : messages) message.second->writeToStream(out);
}

void CObservationGPS::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    this->clear();

    switch (version)
    {
        case 10:
        case 11:
        {
            in >> timestamp >> originalReceivedTimestamp >> sensorLabel >>
                sensorPose;
            if (version >= 11)
                in >> has_satellite_timestamp;  // v11
            else
                has_satellite_timestamp =
                    (this->timestamp != this->originalReceivedTimestamp);

            uint32_t nMsgs;
            in >> nMsgs;
            for (unsigned i = 0; i < nMsgs; i++)
            {
                gnss::gnss_message* msg =
                    gnss::gnss_message::readAndBuildFromStream(in);
                messages[msg->message_type] = gnss::gnss_message_ptr(msg);
            }
        };
        break;

        // OLD VERSIONS: Ensure we can load datasets from many years ago
        // ==========
        case 0:
        {
            bool has_GGA_datum_;
            in >> has_GGA_datum_;
            if (has_GGA_datum_)
            {
                auto* datum = new gnss::Message_NMEA_GGA();
                in.ReadBuffer(&datum->fields, sizeof(datum->fields));
                messages[gnss::NMEA_GGA] = gnss::gnss_message_ptr(datum);
            }

            bool has_RMC_datum_;
            in >> has_RMC_datum_;
            if (has_RMC_datum_)
            {
                auto* datum = new gnss::Message_NMEA_RMC();
                in.ReadBuffer(&datum->fields, sizeof(datum->fields));
                messages[gnss::NMEA_RMC] = gnss::gnss_message_ptr(datum);
            }
        }
        break;
        case 1:
        case 2:
        case 3:
        case 4:
        case 5:
        case 6:
        case 7:
        case 8:
        case 9:
        {
            if (version >= 3)
                in >> timestamp;
            else
                timestamp = INVALID_TIMESTAMP;

            bool has_GGA_datum_;
            in >> has_GGA_datum_;
            if (has_GGA_datum_)
            {
                gnss::Message_NMEA_GGA datum;
                gnss::Message_NMEA_GGA::content_t& GGA_datum = datum.fields;

                MRPT_READ_POD(in, GGA_datum.UTCTime.hour);
                MRPT_READ_POD(in, GGA_datum.UTCTime.minute);
                MRPT_READ_POD(in, GGA_datum.UTCTime.sec);
                MRPT_READ_POD(in, GGA_datum.latitude_degrees);
                MRPT_READ_POD(in, GGA_datum.longitude_degrees);
                MRPT_READ_POD(in, GGA_datum.fix_quality);
                MRPT_READ_POD(in, GGA_datum.altitude_meters);
                if (version >= 9)
                {
                    MRPT_READ_POD(in, GGA_datum.geoidal_distance);
                    MRPT_READ_POD(in, GGA_datum.orthometric_altitude);
                    MRPT_READ_POD(in, GGA_datum.corrected_orthometric_altitude);
                }
                else
                {
                    GGA_datum.geoidal_distance = 0.0f;
                    GGA_datum.orthometric_altitude = 0.0f;
                    GGA_datum.corrected_orthometric_altitude = 0.0f;
                }

                MRPT_READ_POD(in, GGA_datum.satellitesUsed);
                MRPT_READ_POD(in, GGA_datum.thereis_HDOP);
                MRPT_READ_POD(in, GGA_datum.HDOP);
                this->setMsg(datum);
            }

            bool has_RMC_datum_;
            in >> has_RMC_datum_;
            if (has_RMC_datum_)
            {
                gnss::Message_NMEA_RMC datum;
                gnss::Message_NMEA_RMC::content_t& RMC_datum = datum.fields;

                MRPT_READ_POD(in, RMC_datum.UTCTime.hour);
                MRPT_READ_POD(in, RMC_datum.UTCTime.minute);
                MRPT_READ_POD(in, RMC_datum.UTCTime.sec);
                MRPT_READ_POD(in, RMC_datum.validity_char);
                MRPT_READ_POD(in, RMC_datum.latitude_degrees);
                MRPT_READ_POD(in, RMC_datum.longitude_degrees);
                MRPT_READ_POD(in, RMC_datum.speed_knots);
                MRPT_READ_POD(in, RMC_datum.direction_degrees);
                this->setMsg(datum);
            }
            if (version > 1)
                in >> sensorLabel;
            else
                sensorLabel = "";
            if (version >= 4)
                in >> sensorPose;
            else
                sensorPose.setFromValues(0, 0, 0, 0, 0, 0);
            if (version >= 5)
            {
                bool has_PZS_datum_;
                in >> has_PZS_datum_;
                if (has_PZS_datum_)
                {
                    auto* datum = new gnss::Message_TOPCON_PZS();
                    messages[gnss::TOPCON_PZS] = gnss::gnss_message_ptr(datum);
                    gnss::Message_TOPCON_PZS& PZS_datum = *datum;

                    MRPT_READ_POD(in, PZS_datum.latitude_degrees);
                    MRPT_READ_POD(in, PZS_datum.longitude_degrees);
                    MRPT_READ_POD(in, PZS_datum.height_meters);
                    MRPT_READ_POD(in, PZS_datum.RTK_height_meters);
                    MRPT_READ_POD(in, PZS_datum.PSigma);
                    MRPT_READ_POD(in, PZS_datum.angle_transmitter);
                    MRPT_READ_POD(in, PZS_datum.nId);
                    MRPT_READ_POD(in, PZS_datum.Fix);
                    MRPT_READ_POD(in, PZS_datum.TXBattery);
                    MRPT_READ_POD(in, PZS_datum.RXBattery);
                    MRPT_READ_POD(in, PZS_datum.error);
                    // extra data?
                    if (version >= 6)
                    {
                        MRPT_READ_POD(in, PZS_datum.hasCartesianPosVel);
                        MRPT_READ_POD(in, PZS_datum.cartesian_x);
                        MRPT_READ_POD(in, PZS_datum.cartesian_y);
                        MRPT_READ_POD(in, PZS_datum.cartesian_z);
                        MRPT_READ_POD(in, PZS_datum.cartesian_vx);
                        MRPT_READ_POD(in, PZS_datum.cartesian_vy);
                        MRPT_READ_POD(in, PZS_datum.cartesian_vz);
                        MRPT_READ_POD(in, PZS_datum.hasPosCov);
                        in.ReadBufferFixEndianness(
                            &PZS_datum.pos_covariance(0, 0),
                            PZS_datum.pos_covariance.size());
                        MRPT_READ_POD(in, PZS_datum.hasVelCov);
                        in.ReadBufferFixEndianness(
                            &PZS_datum.vel_covariance(0, 0),
                            PZS_datum.vel_covariance.size());
                        MRPT_READ_POD(in, PZS_datum.hasStats);
                        MRPT_READ_POD(in, PZS_datum.stats_GPS_sats_used);
                        MRPT_READ_POD(in, PZS_datum.stats_GLONASS_sats_used);
                        if (version >= 8)
                            MRPT_READ_POD(in, PZS_datum.stats_rtk_fix_progress);
                        else
                            PZS_datum.stats_rtk_fix_progress = 0;
                    }
                    else
                    {
                        PZS_datum.hasCartesianPosVel = PZS_datum.hasPosCov =
                            PZS_datum.hasVelCov = PZS_datum.hasStats = false;
                    }
                }
            }  // end version >=5

            // Added in V7:
            if (version >= 7)
            {
                auto* datum = new gnss::Message_TOPCON_SATS();
                messages[gnss::TOPCON_SATS] = gnss::gnss_message_ptr(datum);
                bool has_SATS_datum_;
                in >> has_SATS_datum_;
                if (has_SATS_datum_)
                {
                    THROW_EXCEPTION(
                        "Reading TOPCON_SATS is broken: non-trivial POD data "
                        "read.");
                    // was: MRPT_READ_POD(in, SATS_datum.USIs);
                    // gnss::Message_TOPCON_SATS& SATS_datum = *datum;
                }
            }
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };

    if (version < 10 && originalReceivedTimestamp == INVALID_TIMESTAMP)
        originalReceivedTimestamp = timestamp;
}

void CObservationGPS::dumpToStream(std::ostream& out) const
{
    out << "\n------------- [CObservationGPS] Dump of " << messages.size()
        << " messages --------------------\n";
    for (const auto& m : messages) m.second->dumpToStream(out);
    out << "-------------- [CObservationGPS] End of dump -----------------\n\n";
}

void CObservationGPS::dumpToConsole(std::ostream& o) const
{
    this->dumpToStream(o);
}

mrpt::system::TTimeStamp CObservationGPS::getOriginalReceivedTimeStamp() const
{
    return originalReceivedTimestamp;
}

void CObservationGPS::clear()
{
    messages.clear();
    timestamp = INVALID_TIMESTAMP;
    originalReceivedTimestamp = INVALID_TIMESTAMP;
}
void CObservationGPS::getDescriptionAsText(std::ostream& o) const
{
    using namespace mrpt::system;  // for the TTimeStamp << operator

    CObservation::getDescriptionAsText(o);

    o << "Timestamp (UTC) of reception at the computer: "
      << mrpt::system::dateTimeToString(originalReceivedTimestamp) << std::endl;
    o << "  (as time_t): " << std::fixed << std::setprecision(5)
      << mrpt::system::timestampTotime_t(originalReceivedTimestamp)
      << std::endl;
    o << "  (as TTimestamp): " << originalReceivedTimestamp << std::endl;

    o << "Sensor position on the robot/vehicle: " << sensorPose << std::endl;

    this->dumpToConsole(o);
}

bool CObservationGPS::hasMsgType(const gnss::gnss_message_type_t type_id) const
{
    return messages.find(type_id) != messages.end();
}

mrpt::obs::gnss::gnss_message* CObservationGPS::getMsgByType(
    const gnss::gnss_message_type_t type_id)
{
    auto it = messages.find(type_id);
    ASSERTMSG_(
        it != messages.end(), mrpt::format(
                                  "[CObservationGPS::getMsgByType] Cannot find "
                                  "any observation of type `%u`",
                                  static_cast<unsigned int>(type_id)));
    return it->second.get();
}
/** \overload */
const mrpt::obs::gnss::gnss_message* CObservationGPS::getMsgByType(
    const gnss::gnss_message_type_t type_id) const
{
    auto it = messages.find(type_id);
    ASSERTMSG_(
        it != messages.end(), mrpt::format(
                                  "[CObservationGPS::getMsgByType] Cannot find "
                                  "any observation of type `%u`",
                                  static_cast<unsigned int>(type_id)));
    return it->second.get();
}

// From: http://gnsstk.sourceforge.net/time__conversion_8c-source.html
#define TIMECONV_JULIAN_DATE_START_OF_GPS_TIME (2444244.5)  // [days]
bool TIMECONV_GetJulianDateFromGPSTime(
    const unsigned short gps_week, const double gps_tow,
    const unsigned int utc_offset, double* julian_date)
{
    if (gps_tow < 0.0 || gps_tow > 604800.0) return false;
    // GPS time is ahead of UTC time and Julian time by the UTC offset
    *julian_date = (gps_week + (gps_tow - utc_offset) / 604800.0) * 7.0 +
                   TIMECONV_JULIAN_DATE_START_OF_GPS_TIME;
    return true;
}

bool TIMECONV_IsALeapYear(const unsigned short year)
{
    bool is_a_leap_year = false;
    if ((year % 4) == 0)
    {
        is_a_leap_year = true;
        if ((year % 100) == 0)
        {
            if ((year % 400) == 0)
                is_a_leap_year = true;
            else
                is_a_leap_year = false;
        }
    }
    return is_a_leap_year;
}

bool TIMECONV_GetNumberOfDaysInMonth(
    /** Universal Time Coordinated    [year] */
    const unsigned short year,
    /** Universal Time Coordinated    [1-12 months]  */
    const unsigned char month,
    /** Days in the specified month   [1-28|29|30|31 days] */
    unsigned char* days_in_month)
{
    unsigned char utmp = 0;
    bool is_a_leapyear = TIMECONV_IsALeapYear(year);

    switch (month)
    {
        case 1:
            utmp = 31;
            break;
        case 2:
            if (is_a_leapyear)
            {
                utmp = 29;
            }
            else
            {
                utmp = 28;
            }
            break;
        case 3:
            utmp = 31;
            break;
        case 4:
            utmp = 30;
            break;
        case 5:
            utmp = 31;
            break;
        case 6:
            utmp = 30;
            break;
        case 7:
            utmp = 31;
            break;
        case 8:
            utmp = 31;
            break;
        case 9:
            utmp = 30;
            break;
        case 10:
            utmp = 31;
            break;
        case 11:
            utmp = 30;
            break;
        case 12:
            utmp = 31;
            break;
        default:
            return false;
            break;
    }
    *days_in_month = utmp;
    return true;
}
/** Number of days since noon Universal Time Jan 1, 4713 BCE (Julian calendar)
 * [days] */
bool TIMECONV_GetUTCTimeFromJulianDate(
    const double julian_date, mrpt::system::TTimeParts& utc)
{
    int a, b, c, d, e;  // temporary values

    unsigned short year;
    unsigned char month;
    unsigned char day;
    unsigned char hour;
    unsigned char minute;
    unsigned char days_in_month = 0;
    double td;  // temporary double
    double seconds;
    bool result;

    // Check the input.
    if (julian_date < 0.0) return false;

    a = lround(julian_date);
    b = a + 1537;
    c = (int)(((double)b - 122.1) / 365.25);
    d = (int)(365.25 * c);
    e = (int)(((double)(b - d)) / 30.6001);

    td = b - d - (int)(30.6001 * e) + fmod(julian_date + 0.5, 1.0);  // [days]
    day = (unsigned char)td;
    td -= day;
    td *= 24.0;  // [hours]
    hour = (unsigned char)td;
    td -= hour;
    td *= 60.0;  // [minutes]
    minute = (unsigned char)td;
    td -= minute;
    td *= 60.0;  // [s]
    seconds = td;
    month = (unsigned char)(e - 1 - 12 * (int)(e / 14));
    year = (unsigned short)(c - 4715 - (int)((7.0 + (double)month) / 10.0));
    // check for rollover issues
    if (seconds >= 60.0)
    {
        seconds -= 60.0;
        minute++;
        if (minute >= 60)
        {
            minute -= 60;
            hour++;
            if (hour >= 24)
            {
                hour -= 24;
                day++;
                result = TIMECONV_GetNumberOfDaysInMonth(
                    year, month, &days_in_month);
                if (result == false) return false;
                if (day > days_in_month)
                {
                    day = 1;
                    month++;
                    if (month > 12)
                    {
                        month = 1;
                        year++;
                    }
                }
            }
        }
    }

    utc.year = year;
    utc.month = month;
    utc.day = day;
    utc.hour = hour;
    utc.minute = minute;
    utc.second = seconds;
    return true;
}

bool CObservationGPS::GPS_time_to_UTC(
    uint16_t gps_week, double gps_sec, const int leap_seconds_count,
    mrpt::system::TTimeStamp& utc_out)
{
    mrpt::system::TTimeParts tim;
    if (!GPS_time_to_UTC(gps_week, gps_sec, leap_seconds_count, tim))
        return false;
    utc_out = mrpt::system::buildTimestampFromParts(tim);
    return true;
}

bool CObservationGPS::GPS_time_to_UTC(
    uint16_t gps_week, double gps_sec, const int leap_seconds_count,
    mrpt::system::TTimeParts& utc_out)
{
    double julian_date = 0.0;
    if (gps_sec < 0.0 || gps_sec > 604800.0) return false;
    if (!TIMECONV_GetJulianDateFromGPSTime(
            gps_week, gps_sec, leap_seconds_count, &julian_date))
        return false;
    if (!TIMECONV_GetUTCTimeFromJulianDate(julian_date, utc_out)) return false;
    return true;
}