gnss_messages_ascii_nmea.h

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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          |
   +------------------------------------------------------------------------+ */
#pragma once

#include "gnss_messages_common.h"

namespace mrpt::obs::gnss
{
// Pragma to ensure we can safely serialize some of these structures
#pragma pack(push, 1)

/** NMEA datum: GGA. \sa mrpt::obs::CObservationGPS  */
struct Message_NMEA_GGA : public gnss_message
{
    GNSS_MESSAGE_BINARY_BLOCK(&fields, sizeof(fields))
    /** Static msg type (member expected by templates) */
    enum
    {
        msg_type = NMEA_GGA
    };
    Message_NMEA_GGA() : gnss_message((gnss_message_type_t)msg_type) {}
    struct content_t
    {
        /** The GPS sensor measured timestamp (in UTC time) */
        UTC_time UTCTime;
        /** The measured latitude, in degrees (North:+ , South:-) */
        double latitude_degrees{0};
        /** The measured longitude, in degrees (East:+ , West:-) */
        double longitude_degrees{0};
        /** NMEA standard values: 0 = invalid, 1 = GPS fix (SPS), 2 = DGPS fix,
         * 3 = PPS fix, 4 = Real Time Kinematic, 5 = Float RTK, 6 = estimated
         * (dead reckoning) (2.3 feature), 7 = Manual input mode, 8 = Simulation
         * mode */
        uint8_t fix_quality{0};
        /** The measured altitude, in meters (A). */
        double altitude_meters{0};
        /** Undulation: Difference between the measured altitude and the geoid,
         * in meters (B). */
        double geoidal_distance{};
        /** The measured orthometric altitude, in meters (A)+(B). */
        double orthometric_altitude{};
        /** The corrected (only for TopCon mmGPS) orthometric altitude, in
         * meters mmGPS(A+B). */
        double corrected_orthometric_altitude{};
        /** The number of satelites used to compute this estimation. */
        uint32_t satellitesUsed{0};
        /** This states whether to take into account the value in the HDOP
         * field. */
        bool thereis_HDOP{false};
        /** The HDOP (Horizontal Dilution of Precision) as returned by the
         * sensor. */
        float HDOP{0};

        content_t();
    };
    /** Message content, accesible by individual fields */
    content_t fields;

    void dumpToStream(std::ostream& out) const override;  // See docs in base

    /**  Return the geodetic coords as a mrpt::topography::TGeodeticCoords
     * structure (requires linking against mrpt-topography)
     *   Call as: getAsStruct<TGeodeticCoords>(); */
    template <class TGEODETICCOORDS>
    inline TGEODETICCOORDS getOrthoAsStruct() const
    {
        return TGEODETICCOORDS(
            fields.latitude_degrees, fields.longitude_degrees,
            fields.orthometric_altitude);
    }
    /**  Return the corrected geodetic coords as a
     * mrpt::topography::TGeodeticCoords structure (requires linking against
     * mrpt-topography)
     *   Call as: getAsStruct<TGeodeticCoords>(); */
    template <class TGEODETICCOORDS>
    inline TGEODETICCOORDS getCorrectedOrthoAsStruct() const
    {
        return TGEODETICCOORDS(
            fields.latitude_degrees, fields.longitude_degrees,
            fields.corrected_orthometric_altitude);
    }
    /**  Return the geodetic coords as a mrpt::topography::TGeodeticCoords
     * structure (requires linking against mrpt-topography)
     *   Call as: getAsStruct<TGeodeticCoords>(); */
    template <class TGEODETICCOORDS>
    inline TGEODETICCOORDS getAsStruct() const
    {
        return TGEODETICCOORDS(
            fields.latitude_degrees, fields.longitude_degrees,
            fields.altitude_meters);
    }

    bool getAllFieldDescriptions(std::ostream& o) const override;
    bool getAllFieldValues(std::ostream& o) const override;
};

/** NMEA datum: GLL. \sa mrpt::obs::CObservationGPS  */
struct Message_NMEA_GLL : public gnss_message
{
    GNSS_MESSAGE_BINARY_BLOCK(&fields, sizeof(fields))
    /** Static msg type (member expected by templates) */
    enum
    {
        msg_type = NMEA_GLL
    };
    Message_NMEA_GLL() : gnss_message((gnss_message_type_t)msg_type) {}
    struct content_t
    {
        /** The GPS sensor measured timestamp (in UTC time) */
        UTC_time UTCTime;
        /** The measured latitude, in degrees (North:+ , South:-) */
        double latitude_degrees{0};
        /** The measured longitude, in degrees (East:+ , West:-) */
        double longitude_degrees{0};
        /** This will be: 'A'=OK or 'V'=void */
        int8_t validity_char{'V'};
        content_t();
    };
    /** Message content, accesible by individual fields */
    content_t fields;
    void dumpToStream(std::ostream& out) const override;  // See docs in base
    bool getAllFieldDescriptions(std::ostream& o) const override;
    bool getAllFieldValues(std::ostream& o) const override;
};

/** NMEA datum: RMC. \sa mrpt::obs::CObservationGPS   */
struct Message_NMEA_RMC : public gnss_message
{
    GNSS_MESSAGE_BINARY_BLOCK(&fields, sizeof(fields))
    /** Static msg type (member expected by templates) */
    enum
    {
        msg_type = NMEA_RMC
    };
    Message_NMEA_RMC() : gnss_message((gnss_message_type_t)msg_type) {}
    struct content_t
    {
        /** The GPS sensor measured timestamp (in UTC time) */
        UTC_time UTCTime;
        /** This will be: 'A'=OK or 'V'=void */
        int8_t validity_char{'V'};
        /** The measured latitude, in degrees (North:+ , South:-) */
        double latitude_degrees{0};
        /** The measured longitude, in degrees (East:+ , West:-) */
        double longitude_degrees{0};
        /** Measured speed (in knots) */
        double speed_knots{0};
        /** Measured speed direction (in degrees) */
        double direction_degrees{0};
        /** Date: day (1-31), month (1-12), two-digits year (00-99) */
        uint8_t date_day{0}, date_month{0}, date_year{0};
        /** Magnetic variation direction (East:+, West:-) */
        double magnetic_dir{};
        /** 'A': Autonomous, 'D': Differential, 'N': Not valid, 'E': Estimated,
         * 'M': Manual */
        char positioning_mode{'N'};
        content_t();
    };
    /** Message content, accesible by individual fields */
    content_t fields;

    /** Build an MRPT timestamp with the year/month/day of this observation. */
    mrpt::system::TTimeStamp getDateAsTimestamp() const;

    void dumpToStream(std::ostream& out) const override;  // See docs in base
    bool getAllFieldDescriptions(std::ostream& o) const override;
    bool getAllFieldValues(std::ostream& o) const override;
};

/** NMEA datum: VTG. \sa mrpt::obs::CObservationGPS  */
struct Message_NMEA_VTG : public gnss_message
{
    GNSS_MESSAGE_BINARY_BLOCK(&fields, sizeof(fields))
    /** Static msg type (member expected by templates) */
    enum
    {
        msg_type = NMEA_VTG
    };
    Message_NMEA_VTG() : gnss_message((gnss_message_type_t)msg_type) {}
    struct content_t
    {
        /** Degrees */
        double true_track{}, magnetic_track{};
        double ground_speed_knots{}, ground_speed_kmh{};
        content_t();
    };
    /** Message content, accesible by individual fields */
    content_t fields;
    void dumpToStream(std::ostream& out) const override;  // See docs in base
    bool getAllFieldDescriptions(std::ostream& o) const override;
    bool getAllFieldValues(std::ostream& o) const override;
};

/** NMEA datum: GSA. \sa mrpt::obs::CObservationGPS   */
struct Message_NMEA_GSA : public gnss_message
{
    GNSS_MESSAGE_BINARY_BLOCK(&fields, sizeof(fields))
    /** Static msg type (member expected by templates) */
    enum
    {
        msg_type = NMEA_GSA
    };
    Message_NMEA_GSA() : gnss_message((gnss_message_type_t)msg_type) {}
    struct content_t
    {
        char auto_selection_fix = 'M';
        char fix_2D_3D = '1';  //!< 1: no fix, 2: 2D fix, 3: 3D fix
        char PRNs[12][2];  //!< Satellite IDs used
        double PDOP = 0, HDOP = 0, VDOP = 0;
        content_t();
    };
    /** Message content, accesible by individual fields */
    content_t fields;

    void dumpToStream(std::ostream& out) const override;  // See docs in base
    bool getAllFieldDescriptions(std::ostream& o) const override;
    bool getAllFieldValues(std::ostream& o) const override;
};

/** NMEA datum: ZDA. \sa mrpt::obs::CObservationGPS   */
struct Message_NMEA_ZDA : public gnss_message
{
    GNSS_MESSAGE_BINARY_BLOCK(&fields, sizeof(fields))
    /** Static msg type (member expected by templates) */
    enum
    {
        msg_type = NMEA_ZDA
    };
    Message_NMEA_ZDA() : gnss_message((gnss_message_type_t)msg_type) {}
    struct content_t
    {
        /** The GPS sensor measured timestamp (in UTC time) */
        UTC_time UTCTime;
        /** 1-31 */
        uint8_t date_day{};
        /** 1-12 */
        uint8_t date_month{};
        /** 2000-... */
        uint16_t date_year{};
        content_t();
    };
    /** Message content, accesible by individual fields */
    content_t fields;

    /** Build an MRPT UTC timestamp with the year/month/day + hour/minute/sec of
     * this observation. */
    mrpt::system::TTimeStamp getDateTimeAsTimestamp() const;
    /** Build an MRPT timestamp with the year/month/day of this observation. */
    mrpt::system::TTimeStamp getDateAsTimestamp() const;

    void dumpToStream(std::ostream& out) const override;  // See docs in base
    bool getAllFieldDescriptions(std::ostream& o) const override;
    bool getAllFieldValues(std::ostream& o) const override;
};
#pragma pack(pop)  // End of pack = 1
}  // namespace mrpt::obs::gnss