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);
}