gnss_messages_ascii_nmea.h

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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 |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include "gnss_messages_common.h"
 
namespace mrpt
{
namespace obs
{
namespace 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;
                /** The measured longitude, in degrees (East:+ , West:-) */
                double longitude_degrees;
                /** 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;
                /** The measured altitude, in meters (A). */
                double altitude_meters;
                /** 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;
                /** This states whether to take into account the value in the HDOP
                 * field. */
                bool thereis_HDOP;
                /** The HDOP (Horizontal Dilution of Precision) as returned by the
                 * sensor. */
                float HDOP;
 
                content_t();
        };
        /** Message content, accesible by individual fields */
        content_t fields;
 
        void dumpToStream(
                mrpt::utils::CStream& 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;
                /** The measured longitude, in degrees (East:+ , West:-) */
                double longitude_degrees;
                /** This will be: 'A'=OK or 'V'=void */
                int8_t validity_char;
                content_t();
        };
        /** Message content, accesible by individual fields */
        content_t fields;
        void dumpToStream(
                mrpt::utils::CStream& 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;
                /** The measured latitude, in degrees (North:+ , South:-) */
                double latitude_degrees;
                /** The measured longitude, in degrees (East:+ , West:-) */
                double longitude_degrees;
                /** Measured speed (in knots) */
                double speed_knots;
                /** Measured speed direction (in degrees) */
                double direction_degrees;
                /** Date: day (1-31), month (1-12), two-digits year (00-99) */
                uint8_t date_day, date_month, date_year;
                /** Magnetic variation direction (East:+, West:-) */
                double magnetic_dir;
                /** 'A': Autonomous, 'D': Differential, 'N': Not valid, 'E': Estimated,
                 * 'M': Manual */
                char positioning_mode;
                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(
                mrpt::utils::CStream& 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(
                mrpt::utils::CStream& 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(
                mrpt::utils::CStream& 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
}
}
}  // End of namespaces