gnss_messages_topcon.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"
#include <mrpt/math/CMatrixFixedNumeric.h>

namespace mrpt
{
namespace obs
{
namespace gnss
{
/** GPS datum for TopCon's mmGPS devices: PZS. \sa mrpt::obs::CObservationGPS */
struct Message_TOPCON_PZS : public gnss_message
{
        /** Static msg type (member expected by templates) */
        enum
        {
                msg_type = TOPCON_PZS
        };

        /** The measured latitude, in degrees (North:+ , South:-) */
        double latitude_degrees;
        /** The measured longitude, in degrees (East:+ , West:-) */
        double longitude_degrees;
        /** ellipsoidal height from N-beam [m] perhaps weighted with regular gps */
        double height_meters;
        /** ellipsoidal height [m] without N-beam correction */
        double RTK_height_meters;
        /** position SEP [m] */
        float PSigma;
        /** Vertical angle of N-beam */
        double angle_transmitter;
        /** ID of the transmitter [1-4], 0 if none. */
        uint8_t nId;
        /** 1: GPS, 2: mmGPS */
        uint8_t Fix;
        /** battery level on transmitter */
        uint8_t TXBattery;
        /** battery level on receiver */
        uint8_t RXBattery;
        uint8_t error;  //! system error indicator

        bool hasCartesianPosVel;
        /** Only if hasCartesianPosVel is true */
        double cartesian_x, cartesian_y, cartesian_z;
        /** Only if hasCartesianPosVel is true */
        double cartesian_vx, cartesian_vy, cartesian_vz;

        bool hasPosCov;
        /** Only if hasPosCov is true */
        mrpt::math::CMatrixFloat44 pos_covariance;

        bool hasVelCov;
        /** Only if hasPosCov is true */
        mrpt::math::CMatrixFloat44 vel_covariance;

        bool hasStats;
        uint8_t stats_GPS_sats_used,
                stats_GLONASS_sats_used;  //<! Only if hasStats is true
        /** [0,100] %, only in modes other than RTK FIXED. */
        uint8_t stats_rtk_fix_progress;

        Message_TOPCON_PZS();
        /**  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(
                        latitude_degrees, longitude_degrees, height_meters);
        }
        void dumpToStream(
                mrpt::utils::CStream& out) const override;  // See docs in base

   protected:
        void internal_writeToStream(mrpt::utils::CStream& out) const override;
        void internal_readFromStream(mrpt::utils::CStream& in) override;

   public:
        MRPT_MAKE_ALIGNED_OPERATOR_NEW
};

/** TopCon mmGPS devices: SATS, a generic structure for statistics about tracked
 * satelites and their positions. \sa mrpt::obs::CObservationGPS   */
struct Message_TOPCON_SATS : public gnss_message
{
        /** Static msg type (member expected by templates) */
        enum
        {
                msg_type = TOPCON_SATS
        };

        Message_TOPCON_SATS();

        /** The list of USI (Universal Sat ID) for the detected sats (See GRIL
         * Manual, pag 4-31). */
        mrpt::vector_byte USIs;
        /** Elevation (in degrees, 0-90) for each satellite in USIs. */
        mrpt::vector_signed_byte ELs;
        /** Azimuth (in degrees, 0-360) for each satellite in USIs. */
        mrpt::vector_signed_word AZs;

        void dumpToStream(
                mrpt::utils::CStream& out) const override;  // See docs in base
   protected:
        void internal_writeToStream(mrpt::utils::CStream& out) const override;
        void internal_readFromStream(mrpt::utils::CStream& in) override;
};
}
}
}  // End of namespaces