CObservationGPS.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */
#ifndef CObservationGPS_H
#define CObservationGPS_H
 
#include <mrpt/serialization/CSerializable.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/obs/gnss_messages.h>
#include <typeinfo>
#include <map>
 
namespace mrpt::obs
{
/** This class <b>stores messages</b> from GNSS or GNSS+IMU devices, from
 * consumer-grade inexpensive GPS receivers to Novatel/Topcon/... advanced RTK
 * solutions.
 *
 *  See mrpt::hwdrivers::CGPSInterface for a class capable of reading from a
 * serial port or any input stream and \b parsing the ASCII/binary stream into
 *  indivual messages \b stored in mrpt::obs::CObservationGPS objects.
 *
 *  Supported message types are:
 *  - NMEA 0183 (ASCII): GGA, RMC
 *  - Topcon GRIL (Binary): PZS, SATS
 *  - Novatel GNSS/SPAN OEM6 (Binary): See list of log packets under namespace
 * mrpt::obs::gnss and in enum type mrpt::obs::gnss::gnss_message_type_t
 *
 *  Note that this object has \b two timestamp fields:
 *  - The standard CObservation::timestamp field in the base class, which should
 * contain the accurate satellite-based UTC timestamp, and
 *  - the field CObservationGPS::originalReceivedTimestamp, with the local
 * computer-based timestamp based on the reception of the message in the
 * computer.
 *
 * Normally, users read and write messages by means of these methods:
 *  - CObservationGPS::getMsgByClass()
 *  - CObservationGPS::setMsg()
 *  - CObservationGPS::hasMsgType()
 *  - CObservationGPS::hasMsgClass()
 *
 * Example access to GPS datum:
 * \code
 * mrpt::obs::CObservationGPS obs;
 * //...
 * if (obs.hasMsgClass<mrpt::obs::gnss::Message_NMEA_GGA>()) {
 *   const mrpt::obs::gnss::Message_NMEA_GGA &gga =
 * o.getMsgByClass<mrpt::obs::gnss::Message_NMEA_GGA>();
 *   //gga.fields.XXX ...
 * }
 * \endcode
 *
 * \note <b>[API changed in MRPT 1.4.0]</b> mrpt::obs::CObservationGPS now
 * stores message objects in a more flexible way. API clean-up and extended so
 * the number of GNSS message types is larger and more scalable.
 * \note Porting old code: For example, replace `observation.GGA_datum.XXX` with
 * `observation.getMsgByClass<gnss::Message_NMEA_GGA>().fields.XXX`, etc.
 * \sa CObservation
 * \ingroup mrpt_obs_grp
 */
class CObservationGPS : public CObservation
{
    DEFINE_SERIALIZABLE(CObservationGPS)
 
   public:
    using message_list_t =
        std::map<gnss::gnss_message_type_t, gnss::gnss_message_ptr>;
 
    /** @name GNSS (GPS) data fields
     * @{ */
    /** The sensor pose on the robot/vehicle */
    mrpt::poses::CPose3D sensorPose{};
    /** The local computer-based timestamp based on the reception of the message
     * in the computer. \sa CObservation::timestamp in the base class, which
     * should contain the accurate satellite-based UTC timestamp. */
    mrpt::system::TTimeStamp originalReceivedTimestamp{INVALID_TIMESTAMP};
    /** If true, CObservation::timestamp has been generated from accurate
     * satellite clock. Otherwise, no GPS data is available and timestamps are
     * based on the local computer clock. */
    bool has_satellite_timestamp{false};
    /** The main piece of data in this class: a list of GNNS messages.
     * Normally users might prefer to access the list via the methods
     * CObservationGPS::getMsgByClass() and CObservationGPS::setMsg()
     * Typically only one message, may be multiple if all have the same
     * timestamp. */
    message_list_t messages;
    /** @} */
 
    /** @name Main API to access to the data fields
     * @{ */
    /** Stores a message in the list \a messages, making a copy of the passed
     * object.
     * Valid message classes are those derived from
     * mrpt::obs::gnss::gnss_message. If another message of the same type
     * exists, it is overwritten. */
    template <class MSG_CLASS>
    void setMsg(const MSG_CLASS& msg)
    {
        messages[static_cast<gnss::gnss_message_type_t>(MSG_CLASS::msg_type)]
            .set(new MSG_CLASS(msg));
    }
    /** Returns true if the list \a CObservationGPS::messages contains one of
     * the requested type. \sa mrpt::obs::gnss::gnss_message_type_t,
     * CObservationGPS::getMsgByType() */
    bool hasMsgType(const gnss::gnss_message_type_t type_id) const;
    /** Like \a hasMsgType() but allows querying for message classes, from any
     * of those derived from mrpt::obs::gnss::gnss_message \sa
     * CObservationGPS::hasMsgType(),  */
    template <class MSG_CLASS>
    bool hasMsgClass() const
    {
        return hasMsgType(
            static_cast<gnss::gnss_message_type_t>(MSG_CLASS::msg_type));
    }
    /** Returns a pointer to the message in the list CObservationGPS::messages
     * of the requested type. Users normally would prefer using
     * CObservationGPS::getMsgByClass()
     * to avoid having to perform a dynamic_cast<>() on the returned pointer.
     * \exception std::runtime_error If there is no such a message in the list.
     * Please, check existence before calling this method with
     * CObservationGPS::hasMsgType()
     * \sa mrpt::obs::gnss::gnss_message_type_t,
     * CObservationGPS::getMsgByClass(), CObservationGPS::hasMsgType() */
    mrpt::obs::gnss::gnss_message* getMsgByType(
        const gnss::gnss_message_type_t type_id);
    /** \overload */
    const mrpt::obs::gnss::gnss_message* getMsgByType(
        const gnss::gnss_message_type_t type_id) const;
 
    /** Returns a reference to the message in the list CObservationGPS::messages
     * of the requested class.
     * \exception std::runtime_error If there is no such a message in the list.
     * Please, check existence before calling this method with
     * CObservationGPS::hasMsgClass()
     * \sa mrpt::obs::gnss::gnss_message_type_t,
     * CObservationGPS::getMsgByType(), CObservationGPS::hasMsgType() */
    template <class MSG_CLASS>
    MSG_CLASS& getMsgByClass()
    {
        message_list_t::iterator it = messages.find(
            static_cast<gnss::gnss_message_type_t>(MSG_CLASS::msg_type));
        ASSERTMSG_(
            it != messages.end(), mrpt::format(
                                      "[CObservationGPS::getMsgByClass] Cannot "
                                      "find any observation of type `%s`",
                                      typeid(MSG_CLASS).name()));
        ASSERT_(it->second.get());
        return *dynamic_cast<MSG_CLASS*>(it->second.get());
    }
    /** \overload */
    template <class MSG_CLASS>
    const MSG_CLASS& getMsgByClass() const
    {
        message_list_t::const_iterator it = messages.find(
            static_cast<gnss::gnss_message_type_t>(MSG_CLASS::msg_type));
        ASSERTMSG_(
            it != messages.end(), mrpt::format(
                                      "[CObservationGPS::getMsgByClass] Cannot "
                                      "find any observation of type `%s`",
                                      typeid(MSG_CLASS).name()));
        ASSERT_(it->second.get());
        return *dynamic_cast<const MSG_CLASS*>(it->second.get());
    }
 
    /** Like CObservationGPS::getMsgByClass() but returns a nullptr pointer if
     * message is not found, instead of launching an exception */
    template <class MSG_CLASS>
    MSG_CLASS* getMsgByClassPtr()
    {
        message_list_t::iterator it = messages.find(
            static_cast<gnss::gnss_message_type_t>(MSG_CLASS::msg_type));
        return it == messages.end()
                   ? static_cast<MSG_CLASS*>(nullptr)
                   : dynamic_cast<MSG_CLASS*>(it->second.get());
    }
    /** \overload */
    template <class MSG_CLASS>
    const MSG_CLASS* getMsgByClassPtr() const
    {
        message_list_t::const_iterator it = messages.find(
            static_cast<gnss::gnss_message_type_t>(MSG_CLASS::msg_type));
        return it == messages.end()
                   ? dynamic_cast<MSG_CLASS*>(nullptr)
                   : dynamic_cast<MSG_CLASS*>(it->second.get());
    }
 
    /** Dumps the contents of the observation in a human-readable form to a
     * given output stream \sa dumpToConsole(), getDescriptionAsText() */
    void dumpToStream(std::ostream& out) const;
    /** Dumps the contents of the observation in a human-readable form to an
     * std::ostream (use std::cout to print to console) */
    void dumpToConsole(std::ostream& o) const;
    /** Empties this observation, clearing the container \a messages */
    void clear();
    void swap(CObservationGPS& o);
 
    void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const override
    {
        out_sensorPose = sensorPose;
    }  // See base class docs
    void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override
    {
        sensorPose = newSensorPose;
    }  // See base class docs
    void getDescriptionAsText(
        std::ostream& o) const override;  // See base class docs
 
    mrpt::system::TTimeStamp getOriginalReceivedTimeStamp()
        const override;  // See base class docs
    /** @} */
 
    /** @name Deprecated, backwards compatible (MRPT <1.4.0) data and types
     * @{ */
    /** Deprecated, kept for backwards compatibility */
    using TUTCTime = gnss::UTC_time;
    /** Deprecated, kept for backwards compatibility */
    using TGPSDatum_PZS = gnss::Message_TOPCON_PZS;
    /** Deprecated, kept for backwards compatibility */
    using TGPSDatum_SATS = gnss::Message_TOPCON_SATS;
    /** Deprecated, kept for backwards compatibility */
    using TGPSDatum_GGA = gnss::Message_NMEA_GGA;
    /** Deprecated, kept for backwards compatibility */
    using TGPSDatum_RMC = gnss::Message_NMEA_RMC;
 
    /** Proxy class for type-based testing existence of data inside
     * CObservationGPS::messages */
    template <mrpt::obs::gnss::gnss_message_type_t MSG_TYPE>
    struct internal_msg_test_proxy
    {
        internal_msg_test_proxy(message_list_t& msgs_) : msgs(msgs_) {}
        operator bool(void) const { return msgs.find(MSG_TYPE) != msgs.end(); }
        internal_msg_test_proxy<MSG_TYPE>& operator=(
            const internal_msg_test_proxy<MSG_TYPE>&)
        {
            return *this;
        }
 
       private:
        message_list_t& msgs;
    };
 
    // Was: bool  has_GGA_datum;
    /** Evaluates as a bool; true if the corresponding field exists in \a
     * messages. */
    internal_msg_test_proxy<gnss::NMEA_GGA> has_GGA_datum{messages};
    /** Evaluates as a bool; true if the corresponding field exists in \a
     * messages. */
    internal_msg_test_proxy<gnss::NMEA_RMC> has_RMC_datum{messages};
    /** Evaluates as a bool; true if the corresponding field exists in \a
     * messages. */
    internal_msg_test_proxy<gnss::TOPCON_PZS> has_PZS_datum{messages};
    /** Evaluates as a bool; true if the corresponding field exists in \a
     * messages. */
    internal_msg_test_proxy<gnss::TOPCON_SATS> has_SATS_datum{messages};
    /** @} */
 
    /** @name Utilities
     * @{ */
    static bool GPS_time_to_UTC(
        uint16_t gps_week, double gps_sec,
        const int leap_seconds_count /**< [in] GPS to UTC time number of leap
                                        seconds (normally grabbed from
                                        satellital live data) */
        ,
        /** Return false on invalid input data */
        mrpt::system::TTimeStamp& utc_out /**< [out] UTC timestamp */);
    /** \overload */
    static bool GPS_time_to_UTC(
        uint16_t gps_week, double gps_sec, const int leap_seconds_count,
        mrpt::system::TTimeParts& utc_out);
    /** @} */
};  // End of class def.
 
}
#endif