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

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

namespace mrpt::obs::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(std::ostream& out) const override;  // See docs in base

   protected:
    void internal_writeToStream(
        mrpt::serialization::CArchive& out) const override;
    void internal_readFromStream(mrpt::serialization::CArchive& 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). */
    std::vector<uint8_t> USIs;
    /** Elevation (in degrees, 0-90) for each satellite in USIs. */
    std::vector<int8_t> ELs;
    /** Azimuth (in degrees, 0-360) for each satellite in USIs. */
    std::vector<int16_t> AZs;

    void dumpToStream(std::ostream& out) const override;  // See docs in base
   protected:
    void internal_writeToStream(
        mrpt::serialization::CArchive& out) const override;
    void internal_readFromStream(mrpt::serialization::CArchive& in) override;
};
}