gnss_messages_novatel.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)

/** Novatel OEM6 regular header structure \sa mrpt::obs::CObservationGPS  */
struct OBS_IMPEXP nv_oem6_header_t
{
        enum {
                SYNCH0 = 0xAA,
                SYNCH1 = 0X44,
                SYNCH2 = 0x12
        };

        uint8_t  synch[3];
        uint8_t  hdr_len;
        uint16_t msg_id;
        uint8_t  msg_type;
        uint8_t  port_addr;
        uint16_t msg_len;
        uint16_t seq_number;
        uint8_t  idle_percent;
        uint8_t  time_status;
        uint16_t week;
        uint32_t ms_in_week;
        uint32_t receiver_status;
        uint16_t reserved;
        uint16_t receiver_sw_version;

        nv_oem6_header_t();
};

/** Novatel OEM6 short header structure \sa mrpt::obs::CObservationGPS  */
struct OBS_IMPEXP nv_oem6_short_header_t
{
        enum {
                SYNCH0 = 0xAA,
                SYNCH1 = 0X44,
                SYNCH2 = 0x13
        };
        uint8_t   synch[3];
        uint8_t   msg_len;
        uint16_t  msg_id;
        uint16_t  week;
        uint32_t  ms_in_week;

        nv_oem6_short_header_t();
};


namespace nv_oem6_position_type {
/** Novatel OEM6 firmware reference, table 84; Novatel SPAN on OEM6 firmware manual, table 26. */
enum nv_position_type_t {
        NONE = 0,
        FIXEDPOS = 1,
        FIXEDHEIGHT = 2,
        Reserved = 3,
        FLOATCONV = 4,
        WIDELANE = 5,
        NARROWLANE = 6,
        DOPPLER_VELOCITY = 8,
        SINGLE = 16,
        PSRDIFF = 17,
        WAAS = 18,
        PROPAGATED = 19,
        OMNISTAR = 20,
        L1_FLOAT = 32,
        IONOFREE_FLOAT = 33,
        NARROW_FLOAT = 34,
        L1_INT = 48,
        WIDE_INT = 49,
        NARROW_INT = 50,
        RTK_DIRECT_INS = 51,
        INS = 52,
        INS_PSRSP = 53,
        INS_PSRDIFF = 54,
        INS_RTKFLOAT = 55,
        INS_RTKFIXED = 56,
        OMNISTAR_HP = 64,
        OMNISTAR_XP = 65,
        CDGPS = 66
};
        const std::string OBS_IMPEXP & enum2str(int val); //!< for nv_position_type_t
}

namespace nv_oem6_solution_status {
/** Novatel OEM6 firmware reference, table 85 */
enum nv_solution_status_t {
        SOL_COMPUTED = 0,               //!< solution computed
        INSUFFICIENT_OBS,       //!< insufficient observations
        NO_CONVERGENCE,         //!< noconvergence
        SINGULARITY,            //!< singularity at parameters matrix
        COV_TRACE,                      //!< covariance trace exceeds maximum (trace>1000m)
        TEST_DIST,                      //!< test distance exceeded (max of 3 rejections if distance > 10km)
        COLD_START,                     //!< not yet converged from cold start
        V_H_LIMIT,                      //!< height or velocity limits exceeded 
        VARIANCE,                       //!< variance exceeds limits
        RESIDUALS,                      //!< residuals are too large
        DELTA_POS,                      //!< delta position is too large
        NEGATIVE_VAR,           //!< negative variance
        INTEGRITY_WARNING=13,   //!< large residuals make position unreliable
        INS_INACTIVE,           //!< ins has not started yet
        INS_ALIGNING,           //!< ins doing its coarse alignment
        INS_BAD,                        //!< ins position is bad
        IMU_UNPLUGGED,          //!< no imu detected
        PENDING = 18,           //!< when a fix position command is entered, the receiver computes its own position and determines if the fixed position is valid
        INVALID_FIX                     //!< the fixed position entered using the fix position command is not valid
};
        const std::string OBS_IMPEXP & enum2str(int val); //!< for nv_solution_status_t
}
namespace nv_oem6_ins_status_type {
/** Novatel SPAN on OEM6 firmware reference, table 33 */
enum nv_ins_status_type_t {
        INS_INACTIVE = 0, //IMU logs are present, but the alignment routine has not started; INS is inactive.
        INS_ALIGNING = 1, // INS is in alignment mode.
        INS_HIGH_VARIANCE = 2, // The INS solution is in navigation mode but the azimuth solution uncertainty has exceeded the threshold. 
        INS_SOLUTION_GOOD = 3, // The INS filter is in navigation mode and the INS solution is good.
        INS_SOLUTION_FREE = 6, // The INS filter is in navigation mode and the GNSS solution is suspected to be in error.
        INS_ALIGNMENT_COMPLETE = 7, // The INS filter is in navigation mode, but not enough vehicle dynamics have been experienced for the system to be within specifications.
        DETERMINING_ORIENTATION = 8, // INS is determining the IMU axis aligned with gravity.
        WAITING_INITIALPOS = 9 // The INS filter has determined the IMU orientation and is awaiting an initial position estimate to begin the alignment process.
};
        const std::string OBS_IMPEXP & enum2str(int val); //!< for nv_ins_status_type_t
}

/** Novatel generic frame (to store frames without a parser at the present time). \sa mrpt::obs::CObservationGPS  */
struct OBS_IMPEXP Message_NV_OEM6_GENERIC_FRAME : public gnss_message
{
        Message_NV_OEM6_GENERIC_FRAME() : gnss_message((gnss_message_type_t)NV_OEM6_GENERIC_FRAME)
        {}
        nv_oem6_header_t     header;  //!< Frame header
        std::vector<uint8_t> msg_body;
        
        void dumpToStream( mrpt::utils::CStream &out ) const MRPT_OVERRIDE; // See docs in base
protected:
        void internal_writeToStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE;
        void internal_readFromStream(mrpt::utils::CStream &in) MRPT_OVERRIDE;
};

/** Novatel generic short-header frame (to store frames without a parser at the present time). \sa mrpt::obs::CObservationGPS  */
struct OBS_IMPEXP Message_NV_OEM6_GENERIC_SHORT_FRAME : public gnss_message
{
        Message_NV_OEM6_GENERIC_SHORT_FRAME() : gnss_message((gnss_message_type_t)NV_OEM6_GENERIC_SHORT_FRAME)
        {}
        nv_oem6_short_header_t  header;  //!< Frame header
        std::vector<uint8_t>    msg_body;
        
        void dumpToStream( mrpt::utils::CStream &out ) const MRPT_OVERRIDE; // See docs in base
protected:
        void internal_writeToStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE;
        void internal_readFromStream(mrpt::utils::CStream &in) MRPT_OVERRIDE;
};


/** Novatel frame: NV_OEM6_BESTPOS. \sa mrpt::obs::CObservationGPS  */
GNSS_BINARY_MSG_DEFINITION_START(NV_OEM6_BESTPOS)
        nv_oem6_header_t   header;  //!< Frame header
        uint32_t   solution_stat;   //!< nv_oem6_solution_status::nv_solution_status_t
        uint32_t   position_type;   //!< nv_oem6_position_type::nv_position_type_t
        double     lat,lon,hgt;     //!< [deg], [deg], hgt over sea level[m]
        float      undulation;
        uint32_t   datum_id;
        float      lat_sigma, lon_sigma, hgt_sigma; //!< Uncertainties (all in [m])
        char       base_station_id[4];
        float      diff_age, sol_age;
        uint8_t    num_sats_tracked, num_sats_sol, num_sats_sol_L1, num_sats_sol_multi;
        uint8_t    reserved;
        uint8_t    ext_sol_stat;
        uint8_t    galileo_beidou_mask;
        uint8_t    gps_glonass_mask;
        uint32_t   crc;
GNSS_BINARY_MSG_DEFINITION_MID
        /**  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.lat,fields.lon,fields.hgt);
        }
        bool getAllFieldDescriptions( std::ostream &o ) const MRPT_OVERRIDE;
        bool getAllFieldValues( std::ostream &o ) const MRPT_OVERRIDE;
GNSS_BINARY_MSG_DEFINITION_MID_END

/** Novatel frame: NV_OEM6_INSPVAS. \sa mrpt::obs::CObservationGPS  */
GNSS_BINARY_MSG_DEFINITION_START(NV_OEM6_INSPVAS)
                nv_oem6_short_header_t   header;  //!< Frame header
                uint32_t   week;
                double     seconds_in_week;
                double     lat,lon,hgt;
                double     vel_north,vel_east,vel_up;
                double     roll,pitch,azimuth;
                uint32_t   ins_status; //!< nv_oem6_ins_status_type::nv_ins_status_type_t
                uint32_t   crc;
GNSS_BINARY_MSG_DEFINITION_MID
        /**  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.lat,fields.lon,fields.hgt);
        }
        bool getAllFieldDescriptions( std::ostream &o ) const MRPT_OVERRIDE;
        bool getAllFieldValues( std::ostream &o ) const MRPT_OVERRIDE;
GNSS_BINARY_MSG_DEFINITION_MID_END


/** Novatel frame: NV_OEM6_INSCOVS. \sa mrpt::obs::CObservationGPS  */
GNSS_BINARY_MSG_DEFINITION_START(NV_OEM6_INSCOVS)
        nv_oem6_short_header_t   header;  //!< Frame header
        uint32_t   week;
        double     seconds_in_week;
        double     pos_cov[9]; //!< Position covariance matrix in local level frame (metres squared) xx,xy,xz,yx,yy,yz,zx,zy,zz
        double     att_cov[9]; //!< Attitude covariance matrix of the SPAN frame to the local level frame.  (deg sq) xx,xy,xz,yx,yy,yz,zx,zy,zz
        double     vel_cov[9]; //!< Velocity covariance matrix in local level frame. (metres/second squared) xx,xy,xz,yx,yy,yz,zx,zy,zz
        uint32_t   crc;
GNSS_BINARY_MSG_DEFINITION_MID
        bool getAllFieldDescriptions( std::ostream &o ) const MRPT_OVERRIDE;
        bool getAllFieldValues( std::ostream &o ) const MRPT_OVERRIDE;
GNSS_BINARY_MSG_DEFINITION_MID_END

/** Novatel frame: NV_OEM6_RANGECMP. \sa mrpt::obs::CObservationGPS  */
struct OBS_IMPEXP Message_NV_OEM6_RANGECMP : public gnss_message
{
        Message_NV_OEM6_RANGECMP() : gnss_message((gnss_message_type_t)NV_OEM6_RANGECMP),num_obs(0)
        {}
        struct OBS_IMPEXP TCompressedRangeLog {
                uint8_t data[24];
        };

        nv_oem6_header_t     header;  //!< Frame header
        uint32_t             num_obs;
        std::vector<TCompressedRangeLog> obs_data;
        uint32_t             crc;

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

/** Novatel frame: NV_OEM6_RXSTATUS. \sa mrpt::obs::CObservationGPS  */
GNSS_BINARY_MSG_DEFINITION_START(NV_OEM6_RXSTATUS)
        nv_oem6_header_t   header;  //!< Frame header
        uint32_t   error, num_stats;
        uint32_t   rxstat,rxstat_pri, rxstat_set, rxstat_clear;
        uint32_t   aux1stat,aux1stat_pri,aux1stat_set,aux1stat_clear;
        uint32_t   aux2stat,aux2stat_pri,aux2stat_set,aux2stat_clear;
        uint32_t   aux3stat,aux3stat_pri,aux3stat_set,aux3stat_clear;
        uint32_t   crc;
GNSS_BINARY_MSG_DEFINITION_END

/** Novatel frame: NV_OEM6_RAWEPHEM. \sa mrpt::obs::CObservationGPS  */
GNSS_BINARY_MSG_DEFINITION_START(NV_OEM6_RAWEPHEM)
        nv_oem6_header_t   header;  //!< Frame header
        uint32_t   sat_prn, ref_week, ref_secs;
        uint8_t    subframe1[30],subframe2[30],subframe3[30];
        uint32_t   crc;
GNSS_BINARY_MSG_DEFINITION_END

/** Novatel frame: NV_OEM6_VERSION. \sa mrpt::obs::CObservationGPS  */
struct OBS_IMPEXP Message_NV_OEM6_VERSION : public gnss_message
{
        Message_NV_OEM6_VERSION() : gnss_message((gnss_message_type_t)NV_OEM6_VERSION),num_comps(0)
        {}
        struct OBS_IMPEXP TComponentVersion {
                uint32_t type;
                char model[16], serial[16];
                char hwversion[16], swversion[16],bootversion[16];
                char compdate[12], comptime[12];
        };

        nv_oem6_header_t     header;  //!< Frame header
        uint32_t             num_comps;
        std::vector<TComponentVersion> components;
        uint32_t             crc;

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


/** Novatel frame: NV_OEM6_RAWIMUS. \sa mrpt::obs::CObservationGPS  */
GNSS_BINARY_MSG_DEFINITION_START(NV_OEM6_RAWIMUS)
        nv_oem6_short_header_t header;  //!< Frame header
        uint32_t   week;
        double     week_seconds;
        uint32_t   imu_status;
        int32_t    accel_z, accel_y_neg, accel_x;
        int32_t    gyro_z,gyro_y_neg,gyro_x;
        uint32_t   crc;
GNSS_BINARY_MSG_DEFINITION_MID
        bool getAllFieldDescriptions( std::ostream &o ) const MRPT_OVERRIDE;
        bool getAllFieldValues( std::ostream &o ) const MRPT_OVERRIDE;
GNSS_BINARY_MSG_DEFINITION_MID_END

/** Novatel frame: NV_OEM6_MARKPOS. \sa mrpt::obs::CObservationGPS  */
GNSS_BINARY_MSG_DEFINITION_START(NV_OEM6_MARKPOS)
        nv_oem6_header_t   header;  //!< Frame header
        uint32_t   solution_stat;   //!< nv_oem6_solution_status::nv_solution_status_t
        uint32_t   position_type;   //!< nv_oem6_position_type::nv_position_type_t
        double     lat,lon,hgt;     //!< [deg], [deg], hgt over sea level[m]
        float      undulation;
        uint32_t   datum_id;
        float      lat_sigma, lon_sigma, hgt_sigma;
        char       base_station_id[4];
        float      diff_age, sol_age;
        uint8_t    num_sats_tracked, num_sats_sol, num_sats_sol_L1, num_sats_sol_multi;
        uint8_t    reserved;
        uint8_t    ext_sol_stat;
        uint8_t    galileo_beidou_mask;
        uint8_t    gps_glonass_mask;
        uint32_t   crc;
GNSS_BINARY_MSG_DEFINITION_MID
        /**  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.lat,fields.lon,fields.hgt);
        }
GNSS_BINARY_MSG_DEFINITION_MID_END

/** Novatel frame: NV_OEM6_MARKTIME. \sa mrpt::obs::CObservationGPS  */
GNSS_BINARY_MSG_DEFINITION_START(NV_OEM6_MARKTIME)
        nv_oem6_header_t header;  //!< Frame header
        uint32_t   week;
        double     week_seconds;
        double     clock_offset, clock_offset_std;
        double     utc_offset;
        uint32_t   clock_status;
        uint32_t   crc;
GNSS_BINARY_MSG_DEFINITION_MID
        bool getAllFieldDescriptions( std::ostream &o ) const MRPT_OVERRIDE;
        bool getAllFieldValues( std::ostream &o ) const MRPT_OVERRIDE;
GNSS_BINARY_MSG_DEFINITION_MID_END

/** Novatel frame: NV_OEM6_MARK2TIME. \sa mrpt::obs::CObservationGPS  */
GNSS_BINARY_MSG_DEFINITION_START(NV_OEM6_MARK2TIME)
        nv_oem6_header_t header;  //!< Frame header
        uint32_t   week;
        double     week_seconds;
        double     clock_offset, clock_offset_std;
        double     utc_offset;
        uint32_t   clock_status;
        uint32_t   crc;
GNSS_BINARY_MSG_DEFINITION_MID
        bool getAllFieldDescriptions( std::ostream &o ) const MRPT_OVERRIDE;
        bool getAllFieldValues( std::ostream &o ) const MRPT_OVERRIDE;
GNSS_BINARY_MSG_DEFINITION_MID_END

/** Novatel frame: NV_OEM6_IONUTC. \sa mrpt::obs::CObservationGPS  */
GNSS_BINARY_MSG_DEFINITION_START(NV_OEM6_IONUTC)
        nv_oem6_header_t header;  //!< Frame header
        double     a0,a1,a2,a3,b0,b1,b2,b3; // Ionospheric alpha and beta constant terms parameters
        uint32_t   utc_wn; //!< UTC reference week number
        uint32_t   tot;    //!< Reference time of UTC params
        double     A0,A1;  //!< UTC constant and 1st order terms
        uint32_t   wn_lsf; //!< Future week number
        uint32_t   dn;     //!< Day number (1=sunday, 7=saturday)
        uint32_t   deltat_ls;     //!< Delta time due to leap seconds
        uint32_t   deltat_lsf;    //!< Delta time due to leap seconds (future)
        uint32_t   reserved;
        uint32_t   crc;
GNSS_BINARY_MSG_DEFINITION_END


#pragma pack(pop) // End of pack = 1
} } } // End of namespaces