gnss_messages_novatel.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://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 nv_oem6_header_t
{
    enum : uint8_t
    {
        SYNCH0 = 0xAA,
        SYNCH1 = 0X44,
        SYNCH2 = 0x12
    };

    uint8_t synch[3]{0, 0, 0};
    uint8_t hdr_len{0};
    uint16_t msg_id{0};
    uint8_t msg_type{0};
    uint8_t port_addr{0};
    uint16_t msg_len{0};
    uint16_t seq_number{0};
    uint8_t idle_percent{0};
    uint8_t time_status{0};
    uint16_t week{0};
    uint32_t ms_in_week{0};
    uint32_t receiver_status{0};
    uint16_t reserved{0};
    uint16_t receiver_sw_version{0};
};

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

namespace nv_oem6_position_type
{
/** Novatel OEM6 firmware reference, table 84; Novatel SPAN on OEM6 firmware
 * manual, table 26. */
enum nv_position_type_t : uint32_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
};
/** for nv_position_type_t */
const std::string& enum2str(int val);
}  // namespace nv_oem6_position_type

namespace nv_oem6_solution_status
{
/** Novatel OEM6 firmware reference, table 85 */
enum nv_solution_status_t : uint32_t
{
    /** solution computed */
    SOL_COMPUTED = 0,
    /** insufficient observations */
    INSUFFICIENT_OBS,
    /** noconvergence */
    NO_CONVERGENCE,
    /** singularity at parameters matrix */
    SINGULARITY,
    /** covariance trace exceeds maximum (trace>1000m) */
    COV_TRACE,
    /** test distance exceeded (max of 3 rejections if distance > 10km) */
    TEST_DIST,
    /** not yet converged from cold start */
    COLD_START,
    /** height or velocity limits exceeded */
    V_H_LIMIT,
    /** variance exceeds limits */
    VARIANCE,
    /** residuals are too large */
    RESIDUALS,
    /** delta position is too large */
    DELTA_POS,
    /** negative variance */
    NEGATIVE_VAR,
    /** large residuals make position unreliable */
    INTEGRITY_WARNING = 13,
    /** ins has not started yet */
    INS_INACTIVE,
    /** ins doing its coarse alignment */
    INS_ALIGNING,
    /** ins position is bad */
    INS_BAD,
    /** no imu detected */
    IMU_UNPLUGGED,
    /** when a fix position command is entered, the receiver computes its own
       position and determines if the fixed position is valid */
    PENDING = 18,
    /** the fixed position entered using the fix position command is not valid
     */
    INVALID_FIX
};
/** for nv_solution_status_t */
const std::string& enum2str(int val);
}  // namespace nv_oem6_solution_status
namespace nv_oem6_ins_status_type
{
/** Novatel SPAN on OEM6 firmware reference, table 33 */
enum nv_ins_status_type_t : uint32_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.
};
/** for nv_ins_status_type_t */
const std::string& enum2str(int val);
}  // namespace nv_oem6_ins_status_type

/** Novatel generic frame (to store frames without a parser at the present
 * time). \sa mrpt::obs::CObservationGPS  */
struct Message_NV_OEM6_GENERIC_FRAME : public gnss_message
{
    Message_NV_OEM6_GENERIC_FRAME()
        : gnss_message((gnss_message_type_t)NV_OEM6_GENERIC_FRAME)
    {
    }
    /** Frame header */
    nv_oem6_header_t header;
    std::vector<uint8_t> msg_body;

    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;
};

/** Novatel generic short-header frame (to store frames without a parser at the
 * present time). \sa mrpt::obs::CObservationGPS  */
struct 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)
    {
    }
    /** Frame header */
    nv_oem6_short_header_t header;
    std::vector<uint8_t> msg_body;

    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;
};

/** Novatel frame: NV_OEM6_BESTPOS. \sa mrpt::obs::CObservationGPS  */
GNSS_BINARY_MSG_DEFINITION_START(NV_OEM6_BESTPOS)
/** Frame header */
nv_oem6_header_t header;
nv_oem6_solution_status::nv_solution_status_t solution_stat;
nv_oem6_position_type::nv_position_type_t position_type;
/** [deg], [deg], hgt over sea level[m] */
double lat, lon, hgt;
float undulation;
uint32_t datum_id;
/** Uncertainties (all in [m]) */
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);
}
bool getAllFieldDescriptions(std::ostream& o) const override;
bool getAllFieldValues(std::ostream& o) const override;
GNSS_BINARY_MSG_DEFINITION_MID_END

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

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

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

    /** Frame header */
    nv_oem6_header_t header;
    uint32_t num_obs{0};
    std::vector<TCompressedRangeLog> obs_data;
    uint32_t crc;

    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;
};

/** Novatel frame: NV_OEM6_RXSTATUS. \sa mrpt::obs::CObservationGPS  */
GNSS_BINARY_MSG_DEFINITION_START(NV_OEM6_RXSTATUS)
/** Frame header */
nv_oem6_header_t 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)
/** Frame header */
nv_oem6_header_t 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 Message_NV_OEM6_VERSION : public gnss_message
{
    Message_NV_OEM6_VERSION()
        : gnss_message((gnss_message_type_t)NV_OEM6_VERSION)
    {
    }
    struct TComponentVersion
    {
        uint32_t type;
        char model[16], serial[16];
        char hwversion[16], swversion[16], bootversion[16];
        char compdate[12], comptime[12];
    };

    /** Frame header */
    nv_oem6_header_t header;
    uint32_t num_comps{0};
    std::vector<TComponentVersion> components;
    uint32_t crc;

    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;
};

/** Novatel frame: NV_OEM6_RAWIMUS. \sa mrpt::obs::CObservationGPS  */
GNSS_BINARY_MSG_DEFINITION_START(NV_OEM6_RAWIMUS)
/** Frame header */
nv_oem6_short_header_t 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 override;
bool getAllFieldValues(std::ostream& o) const override;
GNSS_BINARY_MSG_DEFINITION_MID_END

/** Novatel frame: NV_OEM6_MARKPOS. \sa mrpt::obs::CObservationGPS  */
GNSS_BINARY_MSG_DEFINITION_START(NV_OEM6_MARKPOS)
/** Frame header */
nv_oem6_header_t header;
nv_oem6_solution_status::nv_solution_status_t solution_stat;
nv_oem6_position_type::nv_position_type_t position_type;
/** [deg], [deg], hgt over sea level[m] */
double lat, lon, hgt;
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)
/** Frame header */
nv_oem6_header_t 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 override;
bool getAllFieldValues(std::ostream& o) const override;
GNSS_BINARY_MSG_DEFINITION_MID_END

/** Novatel frame: NV_OEM6_MARK2TIME. \sa mrpt::obs::CObservationGPS  */
GNSS_BINARY_MSG_DEFINITION_START(NV_OEM6_MARK2TIME)
/** Frame header */
nv_oem6_header_t 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 override;
bool getAllFieldValues(std::ostream& o) const override;
GNSS_BINARY_MSG_DEFINITION_MID_END

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

#pragma pack(pop)  // End of pack = 1
}  // namespace gnss
}  // namespace obs
}  // namespace mrpt