gnss_messages_ascii_nmea.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "obs-precomp.h"  // Precompiled headers

#include <mrpt/obs/gnss_messages_ascii_nmea.h>
#include <iostream>

using namespace std;
using namespace mrpt::obs::gnss;

// ---------------------------------------
Message_NMEA_GGA::content_t::content_t() : UTCTime() {}
void Message_NMEA_GGA::dumpToStream(std::ostream& out) const
{
    out << "[NMEA GGA datum]\n";
    out << mrpt::format(
        "  Longitude: %.09f deg  Latitude: %.09f deg  Height: %.03f m\n",
        fields.longitude_degrees, fields.latitude_degrees,
        fields.altitude_meters);

    out << mrpt::format(
        "  Geoidal distance: %.03f m  Orthometric alt.: %.03f m  Corrected "
        "ort. alt.: %.03f m\n",
        fields.geoidal_distance, fields.orthometric_altitude,
        fields.corrected_orthometric_altitude);

    out << mrpt::format(
        "  UTC time-stamp: %02u:%02u:%02.03f  #sats=%2u  ", fields.UTCTime.hour,
        fields.UTCTime.minute, fields.UTCTime.sec, fields.satellitesUsed);

    out << mrpt::format("Fix mode: %u ", fields.fix_quality);

    const char* fix_names[] = {"0:Invalid",
                               "1:GPS fix",
                               "2:DGPS fix",
                               "3:PPS fix",
                               "4:RTK Fixed",
                               "5:RTK Float",
                               "6:Dead Reckoning",
                               "7:Manual",
                               "8:Simulation",
                               "9:mmGPS + RTK Fixed",
                               "10: mmGPS + RTK Float"};

    if (fields.fix_quality < sizeof(fix_names) / sizeof(fix_names[0]))
        out << "(" << fix_names[fields.fix_quality] << ")\n";
    else
        out << "(UNKNOWN!)\n";

    out << "  HDOP (Horizontal Dilution of Precision): ";
    if (fields.thereis_HDOP)
        out << mrpt::format(" %f\n", fields.HDOP);
    else
        out << " N/A\n";
}

bool Message_NMEA_GGA::getAllFieldDescriptions(std::ostream& o) const
{
    o << "lon_deg lat_deg hgt_m undulation_m hour min sec num_sats fix_quality "
         "hdop";
    return true;
}
bool Message_NMEA_GGA::getAllFieldValues(std::ostream& o) const
{
    o << mrpt::format(
        "%.09f %.09f %.04f %.04f %02u %02u %02.03f %2u %u %f",
        fields.longitude_degrees, fields.latitude_degrees,
        fields.altitude_meters, fields.geoidal_distance, fields.UTCTime.hour,
        fields.UTCTime.minute, fields.UTCTime.sec, fields.satellitesUsed,
        fields.fix_quality, fields.HDOP);
    return true;
}

// ---------------------------------------
Message_NMEA_GLL::content_t::content_t() : UTCTime() {}
void Message_NMEA_GLL::dumpToStream(std::ostream& out) const
{
    out << "[NMEA GLL datum]\n";
    out << mrpt::format(
        "  Longitude: %.09f deg  Latitude: %.09f deg Validity: '%c'\n",
        fields.longitude_degrees, fields.latitude_degrees,
        fields.validity_char);
    out << mrpt::format(
        "  UTC time-stamp: %02u:%02u:%02.03f\n", fields.UTCTime.hour,
        fields.UTCTime.minute, fields.UTCTime.sec);
}

bool Message_NMEA_GLL::getAllFieldDescriptions(std::ostream& o) const
{
    o << "lon_deg lat_deg hour min sec validity";
    return true;
}
bool Message_NMEA_GLL::getAllFieldValues(std::ostream& o) const
{
    o << mrpt::format(
        "%.09f %.09f %02u %02u %02.03f %u", fields.longitude_degrees,
        fields.latitude_degrees, fields.UTCTime.hour, fields.UTCTime.minute,
        fields.UTCTime.sec,
        static_cast<unsigned int>(fields.validity_char == 'A' ? 1 : 0));
    return true;
}

// ---------------------------------------
Message_NMEA_VTG::content_t::content_t()

    = default;

void Message_NMEA_VTG::dumpToStream(std::ostream& out) const
{
    out << "[NMEA VTG datum]\n";
    out << mrpt::format(
        "  True track: %.03f deg  Magnetic track: %.03f deg\n",
        fields.true_track, fields.magnetic_track);
    out << mrpt::format(
        "  Ground speed: %.03f knots  %.03f km/h\n", fields.ground_speed_knots,
        fields.ground_speed_kmh);
}

bool Message_NMEA_VTG::getAllFieldDescriptions(std::ostream& o) const
{
    o << "true_track mag_track gnd_speed_knots gnd_speed_kmh";
    return true;
}
bool Message_NMEA_VTG::getAllFieldValues(std::ostream& o) const
{
    o << mrpt::format(
        "%.09f %.09f %.09f %.09f", fields.true_track, fields.magnetic_track,
        fields.ground_speed_knots, fields.ground_speed_kmh);
    return true;
}

// ---------------------------------------
Message_NMEA_RMC::content_t::content_t() : UTCTime() {}
/** Build an MRPT timestamp with the year/month/day of this observation. */

mrpt::system::TTimeStamp Message_NMEA_RMC::getDateAsTimestamp() const
{
    using namespace mrpt::system;

    // Detect current century:
    uint16_t years_century;
    {
        TTimeParts dec_parts;
        timestampToParts(now(), dec_parts);
        years_century = (dec_parts.year / 100) * 100;
    }

    TTimeParts parts;
    parts.second = parts.minute = parts.hour = 0;

    parts.day = fields.date_day;
    parts.month = fields.date_month;
    parts.year = years_century + fields.date_year;

    return buildTimestampFromParts(parts);
}

void Message_NMEA_RMC::dumpToStream(std::ostream& out) const
{
    out << "[NMEA RMC datum]\n";
    out << mrpt::format(" Positioning mode: `%c`\n ", fields.positioning_mode);
    out << mrpt::format(
        " UTC time-stamp: %02u:%02u:%02.03f\n", fields.UTCTime.hour,
        fields.UTCTime.minute, fields.UTCTime.sec);
    out << mrpt::format(
        " Date (DD/MM/YY): %02u/%02u/%02u\n ",
        static_cast<unsigned>(fields.date_day), (unsigned)fields.date_month,
        static_cast<unsigned>(fields.date_year));
    out << mrpt::format(
        "  Longitude: %.09f deg  Latitude: %.09f deg  Valid?: '%c'\n",
        fields.longitude_degrees, fields.latitude_degrees,
        fields.validity_char);
    out << mrpt::format(
        " Speed: %.05f knots  Direction:%.03f deg.\n ", fields.speed_knots,
        fields.direction_degrees);
    out << mrpt::format(
        " Magnetic variation direction: %.04f deg\n ", fields.magnetic_dir);
}

bool Message_NMEA_RMC::getAllFieldDescriptions(std::ostream& o) const
{
    o << "lon_deg lat_deg hour min sec speed_knots direction_deg year month "
         "day";
    return true;
}
bool Message_NMEA_RMC::getAllFieldValues(std::ostream& o) const
{
    o << mrpt::format(
        "%.09f %.09f %02u %02u %02.03f %.05f %.03f %02u %02u %02u",
        fields.longitude_degrees, fields.latitude_degrees, fields.UTCTime.hour,
        fields.UTCTime.minute, fields.UTCTime.sec, fields.speed_knots,
        fields.direction_degrees, fields.date_year, fields.date_month,
        fields.date_day);
    return true;
}

// ---------------------------------------
Message_NMEA_GSA::content_t::content_t()
{
    for (int i = 0; i < 12; i++) PRNs[i][0] = PRNs[i][1] = '\0';
}
void Message_NMEA_GSA::dumpToStream(std::ostream& out) const
{
    out << "[NMEA GSA datum]\n";
    out << "auto_selection_fix: " << fields.auto_selection_fix
        << "\n"
           "fix_2D_3D: "
        << fields.fix_2D_3D << "\n";
    for (int i = 0; i < 12; i++)
        out << mrpt::format("PRNs[%i]=%5.02s\n", i, fields.PRNs[i]);

    out << "PDOP: " << fields.PDOP
        << "\n"
           "HDOP: "
        << fields.HDOP
        << "\n"
           "VDOP: "
        << fields.VDOP << "\n";
}

bool Message_NMEA_GSA::getAllFieldDescriptions(std::ostream& o) const
{
    o << "auto_selection_fix fix_2D_3D PRN[0] PRN[1] PRN[2] PRN[3] PRN[4] "
         "PRN[5] PRN[6] PRN[7] PRN[8] PRN[9] PRN[10] PRN[11] PDOP HDOP VDOP";
    return true;
}
bool Message_NMEA_GSA::getAllFieldValues(std::ostream& o) const
{
    o << mrpt::format(
        "%04c %02c %07.2s %07.2s  %07.2s %07.2s %07.2s %07.2s %07.2s %07.2s "
        "%07.2s %07.2s %07.2s "
        "%07.2s %.05f %.05f %.05f",
        fields.auto_selection_fix, fields.fix_2D_3D, fields.PRNs[0],
        fields.PRNs[1], fields.PRNs[2], fields.PRNs[3], fields.PRNs[4],
        fields.PRNs[5], fields.PRNs[6], fields.PRNs[7], fields.PRNs[8],
        fields.PRNs[9], fields.PRNs[10], fields.PRNs[11], fields.PDOP,
        fields.HDOP, fields.VDOP);
    return true;
}

// ---------------------------------------
Message_NMEA_ZDA::content_t::content_t() : UTCTime() {}
void Message_NMEA_ZDA::dumpToStream(std::ostream& out) const
{
    out << "[NMEA ZDA datum]\n";
    out << mrpt::format(
        " UTC time-stamp: %02u:%02u:%02.03f\n", fields.UTCTime.hour,
        fields.UTCTime.minute, fields.UTCTime.sec);
    out << mrpt::format(
        " Date (DD/MM/YY): %02u/%02u/%04u\n ", (unsigned)fields.date_day,
        (unsigned)fields.date_month, (unsigned)fields.date_year);
}

bool Message_NMEA_ZDA::getAllFieldDescriptions(std::ostream& o) const
{
    o << "year month day hour minute second";
    return true;
}
bool Message_NMEA_ZDA::getAllFieldValues(std::ostream& o) const
{
    o << mrpt::format(
        "%04u %02u %02u %02u %02u %.05f", fields.date_year, fields.date_month,
        fields.date_day, fields.UTCTime.hour, fields.UTCTime.minute,
        fields.UTCTime.sec);
    return true;
}

mrpt::system::TTimeStamp Message_NMEA_ZDA::getDateTimeAsTimestamp() const
{
    return fields.UTCTime.getAsTimestamp(this->getDateAsTimestamp());
}

/** Build an MRPT timestamp with the year/month/day of this observation. */

mrpt::system::TTimeStamp Message_NMEA_ZDA::getDateAsTimestamp() const
{
    using namespace mrpt::system;
    TTimeParts parts;
    parts.second = parts.minute = parts.hour = 0;
    parts.day = fields.date_day;
    parts.month = fields.date_month;
    parts.year = fields.date_year;
    return buildTimestampFromParts(parts);
}