gnss_messages_common.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 <mrpt/utils/CStream.h>
#include <mrpt/system/datetime.h>
#include <iostream>
#include <cstring>  // memset()
#include <mrpt/obs/gnss_messages_type_list.h>
 
namespace mrpt
{
namespace obs
{
/** GNSS (GPS) data structures, mainly for use within mrpt::obs::CObservationGPS
 */
namespace gnss
{
/** Pure virtual base for all message types. \sa mrpt::obs::CObservationGPS  */
struct gnss_message
{
        /** Type of GNSS message */
        gnss_message_type_t message_type;
 
        gnss_message(gnss_message_type_t msg_type_id) : message_type(msg_type_id) {}
        /** Save to binary stream. Launches an exception upon error */
        void writeToStream(mrpt::utils::CStream& out) const;
        /** Load from binary stream into this existing object. Launches an exception
         * upon error. */
        void readFromStream(mrpt::utils::CStream& in);
 
        bool isOfType(const gnss_message_type_t type_id) const;
        template <class MSG_CLASS>
        bool isOfClass() const
        {
                return isOfType(MSG_CLASS::msg_type);
        }
 
        /** Load from binary stream and creates object detecting its type (class
         * factory). Launches an exception upon error */
        static gnss_message* readAndBuildFromStream(mrpt::utils::CStream& in);
        /** Creates message \return nullptr on unknown msg type */
        static gnss_message* Factory(const gnss_message_type_t msg_id);
        /** Returns true if Factory() has a registered constructor for this msg type
         */
        static bool FactoryKnowsMsgType(const gnss_message_type_t msg_id);
 
        /** Dumps the contents of the observation in a human-readable form to a
         * given output stream \sa dumpToConsole() */
        virtual void dumpToStream(mrpt::utils::CStream& out) const = 0;
        /** Dumps the contents of the observation in a human-readable form to an
         * std::ostream (default=console) */
        void dumpToConsole(std::ostream& o = std::cout) const;
        /** Dumps a header for getAllFieldValues() \return false if not implemented
         * for this message type */
        virtual bool getAllFieldDescriptions(std::ostream& o) const
        {
                return false;
        }
        /** Dumps a line with the sequence of all field values (without a line feed
         * at the end). \sa getAllFieldDescriptions() \return false if not
         * implemented for this message type */
        virtual bool getAllFieldValues(std::ostream& o) const { return false; }
        /** Returns "NMEA_GGA", etc. */
        const std::string& getMessageTypeAsString() const;
        virtual ~gnss_message() {}
   protected:
        /** Save to binary stream. Launches an exception upon error */
        virtual void internal_writeToStream(mrpt::utils::CStream& out) const = 0;
        /** Save to binary stream. Launches an exception upon error */
        virtual void internal_readFromStream(mrpt::utils::CStream& in) = 0;
};
 
/** A smart pointer to a GNSS message. \sa gnss_message,
 * mrpt::obs::CObservationGPS  */
struct gnss_message_ptr
{
   protected:
        gnss_message* ptr;
 
   public:
        /** Ctor (default: nullptr pointer) */
        gnss_message_ptr();
        /** Makes a copy of the pointee */
        gnss_message_ptr(const gnss_message_ptr& o);
        /** Assigns a pointer. Memory now belongs to this class. */
        explicit gnss_message_ptr(const gnss_message* p);
        gnss_message_ptr& operator=(
                const gnss_message_ptr& o);  // Makes a copy of the pointee
        /** Dtor: it frees the pointee memory */
        virtual ~gnss_message_ptr();
        bool operator==(const gnss_message* o) const { return o == ptr; }
        bool operator==(const gnss_message_ptr& o) const { return o.ptr == ptr; }
        bool operator!=(const gnss_message* o) const { return o != ptr; }
        bool operator!=(const gnss_message_ptr& o) const { return o.ptr != ptr; }
        gnss_message*& get() { return ptr; }
        const gnss_message* get() const { return ptr; }
        gnss_message*& operator->()
        {
                ASSERT_(ptr);
                return ptr;
        }
        const gnss_message* operator->() const
        {
                ASSERT_(ptr);
                return ptr;
        }
        /** Replaces the pointee with a new pointer. Its memory now belongs to this
         * object, do not free manually. */
        void set(gnss_message* p);
};
 
#define GNSS_MESSAGE_BINARY_BLOCK(DATA_PTR, DATA_LEN)                     \
   protected:                                                             \
        void internal_writeToStream(mrpt::utils::CStream& out) const override \
        {                                                                     \
                out << static_cast<uint32_t>(DATA_LEN);                           \
                out.WriteBuffer(DATA_PTR, DATA_LEN);                              \
        }                                                                     \
        void internal_readFromStream(mrpt::utils::CStream& in) override       \
        {                                                                     \
                uint32_t nBytesInStream;                                          \
                in >> nBytesInStream;                                             \
                ASSERT_EQUAL_(nBytesInStream, DATA_LEN);                          \
                in.ReadBuffer(DATA_PTR, DATA_LEN);                                \
        }                                                                     \
                                                                          \
   public:
 
#define GNSS_BINARY_MSG_DEFINITION_START(_MSG_ID)                            \
        struct Message_##_MSG_ID : public gnss_message                           \
        {                                                                        \
                GNSS_MESSAGE_BINARY_BLOCK(&fields, sizeof(fields))                   \
                enum : uint32_t                                                      \
                {                                                                    \
                        msg_type = _MSG_ID                                               \
                }; /* Static msg type (member expected by templates)*/               \
                Message_##_MSG_ID() : gnss_message((gnss_message_type_t)msg_type) {} \
                struct content_t                                                     \
                {
#define GNSS_BINARY_MSG_DEFINITION_MID                                       \
        content_t() { ::memset(this, 0, sizeof(*this)); }                        \
        }                                                                        \
        ;                                                                        \
        content_t fields; /** Message content, accesible by individual fields */ \
        void dumpToStream(mrpt::utils::CStream& out) const override;
 
#define GNSS_BINARY_MSG_DEFINITION_MID_END \
        }                                      \
        ;
 
#define GNSS_BINARY_MSG_DEFINITION_END \
        GNSS_BINARY_MSG_DEFINITION_MID     \
        GNSS_BINARY_MSG_DEFINITION_MID_END
 
// Pragma to ensure we can safely serialize some of these structures
#pragma pack(push, 1)
 
/** UTC (Coordinated Universal Time) time-stamp structure for GPS messages. \sa
 * mrpt::obs::CObservationGPS */
struct UTC_time
{
        uint8_t hour;
        uint8_t minute;
        double sec;
 
        UTC_time();
        /** Build an MRPT timestamp with the hour/minute/sec of this structure and
         * the date from the given timestamp. */
        mrpt::system::TTimeStamp getAsTimestamp(
                const mrpt::system::TTimeStamp& date) const;
        bool operator==(const UTC_time& o) const
        {
                return hour == o.hour && minute == o.minute && sec == o.sec;
        }
        bool operator!=(const UTC_time& o) const
        {
                return hour != o.hour || minute != o.minute || sec != o.sec;
        }
        /** Save to binary stream. Launches an exception upon error */
        void writeToStream(mrpt::utils::CStream& out) const;
        /** Save to binary stream. Launches an exception upon error */
        void readFromStream(mrpt::utils::CStream& in);
};
 
#pragma pack(pop)  // End of pack = 1
}
}
}  // End of namespaces