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 nv_oem6_header_t
{
        enum : uint8_t
        {
                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 nv_oem6_short_header_t
{
        enum : uint8_t
        {
                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 : 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_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_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);
}

/** 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(
                mrpt::utils::CStream& out) const override;  // See docs in base
   protected:
        void internal_writeToStream(mrpt::utils::CStream& out) const override;
        void internal_readFromStream(mrpt::utils::CStream& 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(
                mrpt::utils::CStream& out) const override;  // See docs in base
   protected:
        void internal_writeToStream(mrpt::utils::CStream& out) const override;
        void internal_readFromStream(mrpt::utils::CStream& 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), num_obs(0)
        {
        }
        struct TCompressedRangeLog
        {
                uint8_t data[24];
        };

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

        void dumpToStream(
                mrpt::utils::CStream& out) const override;  // See docs in base
   protected:
        void internal_writeToStream(mrpt::utils::CStream& out) const override;
        void internal_readFromStream(mrpt::utils::CStream& 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), num_comps(0)
        {
        }
        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;
        std::vector<TComponentVersion> components;
        uint32_t crc;

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