gnss_messages_topcon.cpp

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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 |
   +------------------------------------------------------------------------+ */

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

#include <mrpt/obs/gnss_messages_topcon.h>
#include <mrpt/math/matrix_serialization.h>  // for << of matrices

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

Message_TOPCON_PZS::Message_TOPCON_PZS()
        : gnss_message(TOPCON_PZS),
          latitude_degrees(0),
          longitude_degrees(0),
          height_meters(0),
          RTK_height_meters(0),
          PSigma(0),
          angle_transmitter(0),
          nId(0),
          Fix(0),
          TXBattery(0),
          RXBattery(0),
          error(0),
          hasCartesianPosVel(false),
          cartesian_x(0),
          cartesian_y(0),
          cartesian_z(0),
          cartesian_vx(0),
          cartesian_vy(0),
          cartesian_vz(0),
          hasPosCov(false),
          pos_covariance(),
          hasVelCov(false),
          vel_covariance(),
          hasStats(false),
          stats_GPS_sats_used(0),
          stats_GLONASS_sats_used(0)
{
}

void Message_TOPCON_PZS::dumpToStream(mrpt::utils::CStream& out) const
{
        out.printf("\n[TopCon PZS datum]\n");
        out.printf(
                "  Longitude: %.09f deg  Latitude: %.09f deg Height: %.03f m (%.03f m "
                "without NBeam) \n",
                longitude_degrees, latitude_degrees, height_meters, RTK_height_meters);

        out.printf(
                " PZL-ID: %i  Angle trans: %.05f deg\n ", (int)nId, angle_transmitter);

        out.printf(" Fix: %i  ", (int)Fix);
        out.printf(" Error: %i ", (int)error);
        out.printf(" Battery levels: TX=%i  RX=%i\n ", TXBattery, RXBattery);

        out.printf(
                " hasCartesianPosVel= %s", hasCartesianPosVel ? "YES -> " : "NO\n");
        if (hasCartesianPosVel)
        {
                out.printf(
                        " x=%f  y=%f  z=%f\n", cartesian_x, cartesian_y, cartesian_z);
                out.printf(
                        " vx=%f  vy=%f  vz=%f\n", cartesian_vx, cartesian_vy, cartesian_vz);
        }
        out.printf("hasPosCov = %s", hasPosCov ? "YES\n" : "NO\n");
        if (hasPosCov) out.printf("%s\n", pos_covariance.inMatlabFormat().c_str());

        out.printf("hasVelCov = %s", hasVelCov ? "YES\n" : "NO\n");
        if (hasVelCov) out.printf("%s\n", vel_covariance.inMatlabFormat().c_str());

        out.printf("hasStats = %s", hasStats ? "YES: " : "NO\n");
        if (hasStats)
                out.printf(
                        "GPS sats used: %i  GLONASS sats used: %i  RTK Fix progress:%i%%\n",
                        (int)stats_GPS_sats_used, (int)stats_GLONASS_sats_used,
                        (int)stats_rtk_fix_progress);
}

void Message_TOPCON_PZS::internal_writeToStream(mrpt::utils::CStream& out) const
{
        out << latitude_degrees << longitude_degrees << height_meters
                << RTK_height_meters << PSigma << angle_transmitter << nId << Fix
                << TXBattery << RXBattery << error << hasCartesianPosVel << cartesian_x
                << cartesian_y << cartesian_z << cartesian_vx << cartesian_vy
                << cartesian_vz << hasPosCov << pos_covariance << hasVelCov
                << vel_covariance << hasStats << stats_GPS_sats_used
                << stats_GLONASS_sats_used << stats_rtk_fix_progress;
}

void Message_TOPCON_PZS::internal_readFromStream(mrpt::utils::CStream& in)
{
        in >> latitude_degrees >> longitude_degrees >> height_meters >>
                RTK_height_meters >> PSigma >> angle_transmitter >> nId >> Fix >>
                TXBattery >> RXBattery >> error >> hasCartesianPosVel >> cartesian_x >>
                cartesian_y >> cartesian_z >> cartesian_vx >> cartesian_vy >>
                cartesian_vz >> hasPosCov >> pos_covariance >> hasVelCov >>
                vel_covariance >> hasStats >> stats_GPS_sats_used >>
                stats_GLONASS_sats_used >> stats_rtk_fix_progress;
}

// -------------
Message_TOPCON_SATS::Message_TOPCON_SATS() : gnss_message(TOPCON_SATS) {}
void Message_TOPCON_SATS::dumpToStream(mrpt::utils::CStream& out) const
{
        out.printf("\n[TopCon SATS datum]\n");
        out.printf(
                "  USI   ELEV    AZIM      (%u entries) \n",
                static_cast<unsigned int>(USIs.size()));

        ASSERT_(USIs.size() == AZs.size() && USIs.size() == ELs.size());
        for (size_t i = 0; i < USIs.size(); i++)
                out.printf(
                        " %03i   %02i    %03i\n", (int)USIs[i], (int)ELs[i], (int)AZs[i]);
}

void Message_TOPCON_SATS::internal_writeToStream(
        mrpt::utils::CStream& out) const
{
        out << USIs << ELs << AZs;
}

void Message_TOPCON_SATS::internal_readFromStream(mrpt::utils::CStream& in)
{
        in >> USIs >> ELs >> AZs;
}