MRPT  1.9.9
gnss_messages_common.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
13 #include <mrpt/system/datetime.h>
14 #include <cstring> // memset()
15 #include <iosfwd>
16 
17 namespace mrpt
18 {
19 namespace obs
20 {
21 /** GNSS (GPS) data structures, mainly for use within mrpt::obs::CObservationGPS
22  */
23 namespace gnss
24 {
25 /** Pure virtual base for all message types. \sa mrpt::obs::CObservationGPS */
27 {
28  /** Type of GNSS message */
30 
31  gnss_message(gnss_message_type_t msg_type_id) : message_type(msg_type_id) {}
32  /** Save to binary stream. Launches an exception upon error */
34  /** Load from binary stream into this existing object. Launches an exception
35  * upon error. */
37 
38  bool isOfType(const gnss_message_type_t type_id) const;
39  template <class MSG_CLASS>
40  bool isOfClass() const
41  {
42  return isOfType(MSG_CLASS::msg_type);
43  }
44 
45  /** Load from binary stream and creates object detecting its type (class
46  * factory). Launches an exception upon error */
49  /** Creates message \return nullptr on unknown msg type */
50  static gnss_message* Factory(const gnss_message_type_t msg_id);
51  /** Returns true if Factory() has a registered constructor for this msg type
52  */
53  static bool FactoryKnowsMsgType(const gnss_message_type_t msg_id);
54 
55  /** Dumps the contents of the observation in a human-readable form to a
56  * given output stream \sa dumpToConsole() */
57  virtual void dumpToStream(std::ostream& out) const = 0;
58 
59  /** If we are in a big endian system, reverse all fields >1 byte to fix its
60  * representation. Only in binary frames, text-based derived classes
61  * obviously do not need to reimplement this one. */
62  virtual void fixEndianness() {}
63 
64  /** Dumps the contents of the observation in a human-readable form to an
65  * std::ostream (set to std::cout to print to console) */
66  virtual void dumpToConsole(std::ostream& o) const;
67 
68  /** Dumps a header for getAllFieldValues() \return false if not implemented
69  * for this message type */
70  virtual bool getAllFieldDescriptions([[maybe_unused]] std::ostream& o) const
71  {
72  return false;
73  }
74  /** Dumps a line with the sequence of all field values (without a line feed
75  * at the end). \sa getAllFieldDescriptions() \return false if not
76  * implemented for this message type */
77  virtual bool getAllFieldValues([[maybe_unused]] std::ostream& o) const
78  {
79  return false;
80  }
81  /** Returns "NMEA_GGA", etc. */
82  const std::string& getMessageTypeAsString() const;
83  virtual ~gnss_message() = default;
84 
85  protected:
86  /** Save to binary stream. Launches an exception upon error */
87  virtual void internal_writeToStream(
89  /** Save to binary stream. Launches an exception upon error */
91 };
92 
93 /** A smart pointer to a GNSS message. \sa gnss_message,
94  * mrpt::obs::CObservationGPS */
96 {
97  protected:
98  gnss_message* ptr{nullptr};
99 
100  public:
101  /** Ctor (default: nullptr pointer) */
103  /** Makes a copy of the pointee */
105  /** Assigns a pointer. Memory now belongs to this class. */
106  explicit gnss_message_ptr(const gnss_message* p);
108  const gnss_message_ptr& o); // Makes a copy of the pointee
109  /** Dtor: it frees the pointee memory */
110  virtual ~gnss_message_ptr();
111  bool operator==(const gnss_message* o) const { return o == ptr; }
112  bool operator==(const gnss_message_ptr& o) const { return o.ptr == ptr; }
113  bool operator!=(const gnss_message* o) const { return o != ptr; }
114  bool operator!=(const gnss_message_ptr& o) const { return o.ptr != ptr; }
115  gnss_message*& get() { return ptr; }
116  const gnss_message* get() const { return ptr; }
118  {
119  ASSERT_(ptr);
120  return ptr;
121  }
122  const gnss_message* operator->() const
123  {
124  ASSERT_(ptr);
125  return ptr;
126  }
127  /** Replaces the pointee with a new pointer. Its memory now belongs to this
128  * object, do not free manually. */
129  void set(gnss_message* p);
130 };
131 
132 #define GNSS_MESSAGE_BINARY_BLOCK(DATA_PTR, DATA_LEN) \
133  protected: \
134  void internal_writeToStream(mrpt::serialization::CArchive& out) \
135  const override \
136  { \
137  out << static_cast<uint32_t>(DATA_LEN); \
138  auto nonconst_this = const_cast<std::remove_const< \
139  std::remove_reference<decltype(*this)>::type>::type*>(this); \
140  /* Temporarily switch to little endian for serialization only */ \
141  nonconst_this->fixEndianness(); \
142  out.WriteBuffer(DATA_PTR, DATA_LEN); \
143  nonconst_this->fixEndianness(); \
144  } \
145  void internal_readFromStream(mrpt::serialization::CArchive& in) override \
146  { \
147  uint32_t nBytesInStream; \
148  in >> nBytesInStream; \
149  ASSERT_EQUAL_(nBytesInStream, DATA_LEN); \
150  in.ReadBuffer(DATA_PTR, DATA_LEN); \
151  fixEndianness(); \
152  } \
153  \
154  public:
155 
156 #define GNSS_BINARY_MSG_DEFINITION_START(_MSG_ID) \
157  struct Message_##_MSG_ID : public gnss_message \
158  { \
159  GNSS_MESSAGE_BINARY_BLOCK(&fields, sizeof(fields)) \
160  enum : uint32_t \
161  { \
162  msg_type = _MSG_ID \
163  }; /* Static msg type (member expected by templates)*/ \
164  Message_##_MSG_ID() \
165  : gnss_message(static_cast<gnss_message_type_t>(msg_type)) \
166  { \
167  } \
168  struct content_t \
169  {
170 #define GNSS_BINARY_MSG_DEFINITION_MID \
171  content_t() = default; \
172  } \
173  ; \
174  content_t fields; /** Message content, accesible by individual fields */ \
175  void dumpToStream(std::ostream& out) const override;
176 
177 #define GNSS_BINARY_MSG_DEFINITION_MID_END \
178  } \
179  ;
180 
181 #define GNSS_BINARY_MSG_DEFINITION_END \
182  GNSS_BINARY_MSG_DEFINITION_MID \
183  GNSS_BINARY_MSG_DEFINITION_MID_END
184 
185 // Pragma to ensure we can safely serialize some of these structures
186 #pragma pack(push, 1)
187 
188 /** UTC (Coordinated Universal Time) time-stamp structure for GPS messages. \sa
189  * mrpt::obs::CObservationGPS */
190 struct UTC_time
191 {
192  uint8_t hour{0};
193  uint8_t minute{0};
194  double sec{0};
195 
196  UTC_time();
197  /** Build an MRPT timestamp with the hour/minute/sec of this structure and
198  * the date from the given timestamp. */
200  const mrpt::system::TTimeStamp& date) const;
201  bool operator==(const UTC_time& o) const
202  {
203  return hour == o.hour && minute == o.minute && sec == o.sec;
204  }
205  bool operator!=(const UTC_time& o) const
206  {
207  return hour != o.hour || minute != o.minute || sec != o.sec;
208  }
209  /** Save to binary stream. Launches an exception upon error */
211  /** Save to binary stream. Launches an exception upon error */
213 };
214 
215 #pragma pack(pop) // End of pack = 1
216 } // namespace gnss
217 } // namespace obs
218 } // namespace mrpt
bool operator==(const UTC_time &o) const
const gnss_message * operator->() const
virtual ~gnss_message()=default
virtual bool getAllFieldDescriptions([[maybe_unused]] std::ostream &o) const
Dumps a header for getAllFieldValues()
mrpt::system::TTimeStamp getAsTimestamp(const mrpt::system::TTimeStamp &date) const
Build an MRPT timestamp with the hour/minute/sec of this structure and the date from the given timest...
UTC (Coordinated Universal Time) time-stamp structure for GPS messages.
gnss_message_type_t
List of all known GNSS message types.
void readFromStream(mrpt::serialization::CArchive &in)
Save to binary stream.
gnss_message_ptr & operator=(const gnss_message_ptr &o)
virtual bool getAllFieldValues([[maybe_unused]] std::ostream &o) const
Dumps a line with the sequence of all field values (without a line feed at the end).
bool isOfType(const gnss_message_type_t type_id) const
bool operator!=(const gnss_message_ptr &o) const
bool operator==(const gnss_message_ptr &o) const
gnss_message(gnss_message_type_t msg_type_id)
void readFromStream(mrpt::serialization::CArchive &in)
Load from binary stream into this existing object.
#define ASSERT_(f)
Defines an assertion mechanism.
Definition: exceptions.h:120
mrpt::Clock::time_point TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
Definition: datetime.h:40
bool operator!=(const UTC_time &o) const
virtual void dumpToStream(std::ostream &out) const =0
Dumps the contents of the observation in a human-readable form to a given output stream.
virtual ~gnss_message_ptr()
Dtor: it frees the pointee memory.
virtual void dumpToConsole(std::ostream &o) const
Dumps the contents of the observation in a human-readable form to an std::ostream (set to std::cout t...
static gnss_message * readAndBuildFromStream(mrpt::serialization::CArchive &in)
Load from binary stream and creates object detecting its type (class factory).
void writeToStream(mrpt::serialization::CArchive &out) const
Save to binary stream.
gnss_message_type_t message_type
Type of GNSS message.
static gnss_message * Factory(const gnss_message_type_t msg_id)
Creates message.
gnss_message_ptr()
Ctor (default: nullptr pointer)
bool operator!=(const gnss_message *o) const
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Virtual base class for "archives": classes abstracting I/O streams.
Definition: CArchive.h:54
mrpt::vision::TStereoCalibResults out
Pure virtual base for all message types.
virtual void fixEndianness()
If we are in a big endian system, reverse all fields >1 byte to fix its representation.
bool operator==(const gnss_message *o) const
virtual void internal_readFromStream(mrpt::serialization::CArchive &in)=0
Save to binary stream.
static bool FactoryKnowsMsgType(const gnss_message_type_t msg_id)
Returns true if Factory() has a registered constructor for this msg type.
const std::string & getMessageTypeAsString() const
Returns "NMEA_GGA", etc.
virtual void internal_writeToStream(mrpt::serialization::CArchive &out) const =0
Save to binary stream.
void writeToStream(mrpt::serialization::CArchive &out) const
Save to binary stream.
A smart pointer to a GNSS message.



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