gnss_messages_topcon.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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(std::ostream& out) const
{
    out << mrpt::format("\n[TopCon PZS datum]\n");
    out << mrpt::format(
        "  Longitude: %.09f deg  Latitude: %.09f deg Height: %.03f m (%.03f m "
        "without NBeam) \n",
        longitude_degrees, latitude_degrees, height_meters, RTK_height_meters);

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

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

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

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

    out << mrpt::format("hasStats = %s", hasStats ? "YES: " : "NO\n");
    if (hasStats)
        out << mrpt::format(
            "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::serialization::CArchive& 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::serialization::CArchive& 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(std::ostream& out) const
{
    out << mrpt::format("\n[TopCon SATS datum]\n");
    out << mrpt::format(
        "  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 << mrpt::format(
            " %03i   %02i    %03i\n", (int)USIs[i], (int)ELs[i], (int)AZs[i]);
}

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

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