CObservationGPS.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/CObservationGPS.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/math/matrix_serialization.h>  // for << of matrices
#include <iomanip>
 
using namespace std;
using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::math;
 
// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CObservationGPS, CObservation, mrpt::obs)
 
void CObservationGPS::swap(CObservationGPS& o)
{
        std::swap(timestamp, o.timestamp);
        std::swap(originalReceivedTimestamp, o.originalReceivedTimestamp);
        std::swap(has_satellite_timestamp, o.has_satellite_timestamp);
        std::swap(sensorLabel, o.sensorLabel);
        std::swap(sensorPose, o.sensorPose);
        messages.swap(o.messages);
}
 
uint8_t CObservationGPS::serializeGetVersion() const { return 11; }
void CObservationGPS::serializeTo(mrpt::serialization::CArchive& out) const
{
        out << timestamp << originalReceivedTimestamp << sensorLabel << sensorPose;
        out << has_satellite_timestamp;  // v11
 
        const uint32_t nMsgs = messages.size();
        out << nMsgs;
        for (message_list_t::const_iterator it = messages.begin();
                 it != messages.end(); ++it)
                it->second->writeToStream(out);
}
 
void CObservationGPS::serializeFrom(
        mrpt::serialization::CArchive& in, uint8_t version)
{
        this->clear();
 
        switch (version)
        {
                case 10:
                case 11:
                {
                        in >> timestamp >> originalReceivedTimestamp >> sensorLabel >>
                                sensorPose;
                        if (version >= 11)
                                in >> has_satellite_timestamp;  // v11
                        else
                                has_satellite_timestamp =
                                        (this->timestamp != this->originalReceivedTimestamp);
 
                        uint32_t nMsgs;
                        in >> nMsgs;
                        for (unsigned i = 0; i < nMsgs; i++)
                        {
                                gnss::gnss_message* msg =
                                        gnss::gnss_message::readAndBuildFromStream(in);
                                messages[msg->message_type] = gnss::gnss_message_ptr(msg);
                        }
                };
                break;
 
                // OLD VERSIONS: Ensure we can load datasets from many years ago
                // ==========
                case 0:
                {
                        bool has_GGA_datum_;
                        in >> has_GGA_datum_;
                        if (has_GGA_datum_)
                        {
                                gnss::Message_NMEA_GGA* datum = new gnss::Message_NMEA_GGA();
                                in.ReadBuffer(&datum->fields, sizeof(datum->fields));
                                messages[gnss::NMEA_GGA] = gnss::gnss_message_ptr(datum);
                        }
 
                        bool has_RMC_datum_;
                        in >> has_RMC_datum_;
                        if (has_RMC_datum_)
                        {
                                gnss::Message_NMEA_RMC* datum = new gnss::Message_NMEA_RMC();
                                in.ReadBuffer(&datum->fields, sizeof(datum->fields));
                                messages[gnss::NMEA_RMC] = gnss::gnss_message_ptr(datum);
                        }
                }
                break;
                case 1:
                case 2:
                case 3:
                case 4:
                case 5:
                case 6:
                case 7:
                case 8:
                case 9:
                {
                        if (version >= 3)
                                in >> timestamp;
                        else
                                timestamp = INVALID_TIMESTAMP;
 
                        bool has_GGA_datum_;
                        in >> has_GGA_datum_;
                        if (has_GGA_datum_)
                        {
                                gnss::Message_NMEA_GGA datum;
                                gnss::Message_NMEA_GGA::content_t& GGA_datum = datum.fields;
 
                                MRPT_READ_POD(in, GGA_datum.UTCTime.hour);
                                MRPT_READ_POD(in, GGA_datum.UTCTime.minute);
                                MRPT_READ_POD(in, GGA_datum.UTCTime.sec);
                                MRPT_READ_POD(in, GGA_datum.latitude_degrees);
                                MRPT_READ_POD(in, GGA_datum.longitude_degrees);
                                MRPT_READ_POD(in, GGA_datum.fix_quality);
                                MRPT_READ_POD(in, GGA_datum.altitude_meters);
                                if (version >= 9)
                                {
                                        MRPT_READ_POD(in, GGA_datum.geoidal_distance);
                                        MRPT_READ_POD(in, GGA_datum.orthometric_altitude);
                                        MRPT_READ_POD(in, GGA_datum.corrected_orthometric_altitude);
                                }
                                else
                                {
                                        GGA_datum.geoidal_distance = 0.0f;
                                        GGA_datum.orthometric_altitude = 0.0f;
                                        GGA_datum.corrected_orthometric_altitude = 0.0f;
                                }
 
                                MRPT_READ_POD(in, GGA_datum.satellitesUsed);
                                MRPT_READ_POD(in, GGA_datum.thereis_HDOP);
                                MRPT_READ_POD(in, GGA_datum.HDOP);
                                this->setMsg(datum);
                        }
 
                        bool has_RMC_datum_;
                        in >> has_RMC_datum_;
                        if (has_RMC_datum_)
                        {
                                gnss::Message_NMEA_RMC datum;
                                gnss::Message_NMEA_RMC::content_t& RMC_datum = datum.fields;
 
                                MRPT_READ_POD(in, RMC_datum.UTCTime.hour);
                                MRPT_READ_POD(in, RMC_datum.UTCTime.minute);
                                MRPT_READ_POD(in, RMC_datum.UTCTime.sec);
                                MRPT_READ_POD(in, RMC_datum.validity_char);
                                MRPT_READ_POD(in, RMC_datum.latitude_degrees);
                                MRPT_READ_POD(in, RMC_datum.longitude_degrees);
                                MRPT_READ_POD(in, RMC_datum.speed_knots);
                                MRPT_READ_POD(in, RMC_datum.direction_degrees);
                                this->setMsg(datum);
                        }
                        if (version > 1)
                                in >> sensorLabel;
                        else
                                sensorLabel = "";
                        if (version >= 4)
                                in >> sensorPose;
                        else
                                sensorPose.setFromValues(0, 0, 0, 0, 0, 0);
                        if (version >= 5)
                        {
                                bool has_PZS_datum_;
                                in >> has_PZS_datum_;
                                if (has_PZS_datum_)
                                {
                                        gnss::Message_TOPCON_PZS* datum =
                                                new gnss::Message_TOPCON_PZS();
                                        messages[gnss::TOPCON_PZS] = gnss::gnss_message_ptr(datum);
                                        gnss::Message_TOPCON_PZS& PZS_datum = *datum;
 
                                        MRPT_READ_POD(in, PZS_datum.latitude_degrees);
                                        MRPT_READ_POD(in, PZS_datum.longitude_degrees);
                                        MRPT_READ_POD(in, PZS_datum.height_meters);
                                        MRPT_READ_POD(in, PZS_datum.RTK_height_meters);
                                        MRPT_READ_POD(in, PZS_datum.PSigma);
                                        MRPT_READ_POD(in, PZS_datum.angle_transmitter);
                                        MRPT_READ_POD(in, PZS_datum.nId);
                                        MRPT_READ_POD(in, PZS_datum.Fix);
                                        MRPT_READ_POD(in, PZS_datum.TXBattery);
                                        MRPT_READ_POD(in, PZS_datum.RXBattery);
                                        MRPT_READ_POD(in, PZS_datum.error);
                                        // extra data?
                                        if (version >= 6)
                                        {
                                                MRPT_READ_POD(in, PZS_datum.hasCartesianPosVel);
                                                MRPT_READ_POD(in, PZS_datum.cartesian_x);
                                                MRPT_READ_POD(in, PZS_datum.cartesian_y);
                                                MRPT_READ_POD(in, PZS_datum.cartesian_z);
                                                MRPT_READ_POD(in, PZS_datum.cartesian_vx);
                                                MRPT_READ_POD(in, PZS_datum.cartesian_vy);
                                                MRPT_READ_POD(in, PZS_datum.cartesian_vz);
                                                MRPT_READ_POD(in, PZS_datum.hasPosCov);
                                                MRPT_READ_POD(in, PZS_datum.pos_covariance);
                                                MRPT_READ_POD(in, PZS_datum.hasVelCov);
                                                MRPT_READ_POD(in, PZS_datum.vel_covariance);
                                                MRPT_READ_POD(in, PZS_datum.hasStats);
                                                MRPT_READ_POD(in, PZS_datum.stats_GPS_sats_used);
                                                MRPT_READ_POD(in, PZS_datum.stats_GLONASS_sats_used);
                                                if (version >= 8)
                                                        MRPT_READ_POD(in, PZS_datum.stats_rtk_fix_progress);
                                                else
                                                        PZS_datum.stats_rtk_fix_progress = 0;
                                        }
                                        else
                                        {
                                                PZS_datum.hasCartesianPosVel = PZS_datum.hasPosCov =
                                                        PZS_datum.hasVelCov = PZS_datum.hasStats = false;
                                        }
                                }
                        }  // end version >=5
 
                        // Added in V7:
                        if (version >= 7)
                        {
                                gnss::Message_TOPCON_SATS* datum =
                                        new gnss::Message_TOPCON_SATS();
                                messages[gnss::TOPCON_SATS] = gnss::gnss_message_ptr(datum);
                                gnss::Message_TOPCON_SATS& SATS_datum = *datum;
                                bool has_SATS_datum_;
                                in >> has_SATS_datum_;
                                if (has_SATS_datum_)
                                {
                                        MRPT_READ_POD(in, SATS_datum.USIs);
                                        MRPT_READ_POD(in, SATS_datum.ELs);
                                        MRPT_READ_POD(in, SATS_datum.AZs);
                                }
                        }
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
 
        if (originalReceivedTimestamp == INVALID_TIMESTAMP)
                originalReceivedTimestamp = timestamp;
}
 
void CObservationGPS::dumpToStream(std::ostream& out) const
{
        out << "\n------------- [CObservationGPS] Dump of " << messages.size()
                << " messages --------------------\n";
        for (const auto& m : messages) m.second->dumpToStream(out);
        out << "-------------- [CObservationGPS] End of dump -----------------\n\n";
}
 
void CObservationGPS::dumpToConsole(std::ostream& o) const
{
        this->dumpToStream(o);
}
 
mrpt::system::TTimeStamp CObservationGPS::getOriginalReceivedTimeStamp() const
{
        return originalReceivedTimestamp;
}
 
void CObservationGPS::clear()
{
        messages.clear();
        timestamp = INVALID_TIMESTAMP;
        originalReceivedTimestamp = INVALID_TIMESTAMP;
}
void CObservationGPS::getDescriptionAsText(std::ostream& o) const
{
        CObservation::getDescriptionAsText(o);
 
        o << "Timestamp (UTC) of reception at the computer: "
          << mrpt::system::dateTimeToString(originalReceivedTimestamp) << std::endl;
        o << "  (as time_t): " << std::fixed << std::setprecision(5)
          << mrpt::system::timestampTotime_t(originalReceivedTimestamp)
          << std::endl;
        o << "  (as TTimestamp): " << originalReceivedTimestamp << std::endl;
 
        o << "Sensor position on the robot/vehicle: " << sensorPose << std::endl;
 
        this->dumpToConsole(o);
}
 
bool CObservationGPS::hasMsgType(const gnss::gnss_message_type_t type_id) const
{
        return messages.find(type_id) != messages.end();
}
 
mrpt::obs::gnss::gnss_message* CObservationGPS::getMsgByType(
        const gnss::gnss_message_type_t type_id)
{
        message_list_t::iterator it = messages.find(type_id);
        ASSERTMSG_(
                it != messages.end(), mrpt::format(
                                                                  "[CObservationGPS::getMsgByType] Cannot find "
                                                                  "any observation of type `%u`",
                                                                  static_cast<unsigned int>(type_id)));
        return it->second.get();
}
/** \overload */
const mrpt::obs::gnss::gnss_message* CObservationGPS::getMsgByType(
        const gnss::gnss_message_type_t type_id) const
{
        message_list_t::const_iterator it = messages.find(type_id);
        ASSERTMSG_(
                it != messages.end(), mrpt::format(
                                                                  "[CObservationGPS::getMsgByType] Cannot find "
                                                                  "any observation of type `%u`",
                                                                  static_cast<unsigned int>(type_id)));
        return it->second.get();
}
 
// From: http://gnsstk.sourceforge.net/time__conversion_8c-source.html
#define TIMECONV_JULIAN_DATE_START_OF_GPS_TIME (2444244.5)  // [days]
bool TIMECONV_GetJulianDateFromGPSTime(
        const unsigned short gps_week, const double gps_tow,
        const unsigned int utc_offset, double* julian_date)
{
        if (gps_tow < 0.0 || gps_tow > 604800.0) return false;
        // GPS time is ahead of UTC time and Julian time by the UTC offset
        *julian_date = (gps_week + (gps_tow - utc_offset) / 604800.0) * 7.0 +
                                   TIMECONV_JULIAN_DATE_START_OF_GPS_TIME;
        return true;
}
 
bool TIMECONV_IsALeapYear(const unsigned short year)
{
        bool is_a_leap_year = false;
        if ((year % 4) == 0)
        {
                is_a_leap_year = true;
                if ((year % 100) == 0)
                {
                        if ((year % 400) == 0)
                                is_a_leap_year = true;
                        else
                                is_a_leap_year = false;
                }
        }
        return is_a_leap_year;
}
 
bool TIMECONV_GetNumberOfDaysInMonth(
        /** Universal Time Coordinated    [year] */
        const unsigned short year,
        /** Universal Time Coordinated    [1-12 months]  */
        const unsigned char month,
        /** Days in the specified month   [1-28|29|30|31 days] */
        unsigned char* days_in_month)
{
        unsigned char utmp = 0;
        bool is_a_leapyear = TIMECONV_IsALeapYear(year);
 
        switch (month)
        {
                case 1:
                        utmp = 31;
                        break;
                case 2:
                        if (is_a_leapyear)
                        {
                                utmp = 29;
                        }
                        else
                        {
                                utmp = 28;
                        }
                        break;
                case 3:
                        utmp = 31;
                        break;
                case 4:
                        utmp = 30;
                        break;
                case 5:
                        utmp = 31;
                        break;
                case 6:
                        utmp = 30;
                        break;
                case 7:
                        utmp = 31;
                        break;
                case 8:
                        utmp = 31;
                        break;
                case 9:
                        utmp = 30;
                        break;
                case 10:
                        utmp = 31;
                        break;
                case 11:
                        utmp = 30;
                        break;
                case 12:
                        utmp = 31;
                        break;
                default:
                        return false;
                        break;
        }
        *days_in_month = utmp;
        return true;
}
/** Number of days since noon Universal Time Jan 1, 4713 BCE (Julian calendar)
 * [days] */
bool TIMECONV_GetUTCTimeFromJulianDate(
        const double julian_date, mrpt::system::TTimeParts& utc)
{
        int a, b, c, d, e;  // temporary values
 
        unsigned short year;
        unsigned char month;
        unsigned char day;
        unsigned char hour;
        unsigned char minute;
        unsigned char days_in_month = 0;
        double td;  // temporary double
        double seconds;
        bool result;
 
        // Check the input.
        if (julian_date < 0.0) return false;
 
        a = (int)(julian_date + 0.5);
        b = a + 1537;
        c = (int)(((double)b - 122.1) / 365.25);
        d = (int)(365.25 * c);
        e = (int)(((double)(b - d)) / 30.6001);
 
        td = b - d - (int)(30.6001 * e) + fmod(julian_date + 0.5, 1.0);  // [days]
        day = (unsigned char)td;
        td -= day;
        td *= 24.0;  // [hours]
        hour = (unsigned char)td;
        td -= hour;
        td *= 60.0;  // [minutes]
        minute = (unsigned char)td;
        td -= minute;
        td *= 60.0;  // [s]
        seconds = td;
        month = (unsigned char)(e - 1 - 12 * (int)(e / 14));
        year = (unsigned short)(c - 4715 - (int)((7.0 + (double)month) / 10.0));
        // check for rollover issues
        if (seconds >= 60.0)
        {
                seconds -= 60.0;
                minute++;
                if (minute >= 60)
                {
                        minute -= 60;
                        hour++;
                        if (hour >= 24)
                        {
                                hour -= 24;
                                day++;
                                result = TIMECONV_GetNumberOfDaysInMonth(
                                        year, month, &days_in_month);
                                if (result == false) return false;
                                if (day > days_in_month)
                                {
                                        day = 1;
                                        month++;
                                        if (month > 12)
                                        {
                                                month = 1;
                                                year++;
                                        }
                                }
                        }
                }
        }
 
        utc.year = year;
        utc.month = month;
        utc.day = day;
        utc.hour = hour;
        utc.minute = minute;
        utc.second = seconds;
        return true;
}
 
bool CObservationGPS::GPS_time_to_UTC(
        uint16_t gps_week, double gps_sec, const int leap_seconds_count,
        mrpt::system::TTimeStamp& utc_out)
{
        mrpt::system::TTimeParts tim;
        if (!GPS_time_to_UTC(gps_week, gps_sec, leap_seconds_count, tim))
                return false;
        utc_out = mrpt::system::buildTimestampFromParts(tim);
        return true;
}
 
bool CObservationGPS::GPS_time_to_UTC(
        uint16_t gps_week, double gps_sec, const int leap_seconds_count,
        mrpt::system::TTimeParts& utc_out)
{
        double julian_date = 0.0;
        if (gps_sec < 0.0 || gps_sec > 604800.0) return false;
        if (!TIMECONV_GetJulianDateFromGPSTime(
                        gps_week, gps_sec, leap_seconds_count, &julian_date))
                return false;
        if (!TIMECONV_GetUTCTimeFromJulianDate(julian_date, utc_out)) return false;
        return true;
}