[27] | 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file GpsData.h
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| 7 | * \brief Class defining gps datas
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2016/07/01
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| 10 | * \version 4.0
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| 11 | */
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| 12 | #ifndef GPSDATA_H
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| 13 | #define GPSDATA_H
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| 14 |
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| 15 | #include <io_data.h>
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| 16 |
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| 17 | namespace flair {
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| 18 | namespace core {
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| 19 |
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[30] | 20 | class IODataElement;
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| 21 | class Vector3D;
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| 22 |
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[27] | 23 | /*! \class GpsData
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| 24 | *
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| 25 | * \brief Class defining gps datas
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| 26 | *
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| 27 | * GPS datas consist of
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| 28 | *
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| 29 | *
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| 30 | */
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| 31 | class GpsData : public io_data {
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| 32 | public:
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| 33 | class Type : public DataType {
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| 34 | public:
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| 35 | Type(void){}
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| 36 | std::string GetDescription() const { return "gps data"; }
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| 37 | size_t GetSize() const {
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[30] | 38 | size_t size = 0;
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| 39 | size += 2*doubleType.GetSize(); // Latitude, Longitude
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| 40 | size += floatType.GetSize(); // Altitude
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| 41 | size += UInt8Type.GetSize(); // NumberOfSatellites
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| 42 | size += UInt8Type.GetSize(); // FixQuality_t
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| 43 | size += 5*floatType.GetSize();//e,n,u,ve,vn
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| 44 | return size;
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[27] | 45 | }
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| 46 |
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| 47 | private:
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| 48 | };
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| 49 |
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| 50 | /*!
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| 51 | \enum PlotableData_t
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| 52 | \brief Datas wich can be plotted in a DataPlot1D
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| 53 | */
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| 54 | typedef enum {
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[30] | 55 | Latitude /*! latitude in degrees */,
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| 56 | Longitude /*! longitude in degrees */,
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| 57 | Altitude /*! altitude */,
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| 58 | NumberOfSatellites /*! number of satellites */,
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| 59 | FixQuality /*! fix quality */,
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| 60 | East /*! east */,
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| 61 | North /*! north */,
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| 62 | Up /*! up */,
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| 63 | EastVelocity /*! east velocity*/,
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| 64 | NorthVelocity /*! north velocity*/,
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[27] | 65 | } PlotableData_t;
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| 66 |
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| 67 | /*!
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[30] | 68 | \enum FixQuality_t
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| 69 | \brief Fix qualty indicators
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| 70 | */
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| 71 | enum class FixQuality_t : uint8_t {
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| 72 | Invalid = 0, /*!< invalid */
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| 73 | Gps = 1, /*!< Gps */
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| 74 | DGps = 2, /*!< Differential Gps */
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| 75 | Pps = 3, /*!< Pps */
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| 76 | Rtk = 4, /*!< RTK */
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| 77 | RtkFloat = 5, /*!< RTK float */
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| 78 | Estimated = 6, /*!< Estimated */
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| 79 | Manual = 7, /*!< Manual */
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| 80 | Simulation = 8, /*!< Simulation */
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| 81 | };
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| 82 |
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| 83 | /*!
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[27] | 84 | * \brief Constructor
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| 85 | *
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| 86 | * Construct an io_data representing GPS datas. \n
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| 87 | *
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| 88 | * \param parent parent
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| 89 | * \param name name
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| 90 | * \param n number of samples
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| 91 | */
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| 92 | GpsData(const Object *parent, std::string name = "", int n = 1);
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| 93 |
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| 94 | /*!
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| 95 | * \brief Destructor
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| 96 | *
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| 97 | */
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| 98 | ~GpsData();
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| 99 |
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| 100 | /*!
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| 101 | * \brief Element
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| 102 | *
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| 103 | * Get a pointer to a specific element. This pointer can be used for plotting.
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| 104 | *
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| 105 | * \param data_type data type
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| 106 | *
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| 107 | * \return pointer to the element
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| 108 | */
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| 109 | IODataElement *Element(PlotableData_t data_type) const;
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| 110 |
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[30] | 111 | /*!
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| 112 | * \brief Get latitude, longitude and altitude
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| 113 | *
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| 114 | * This method is mutex protected.
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| 115 | *
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| 116 | * \param latitude latitude
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| 117 | * \param longitude longitude
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| 118 | * \param altitude altitude
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| 119 | *
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| 120 | */
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| 121 | void GetLla(double &latitude, double &longitude,
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| 122 | float &altitude) const;
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[27] | 123 |
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[30] | 124 | /*!
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| 125 | * \brief Set latitude, longitude and altitude
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| 126 | *
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| 127 | * This method is mutex protected.
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| 128 | *
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| 129 | * \param latitude latitude
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| 130 | * \param longitude longitude
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| 131 | * \param altitude altitude
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| 132 | *
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| 133 | */
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| 134 | void SetLla(double latitude,double longitude,
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| 135 | float altitude);
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| 136 |
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| 137 |
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| 138 | /*!
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| 139 | * \brief Get east, north and up
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| 140 | *
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| 141 | * This method is mutex protected.
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| 142 | *
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| 143 | * \param east east
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| 144 | * \param north north
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| 145 | * \param up up
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| 146 | *
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| 147 | */
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| 148 | void GetEnu(float &east, float &north,
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| 149 | float &up) const;
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| 150 |
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| 151 | /*!
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| 152 | * \brief Set east, north and up
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| 153 | *
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| 154 | * This method is mutex protected.
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| 155 | *
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| 156 | * \param east east
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| 157 | * \param north north
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| 158 | * \param up up
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| 159 | *
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| 160 | */
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| 161 | void SetEnu(float east, float north,
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| 162 | float up);
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| 163 |
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| 164 | /*!
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| 165 | * \brief Get east and north velocities
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| 166 | *
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| 167 | * This method is mutex protected.
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| 168 | *
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| 169 | * \param eastVelocity east velocity
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| 170 | * \param northVelocity north velocity
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| 171 | *
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| 172 | */
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| 173 | void GetVelocity(float &eastVelocity, float &northVelocity) const;
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| 174 |
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| 175 | /*!
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| 176 | * \brief Set east and north velocities
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| 177 | *
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| 178 | * This method is mutex protected.
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| 179 | *
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| 180 | * \param eastVelocity east velocity
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| 181 | * \param northVelocity north velocity
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| 182 | *
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| 183 | */
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| 184 | void SetVelocity(float eastVelocity, float northVelocity);
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| 185 |
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| 186 | /*!
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| 187 | * \brief Get number of satellites
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| 188 | *
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| 189 | * \return number of satellites
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| 190 | *
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| 191 | */
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| 192 | uint8_t GetNumberOfSatellites(void) const;
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| 193 |
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| 194 | /*!
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| 195 | * \brief Set number of satellites
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| 196 | *
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| 197 | * \param numberOfSatellites number of satellites
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| 198 | *
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| 199 | */
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| 200 | void SetNumberOfSatellites(uint8_t numberOfSatellites);
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| 201 |
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| 202 | /*!
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| 203 | * \brief Get fix quality
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| 204 | *
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| 205 | * \return fix quality
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| 206 | *
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| 207 | */
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| 208 | FixQuality_t GetFixQuality(void) const;
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| 209 |
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| 210 | /*!
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| 211 | * \brief Set fix quality
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| 212 | *
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| 213 | * \param fixQuality fix quality
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| 214 | *
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| 215 | */
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| 216 | void SetFixQuality(FixQuality_t fixQuality);
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| 217 |
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[27] | 218 | Type const &GetDataType() const { return dataType; }
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| 219 |
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| 220 | private:
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| 221 | /*!
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| 222 | * \brief Copy datas
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| 223 | *
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| 224 | * Reimplemented from io_data. \n
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| 225 | * See io_data::CopyDatas.
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| 226 | *
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| 227 | * \param dst destination buffer
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| 228 | */
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| 229 | void CopyDatas(char *dst) const;
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| 230 |
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| 231 | void Queue(char **dst, const void *src, size_t size) const;
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| 232 | Type dataType;
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[30] | 233 | double latitude,longitude;
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| 234 | float altitude;
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| 235 | uint8_t numberOfSatellites;
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| 236 | FixQuality_t fixQuality;
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| 237 | float east,north,up,eastVelocity,northVelocity;
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[27] | 238 | };
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| 239 |
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| 240 | } // end namespace core
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| 241 | } // end namespace flair
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| 242 |
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| 243 | #endif // GPSDATA_H
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