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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20 | class IODataElement; |
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21 | class Vector3D; |
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22 | |
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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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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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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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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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65 | } PlotableData_t; |
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66 | |
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67 | /*! |
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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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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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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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123 | |
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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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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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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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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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