[42] | 1 | // %flair:license{
|
---|
| 2 | // This file is part of the Flair framework distributed under the
|
---|
| 3 | // CECILL-C License, Version 1.0.
|
---|
| 4 | // %flair:license}
|
---|
| 5 | /*!
|
---|
| 6 | * \file GpsData.h
|
---|
| 7 | * \brief Class defining gps datas
|
---|
| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
|
---|
| 9 | * \date 2016/07/01
|
---|
| 10 | * \version 4.0
|
---|
| 11 | */
|
---|
| 12 | #ifndef GPSDATA_H
|
---|
| 13 | #define GPSDATA_H
|
---|
| 14 |
|
---|
| 15 | #include <io_data.h>
|
---|
| 16 |
|
---|
| 17 | namespace flair {
|
---|
| 18 | namespace core {
|
---|
| 19 |
|
---|
[51] | 20 | class IODataElement;
|
---|
| 21 |
|
---|
[42] | 22 | /*! \class GpsData
|
---|
| 23 | *
|
---|
| 24 | * \brief Class defining gps datas
|
---|
| 25 | *
|
---|
| 26 | * GPS datas consist of
|
---|
| 27 | *
|
---|
| 28 | *
|
---|
| 29 | */
|
---|
| 30 | class GpsData : public io_data {
|
---|
| 31 | public:
|
---|
| 32 | class Type : public DataType {
|
---|
| 33 | public:
|
---|
[45] | 34 | Type(void){}
|
---|
[42] | 35 | std::string GetDescription() const { return "gps data"; }
|
---|
| 36 | size_t GetSize() const {
|
---|
[51] | 37 | size_t size = 0;
|
---|
| 38 | size += 2*doubleType.GetSize(); // Latitude, Longitude
|
---|
| 39 | size += floatType.GetSize(); // Altitude
|
---|
| 40 | size += UInt8Type.GetSize(); // NumberOfSatellites
|
---|
| 41 | size += UInt8Type.GetSize(); // FixQuality_t
|
---|
| 42 | size += 5*floatType.GetSize();//e,n,u,ve,vn
|
---|
[180] | 43 | size += 3*floatType.GetSize();//pdop,hdop,vdop
|
---|
[51] | 44 | return size;
|
---|
[42] | 45 | }
|
---|
| 46 |
|
---|
| 47 | private:
|
---|
| 48 | };
|
---|
| 49 |
|
---|
| 50 | /*!
|
---|
| 51 | \enum PlotableData_t
|
---|
| 52 | \brief Datas wich can be plotted in a DataPlot1D
|
---|
| 53 | */
|
---|
| 54 | typedef enum {
|
---|
[51] | 55 | Latitude /*! latitude in degrees */,
|
---|
| 56 | Longitude /*! longitude in degrees */,
|
---|
| 57 | Altitude /*! altitude */,
|
---|
| 58 | NumberOfSatellites /*! number of satellites */,
|
---|
| 59 | FixQuality /*! fix quality */,
|
---|
| 60 | East /*! east */,
|
---|
| 61 | North /*! north */,
|
---|
| 62 | Up /*! up */,
|
---|
| 63 | EastVelocity /*! east velocity*/,
|
---|
| 64 | NorthVelocity /*! north velocity*/,
|
---|
[180] | 65 | Pdop /* dilution of precision*/,
|
---|
| 66 | Hdop /* horizontal dilution of precision*/,
|
---|
| 67 | Vdop /* vertical dilution of precision*/,
|
---|
[42] | 68 | } PlotableData_t;
|
---|
| 69 |
|
---|
| 70 | /*!
|
---|
[51] | 71 | \enum FixQuality_t
|
---|
| 72 | \brief Fix qualty indicators
|
---|
| 73 | */
|
---|
| 74 | enum class FixQuality_t : uint8_t {
|
---|
| 75 | Invalid = 0, /*!< invalid */
|
---|
| 76 | Gps = 1, /*!< Gps */
|
---|
| 77 | DGps = 2, /*!< Differential Gps */
|
---|
| 78 | Pps = 3, /*!< Pps */
|
---|
| 79 | Rtk = 4, /*!< RTK */
|
---|
| 80 | RtkFloat = 5, /*!< RTK float */
|
---|
| 81 | Estimated = 6, /*!< Estimated */
|
---|
| 82 | Manual = 7, /*!< Manual */
|
---|
| 83 | Simulation = 8, /*!< Simulation */
|
---|
| 84 | };
|
---|
| 85 |
|
---|
| 86 | /*!
|
---|
[42] | 87 | * \brief Constructor
|
---|
| 88 | *
|
---|
| 89 | * Construct an io_data representing GPS datas. \n
|
---|
| 90 | *
|
---|
| 91 | * \param parent parent
|
---|
| 92 | * \param name name
|
---|
| 93 | * \param n number of samples
|
---|
| 94 | */
|
---|
| 95 | GpsData(const Object *parent, std::string name = "", int n = 1);
|
---|
| 96 |
|
---|
| 97 | /*!
|
---|
| 98 | * \brief Destructor
|
---|
| 99 | *
|
---|
| 100 | */
|
---|
| 101 | ~GpsData();
|
---|
| 102 |
|
---|
| 103 | /*!
|
---|
| 104 | * \brief Element
|
---|
| 105 | *
|
---|
| 106 | * Get a pointer to a specific element. This pointer can be used for plotting.
|
---|
| 107 | *
|
---|
| 108 | * \param data_type data type
|
---|
| 109 | *
|
---|
| 110 | * \return pointer to the element
|
---|
| 111 | */
|
---|
| 112 | IODataElement *Element(PlotableData_t data_type) const;
|
---|
| 113 |
|
---|
[51] | 114 | /*!
|
---|
| 115 | * \brief Get latitude, longitude and altitude
|
---|
| 116 | *
|
---|
| 117 | * This method is mutex protected.
|
---|
| 118 | *
|
---|
| 119 | * \param latitude latitude
|
---|
| 120 | * \param longitude longitude
|
---|
| 121 | * \param altitude altitude
|
---|
| 122 | *
|
---|
| 123 | */
|
---|
| 124 | void GetLla(double &latitude, double &longitude,
|
---|
| 125 | float &altitude) const;
|
---|
[42] | 126 |
|
---|
[51] | 127 | /*!
|
---|
| 128 | * \brief Set latitude, longitude and altitude
|
---|
| 129 | *
|
---|
| 130 | * This method is mutex protected.
|
---|
| 131 | *
|
---|
| 132 | * \param latitude latitude
|
---|
| 133 | * \param longitude longitude
|
---|
| 134 | * \param altitude altitude
|
---|
| 135 | *
|
---|
| 136 | */
|
---|
| 137 | void SetLla(double latitude,double longitude,
|
---|
| 138 | float altitude);
|
---|
| 139 |
|
---|
| 140 |
|
---|
| 141 | /*!
|
---|
| 142 | * \brief Get east, north and up
|
---|
| 143 | *
|
---|
| 144 | * This method is mutex protected.
|
---|
| 145 | *
|
---|
| 146 | * \param east east
|
---|
| 147 | * \param north north
|
---|
| 148 | * \param up up
|
---|
| 149 | *
|
---|
| 150 | */
|
---|
| 151 | void GetEnu(float &east, float &north,
|
---|
| 152 | float &up) const;
|
---|
| 153 |
|
---|
| 154 | /*!
|
---|
| 155 | * \brief Set east, north and up
|
---|
| 156 | *
|
---|
| 157 | * This method is mutex protected.
|
---|
| 158 | *
|
---|
| 159 | * \param east east
|
---|
| 160 | * \param north north
|
---|
| 161 | * \param up up
|
---|
| 162 | *
|
---|
| 163 | */
|
---|
| 164 | void SetEnu(float east, float north,
|
---|
| 165 | float up);
|
---|
| 166 |
|
---|
| 167 | /*!
|
---|
| 168 | * \brief Get east and north velocities
|
---|
| 169 | *
|
---|
| 170 | * This method is mutex protected.
|
---|
| 171 | *
|
---|
| 172 | * \param eastVelocity east velocity
|
---|
| 173 | * \param northVelocity north velocity
|
---|
| 174 | *
|
---|
| 175 | */
|
---|
| 176 | void GetVelocity(float &eastVelocity, float &northVelocity) const;
|
---|
| 177 |
|
---|
| 178 | /*!
|
---|
| 179 | * \brief Set east and north velocities
|
---|
| 180 | *
|
---|
| 181 | * This method is mutex protected.
|
---|
| 182 | *
|
---|
| 183 | * \param eastVelocity east velocity
|
---|
| 184 | * \param northVelocity north velocity
|
---|
| 185 | *
|
---|
| 186 | */
|
---|
| 187 | void SetVelocity(float eastVelocity, float northVelocity);
|
---|
| 188 |
|
---|
| 189 | /*!
|
---|
| 190 | * \brief Get number of satellites
|
---|
| 191 | *
|
---|
| 192 | * \return number of satellites
|
---|
| 193 | *
|
---|
| 194 | */
|
---|
| 195 | uint8_t GetNumberOfSatellites(void) const;
|
---|
| 196 |
|
---|
| 197 | /*!
|
---|
| 198 | * \brief Set number of satellites
|
---|
| 199 | *
|
---|
| 200 | * \param numberOfSatellites number of satellites
|
---|
| 201 | *
|
---|
| 202 | */
|
---|
| 203 | void SetNumberOfSatellites(uint8_t numberOfSatellites);
|
---|
| 204 |
|
---|
| 205 | /*!
|
---|
| 206 | * \brief Get fix quality
|
---|
| 207 | *
|
---|
| 208 | * \return fix quality
|
---|
| 209 | *
|
---|
| 210 | */
|
---|
| 211 | FixQuality_t GetFixQuality(void) const;
|
---|
| 212 |
|
---|
| 213 | /*!
|
---|
| 214 | * \brief Set fix quality
|
---|
| 215 | *
|
---|
| 216 | * \param fixQuality fix quality
|
---|
| 217 | *
|
---|
| 218 | */
|
---|
| 219 | void SetFixQuality(FixQuality_t fixQuality);
|
---|
[180] | 220 |
|
---|
| 221 | /*!
|
---|
| 222 | * \brief Get dilution of precision
|
---|
| 223 | *
|
---|
| 224 | * This method is mutex protected.
|
---|
| 225 | *
|
---|
| 226 | * \param pDop dilution of precision
|
---|
| 227 | * \param hDop horizontal dilution of precision
|
---|
| 228 | * \param vDop vertical dilution of precision
|
---|
| 229 | *
|
---|
| 230 | */
|
---|
| 231 | void GetDop(float &pDop, float &hDop,float &vDop) const;
|
---|
[51] | 232 |
|
---|
[180] | 233 | /*!
|
---|
| 234 | * \brief Set dilution of precision
|
---|
| 235 | *
|
---|
| 236 | * This method is mutex protected.
|
---|
| 237 | *
|
---|
| 238 | * \param pDop dilution of precision
|
---|
| 239 | * \param hDop horizontal dilution of precision
|
---|
| 240 | * \param vDop vertical dilution of precision
|
---|
| 241 | *
|
---|
| 242 | */
|
---|
| 243 | void SetDop(float pDop, float hDop,float vDop);
|
---|
| 244 |
|
---|
[42] | 245 | Type const &GetDataType() const { return dataType; }
|
---|
[252] | 246 |
|
---|
[42] | 247 | /*!
|
---|
[252] | 248 | * \brief Raw read datas
|
---|
[42] | 249 | *
|
---|
| 250 | * Reimplemented from io_data. \n
|
---|
[252] | 251 | * See io_data::RawRead.
|
---|
[42] | 252 | *
|
---|
| 253 | * \param dst destination buffer
|
---|
| 254 | */
|
---|
[252] | 255 | void RawRead(char *dst) const;
|
---|
[42] | 256 |
|
---|
[252] | 257 | private:
|
---|
[42] | 258 | void Queue(char **dst, const void *src, size_t size) const;
|
---|
| 259 | Type dataType;
|
---|
[51] | 260 | double latitude,longitude;
|
---|
| 261 | float altitude;
|
---|
| 262 | uint8_t numberOfSatellites;
|
---|
| 263 | FixQuality_t fixQuality;
|
---|
[180] | 264 | float east,north,up,eastVelocity,northVelocity,pDop,hDop,vDop;
|
---|
[42] | 265 | };
|
---|
| 266 |
|
---|
| 267 | } // end namespace core
|
---|
| 268 | } // end namespace flair
|
---|
| 269 |
|
---|
| 270 | #endif // GPSDATA_H
|
---|