src/marnav/nmea/rmb.hpp

   1 #ifndef __NMEA__RMB__HPP__
   2 #define __NMEA__RMB__HPP__
   3
   4 #include <marnav/nmea/sentence.hpp>
   5 #include <marnav/nmea/angle.hpp>
   6 #include <marnav/nmea/waypoint.hpp>
   7 #include <marnav/utils/optional.hpp>
   8
   9 namespace marnav
  10 {
  11 namespace nmea
  12 {
  13 MARNAV_NMEA_DECLARE_SENTENCE_PARSE_FUNC(rmb)
  14
  15 /// @brief RMB - Recommended Minimum Navigation Information
  16 ///
  17 /// To be sent by a navigation receiver when a destination waypoint is active.
  18 ///
  19 /// @code
  20 ///                                                             14
  21 ///        1 2   3 4    5    6       7 8        9 10  11  12  13|
  22 ///        | |   | |    |    |       | |        | |   |   |   | |
  23 /// $--RMB,A,x.x,a,c--c,c--c,llll.ll,a,yyyyy.yy,a,x.x,x.x,x.x,A,m,*hh<CR><LF>
  24 /// @endcode
  25 ///
  26 /// Field Number:
  27 /// 1.  Status
  28 ///     - A = Active
  29 ///     - V = Void
  30 /// 2.  Cross Track error - nautical miles
  31 /// 3.  Direction to Steer
  32 ///     - L = Left
  33 ///     - R = Right
  34 /// 4.  TO Waypoint ID
  35 /// 5.  FROM Waypoint ID
  36 /// 6.  Destination Waypoint Latitude
  37 /// 7.  Destination Waypoint Latitude hemisphere
  38 ///     - N = North
  39 ///     - S = South
  40 /// 8.  Destination Waypoint Longitude
  41 /// 9.  Destination Waypoint Longitude hemisphere
  42 ///     - E = East
  43 ///     - W = West
  44 /// 10. Range to destination in nautical miles
  45 /// 11. Bearing to destination in degrees True
  46 /// 12. Destination closing velocity in knots
  47 /// 13. Arrival Status
  48 ///     - A = Arrival Circle Entered
  49 ///     - V = Not Entered
  50 /// 14. FAA mode indicator (NMEA 2.3 and later)
  51 ///
  52 /// Example:
  53 /// @code
  54 /// $GPRMB,A,0.66,L,003,004,4917.24,N,12309.57,W,001.3,052.5,000.5,V*0B
  55 /// @endcode
  56 ///
  57 class rmb : public sentence
  58 {
  59         MARNAV_NMEA_SENTENCE_FRIENDS(rmb)
  60
  61 public:
  62         constexpr static const sentence_id ID = sentence_id::RMB;
  63         constexpr static const char * TAG = "RMB";
  64
  65         virtual ~rmb() {}
  66
  67         rmb();
  68         rmb(const rmb &) = default;
  69         rmb & operator=(const rmb &) = default;
  70
  71 protected:
  72         rmb(const std::string & talker, fields::const_iterator first, fields::const_iterator last);
  73         virtual std::vector<std::string> get_data() const override;
  74
  75 private:
  76         utils::optional<status> active; // V:warning
  77         utils::optional<double> cross_track_error; // cross track error in nautical miles
  78         utils::optional<side> steer_dir; // direction to steer, left or right
  79         utils::optional<waypoint> waypoint_to; // TO waypoint ID
  80         utils::optional<waypoint> waypoint_from; // FROM waypoint ID
  81         utils::optional<geo::latitude> lat; // destination waypoint latitude
  82         utils::optional<direction> lat_hem; // destination waypoint latitude dir, N:north, S:south
  83         utils::optional<geo::longitude> lon; // destination waypoint longitude
  84         utils::optional<direction> lon_hem; // destination waypoint longitude dir, E:east, W:west
  85         utils::optional<double> range; // range to destination in nautical miles
  86         utils::optional<double> bearing; // bearing to destination in degrees to true
  87         utils::optional<double> dst_velocity; // destination closing velocity in knots
  88         utils::optional<status> arrival_status; // arrival status, A:arrival circle entered
  89         utils::optional<positioning_system_mode_indicator> mode_indicator;
  90
  91 public:
  92         NMEA_GETTER(active)
  93         NMEA_GETTER(cross_track_error)
  94         NMEA_GETTER(steer_dir)
  95         NMEA_GETTER(waypoint_to)
  96         NMEA_GETTER(waypoint_from)
  97         NMEA_GETTER(range)
  98         NMEA_GETTER(bearing)
  99         NMEA_GETTER(dst_velocity)
 100         NMEA_GETTER(arrival_status)
 101         NMEA_GETTER(mode_indicator)
 102
 103         utils::optional<geo::longitude> get_longitude() const;
 104         utils::optional<geo::latitude> get_latitude() const;
 105
 106         void set_active(status t) noexcept { active = t; }
 107         void set_cross_track_error(double t) noexcept { cross_track_error = t; }
 108         void set_steer_dir(side t) noexcept { steer_dir = t; }
 109         void set_waypoint_to(const waypoint & id) { waypoint_to = id; }
 110         void set_waypoint_from(const waypoint & id) { waypoint_from = id; }
 111         void set_lat(const geo::latitude & t);
 112         void set_lon(const geo::longitude & t);
 113         void set_range(double t) noexcept { range = t; }
 114         void set_bearing(double t) noexcept { bearing = t; }
 115         void set_dst_velocity(double t) noexcept { dst_velocity = t; }
 116         void set_arrival_status(status t) noexcept { arrival_status = t; }
 117         void set_mode_indicator(positioning_system_mode_indicator t) noexcept
 118         {
 119                 mode_indicator = t;
 120         }
 121 };
 122 }
 123 }
 124
 125 #endif