src/marnav/nmea/apb.hpp

   1 #ifndef __NMEA__APB__HPP__
   2 #define __NMEA__APB__HPP__
   3
   4 #include <marnav/nmea/sentence.hpp>
   5 #include <marnav/nmea/waypoint.hpp>
   6 #include <marnav/utils/optional.hpp>
   7
   8 namespace marnav
   9 {
  10 namespace nmea
  11 {
  12 MARNAV_NMEA_DECLARE_SENTENCE_PARSE_FUNC(apb)
  13
  14 /// @brief APB - Autopilot Sentence "B"
  15 ///
  16 /// This is a fixed form of the APA sentence with some ambiguities removed.
  17 ///
  18 /// @code
  19 ///                                         13    15
  20 ///        1 2 3   4 5 6 7 8   9 10   11  12|   14|
  21 ///        | | |   | | | | |   | |    |   | |   | |
  22 /// $--APB,A,A,x.x,a,N,A,A,x.x,a,c--c,x.x,a,x.x,a,a*hh<CR><LF>
  23 /// @endcode
  24 ///
  25 /// Field Number:
  26 /// 1.  Status
  27 ///     - A = Data valid
  28 ///     - V = LORAN-C Blink or SNR warning
  29 ///     - V = general warning flag or other navigation systems when a reliable fix is not
  30 ///           available
  31 /// 2.  Status
  32 ///     - A = Data valid or not used
  33 ///     - V = Loran-C Cycle Lock warning flag
  34 /// 3.  Magnitude of Cross Track Error
  35 /// 4.  Direction to steer
  36 ///     - L
  37 ///     - R
  38 /// 5.  Cross Track Units
  39 ///     - N = Nautical Miles
  40 /// 6.  Status
  41 ///     - A = Arrival Circle Entered
  42 /// 7.  Status
  43 ///     - A = Perpendicular passed at waypoint
  44 /// 8.  Bearing origin to destination
  45 /// 9.  Bearing origin to destination reference
  46 ///     - M = Magnetic
  47 ///     - T = True
  48 /// 10. Destination Waypoint ID
  49 /// 11. Bearing, present position to destination
  50 /// 12. Bearing, present position to destination reference
  51 ///     - M = Magnetic
  52 ///     - T = True
  53 /// 13. Heading to steer to destination waypoint
  54 /// 14. Heading to steer to destination waypoint reference
  55 ///     - M = Magnetic
  56 ///     - T = True
  57 /// 15. Mode indicator
  58 ///     - V = Invalid
  59 ///     - A = Autonomous
  60 ///     - D = Differential
  61 ///
  62 class apb : public sentence
  63 {
  64         MARNAV_NMEA_SENTENCE_FRIENDS(apb)
  65
  66 public:
  67         constexpr static const sentence_id ID = sentence_id::APB;
  68         constexpr static const char * TAG = "APB";
  69
  70         apb();
  71         apb(const apb &) = default;
  72         apb & operator=(const apb &) = default;
  73         apb(apb &&) = default;
  74         apb & operator=(apb &&) = default;
  75
  76 protected:
  77         apb(const std::string & talker, fields::const_iterator first, fields::const_iterator last);
  78         virtual std::vector<std::string> get_data() const override;
  79
  80 private:
  81         utils::optional<status> loran_c_blink_warning;
  82         utils::optional<status> loran_c_cycle_lock_warning;
  83         utils::optional<double> cross_track_error_magnitude;
  84         utils::optional<side> direction_to_steer;
  85         utils::optional<unit::distance> cross_track_unit;
  86         utils::optional<status> status_arrival;
  87         utils::optional<status> status_perpendicular_passing;
  88         utils::optional<double> bearing_origin_to_destination;
  89         utils::optional<reference> bearing_origin_to_destination_ref;
  90         utils::optional<waypoint> waypoint_id;
  91         utils::optional<double> bearing_pos_to_destination;
  92         utils::optional<reference> bearing_pos_to_destination_ref;
  93         utils::optional<double> heading_to_steer_to_destination;
  94         utils::optional<reference> heading_to_steer_to_destination_ref;
  95         utils::optional<mode_indicator> mode_ind;
  96
  97         void check() const;
  98
  99 public:
 100         MARNAV_NMEA_GETTER(loran_c_blink_warning)
 101         MARNAV_NMEA_GETTER(loran_c_cycle_lock_warning)
 102         MARNAV_NMEA_GETTER(cross_track_error_magnitude)
 103         MARNAV_NMEA_GETTER(direction_to_steer)
 104         MARNAV_NMEA_GETTER(cross_track_unit)
 105         MARNAV_NMEA_GETTER(status_arrival)
 106         MARNAV_NMEA_GETTER(status_perpendicular_passing)
 107         MARNAV_NMEA_GETTER(bearing_origin_to_destination)
 108         MARNAV_NMEA_GETTER(bearing_origin_to_destination_ref)
 109         MARNAV_NMEA_GETTER(waypoint_id)
 110         MARNAV_NMEA_GETTER(bearing_pos_to_destination)
 111         MARNAV_NMEA_GETTER(bearing_pos_to_destination_ref)
 112         MARNAV_NMEA_GETTER(heading_to_steer_to_destination)
 113         MARNAV_NMEA_GETTER(heading_to_steer_to_destination_ref)
 114         MARNAV_NMEA_GETTER(mode_ind)
 115
 116         void set_loran_c_blink_warning(status t) noexcept { loran_c_blink_warning = t; }
 117         void set_loran_c_cycle_lock_warning(status t) noexcept { loran_c_cycle_lock_warning = t; }
 118         void set_cross_track_error_magnitude(double t) noexcept
 119         {
 120                 cross_track_error_magnitude = t;
 121                 cross_track_unit = unit::distance::nm;
 122         }
 123         void set_direction_to_steer(side t) noexcept { direction_to_steer = t; }
 124         void set_status_arrival(status t) noexcept { status_arrival = t; }
 125         void set_status_perpendicular_passing(status t) noexcept
 126         {
 127                 status_perpendicular_passing = t;
 128         }
 129         void set_bearing_origin_to_destination(double t, reference ref);
 130         void set_waypoint_id(const waypoint & id) { waypoint_id = id; }
 131         void set_bearing_pos_to_destination(double t, reference ref);
 132         void set_heading_to_steer_to_destination(double t, reference ref);
 133         void set_mode_indicator(mode_indicator t);
 134 };
 135 }
 136 }
 137
 138 #endif