src/marnav/nmea/xdr.hpp

   1 #ifndef __NMEA__XDR__HPP__
   2 #define __NMEA__XDR__HPP__
   3
   4 #include <marnav/nmea/sentence.hpp>
   5 #include <marnav/utils/optional.hpp>
   6
   7 namespace marnav
   8 {
   9 namespace nmea
  10 {
  11 MARNAV_NMEA_DECLARE_SENTENCE_PARSE_FUNC(xdr)
  12
  13 /// @brief XDR - Transducer Measurement
  14 ///
  15 /// @code
  16 ///        1 2   3 4
  17 ///        | |   | |
  18 /// $--XDR,a,x.x,a,c--c, ..... *hh<CR><LF>
  19 /// @endcode
  20 ///
  21 /// Field Number:
  22 /// 1. Transducer Type
  23 /// 2. Measurement Data
  24 /// 3. Units of measurement
  25 /// 4. Name of transducer
  26 ///
  27 /// There may be any number of quadruplets like this, each describing a sensor.
  28 /// The last field will be a checksum as usual.
  29 ///
  30 class xdr : public sentence
  31 {
  32         MARNAV_NMEA_SENTENCE_FRIENDS(xdr)
  33
  34 public:
  35         struct transducer_info {
  36                 char transducer_type;
  37                 double measurement_data;
  38                 char units_of_measurement;
  39                 std::string name;
  40         };
  41
  42         constexpr static const sentence_id ID = sentence_id::XDR;
  43         constexpr static const char * TAG = "XDR";
  44
  45         constexpr static const int max_transducer_info = 10;
  46
  47         xdr();
  48         xdr(const xdr &) = default;
  49         xdr & operator=(const xdr &) = default;
  50         xdr(xdr &&) = default;
  51         xdr & operator=(xdr &&) = default;
  52
  53 protected:
  54         xdr(const std::string & talker, fields::const_iterator first, fields::const_iterator last);
  55         virtual std::vector<std::string> get_data() const override;
  56
  57 private:
  58         std::array<utils::optional<transducer_info>, max_transducer_info> transducer_data;
  59
  60         void check_index(int index) const;
  61
  62 public:
  63         utils::optional<transducer_info> get_info(int index) const;
  64
  65         void set_info(int index, const transducer_info & info);
  66 };
  67 }
  68 }
  69
  70 #endif