src/marnav/nmea/rmb.cpp

   1 #include <marnav/nmea/rmb.hpp>
   2 #include "convert.hpp"
   3 #include <marnav/nmea/io.hpp>
   4 #include <stdexcept>
   5
   6 namespace marnav
   7 {
   8 namespace nmea
   9 {
  10 constexpr sentence_id rmb::ID;
  11 constexpr const char * rmb::TAG;
  12
  13 rmb::rmb()
  14         : sentence(ID, TAG, talker::global_positioning_system)
  15 {
  16 }
  17
  18 rmb::rmb(talker talk, fields::const_iterator first, fields::const_iterator last)
  19         : sentence(ID, TAG, talk)
  20 {
  21         // before and after NMEA 2.3
  22         const auto size = std::distance(first, last);
  23         if ((size < 13) || (size > 14))
  24                 throw std::invalid_argument{"invalid number of fields in rmb"};
  25
  26         read(*(first + 0), active_);
  27         read(*(first + 1), cross_track_error_);
  28         read(*(first + 2), steer_dir_);
  29         read(*(first + 3), waypoint_to_);
  30         read(*(first + 4), waypoint_from_);
  31         read(*(first + 5), lat_);
  32         read(*(first + 6), lat_hem_);
  33         read(*(first + 7), lon_);
  34         read(*(first + 8), lon_hem_);
  35         read(*(first + 9), range_);
  36         read(*(first + 10), bearing_);
  37         read(*(first + 11), dst_velocity_);
  38         read(*(first + 12), arrival_status_);
  39
  40         // NMEA 2.3 or newer
  41         if (size > 13)
  42                 read(*(first + 13), mode_ind_);
  43
  44         // instead of reading data into temporary lat/lon, let's correct values afterwards
  45         lat_ = correct_hemisphere(lat_, lat_hem_);
  46         lon_ = correct_hemisphere(lon_, lon_hem_);
  47 }
  48
  49 utils::optional<geo::longitude> rmb::get_lon() const
  50 {
  51         return (lon_ && lon_hem_) ? lon_ : utils::optional<geo::longitude>{};
  52 }
  53
  54 utils::optional<geo::latitude> rmb::get_lat() const
  55 {
  56         return (lat_ && lat_hem_) ? lat_ : utils::optional<geo::latitude>{};
  57 }
  58
  59 void rmb::set_lat(const geo::latitude & t)
  60 {
  61         lat_ = t;
  62         lat_hem_ = convert_hemisphere(t);
  63 }
  64
  65 void rmb::set_lon(const geo::longitude & t)
  66 {
  67         lon_ = t;
  68         lon_hem_ = convert_hemisphere(t);
  69 }
  70
  71 utils::optional<units::velocity> rmb::get_dst_velocity() const
  72 {
  73         if (!dst_velocity_)
  74                 return {};
  75         return {*dst_velocity_};
  76 }
  77
  78 void rmb::set_dst_velocity(units::velocity t)
  79 {
  80         if (t.value() < 0.0)
  81                 throw std::invalid_argument{"invalid argument, destination velocity less than zero"};
  82         dst_velocity_ = t.get<units::knots>();
  83 }
  84
  85 utils::optional<units::length> rmb::get_range() const
  86 {
  87         if (!range_)
  88                 return {};
  89         return {*range_};
  90 }
  91
  92 void rmb::set_range(units::length t)
  93 {
  94         if (t.value() < 0.0)
  95                 throw std::invalid_argument{"invalid argument, range less than zero"};
  96         range_ = t.get<units::nautical_miles>();
  97 }
  98
  99 utils::optional<units::length> rmb::get_cross_track_error() const
 100 {
 101         if (!cross_track_error_)
 102                 return {};
 103         return {*cross_track_error_};
 104 }
 105
 106 void rmb::set_cross_track_error(units::length t)
 107 {
 108         if (t.value() < 0.0)
 109                 throw std::invalid_argument{"invalid argument, cross track error less than zero"};
 110         cross_track_error_ = t.get<units::nautical_miles>();
 111 }
 112
 113 void rmb::append_data_to(std::string & s) const
 114 {
 115         append(s, to_string(active_));
 116         append(s, to_string(cross_track_error_));
 117         append(s, to_string(steer_dir_));
 118         append(s, to_string(waypoint_to_));
 119         append(s, to_string(waypoint_from_));
 120         append(s, to_string(lat_));
 121         append(s, to_string(lat_hem_));
 122         append(s, to_string(lon_));
 123         append(s, to_string(lon_hem_));
 124         append(s, to_string(range_));
 125         append(s, to_string(bearing_));
 126         append(s, to_string(dst_velocity_));
 127         append(s, to_string(arrival_status_));
 128         append(s, to_string(mode_ind_));
 129 }
 130 }
 131 }