src/marnav/nmea/apb.cpp

   1 #include "apb.hpp"
   2 #include <marnav/nmea/checks.hpp>
   3 #include <marnav/nmea/io.hpp>
   4
   5 namespace marnav
   6 {
   7 namespace nmea
   8 {
   9 MARNAV_NMEA_DEFINE_SENTENCE_PARSE_FUNC(apb)
  10
  11 constexpr const char * apb::TAG;
  12
  13 apb::apb()
  14         : sentence(ID, TAG, talker_id::global_positioning_system)
  15 {
  16 }
  17
  18 apb::apb(talker talk, fields::const_iterator first, fields::const_iterator last)
  19         : sentence(ID, TAG, talk)
  20 {
  21         const auto size = std::distance(first, last);
  22         if ((size < 14) || (size > 15))
  23                 throw std::invalid_argument{"invalid number of fields in apb"};
  24
  25         read(*(first + 0), loran_c_blink_warning);
  26         read(*(first + 1), loran_c_cycle_lock_warning);
  27         read(*(first + 2), cross_track_error_magnitude);
  28         read(*(first + 3), direction_to_steer);
  29         read(*(first + 4), cross_track_unit);
  30         read(*(first + 5), status_arrival);
  31         read(*(first + 6), status_perpendicular_passing);
  32         read(*(first + 7), bearing_origin_to_destination);
  33         read(*(first + 8), bearing_origin_to_destination_ref);
  34         read(*(first + 9), waypoint_id);
  35         read(*(first + 10), bearing_pos_to_destination);
  36         read(*(first + 11), bearing_pos_to_destination_ref);
  37         read(*(first + 12), heading_to_steer_to_destination);
  38         read(*(first + 13), heading_to_steer_to_destination_ref);
  39
  40         if (size > 14)
  41                 read(*(first + 14), mode_ind);
  42
  43         check();
  44 }
  45
  46 void apb::set_bearing_origin_to_destination(double t, reference ref)
  47 {
  48         check_value(bearing_origin_to_destination_ref, {reference::TRUE, reference::MAGNETIC},
  49                 "bearing_origin_to_destination_ref");
  50         bearing_origin_to_destination = t;
  51         bearing_origin_to_destination_ref = ref;
  52 }
  53
  54 void apb::set_bearing_pos_to_destination(double t, reference ref)
  55 {
  56         check_value(bearing_pos_to_destination_ref, {reference::TRUE, reference::MAGNETIC},
  57                 "bearing_pos_to_destination_ref");
  58         bearing_pos_to_destination = t;
  59         bearing_pos_to_destination_ref = ref;
  60 }
  61
  62 void apb::set_heading_to_steer_to_destination(double t, reference ref)
  63 {
  64         check_value(heading_to_steer_to_destination_ref, {reference::TRUE, reference::MAGNETIC},
  65                 "heading_to_steer_to_destination_ref");
  66         heading_to_steer_to_destination = t;
  67         heading_to_steer_to_destination_ref = ref;
  68 }
  69
  70 void apb::set_mode_indicator(mode_indicator t)
  71 {
  72         check_value(t,
  73                 {mode_indicator::invalid, mode_indicator::autonomous, mode_indicator::differential},
  74                 "mode_indicator");
  75         mode_ind = t;
  76 }
  77
  78 void apb::check() const
  79 {
  80         check_status(loran_c_blink_warning, "loran_c_blink_warning");
  81         check_status(loran_c_cycle_lock_warning, "loran_c_cycle_lock_warning");
  82
  83         check_value(direction_to_steer, {side::left, side::right}, "direction_to_steer");
  84         check_value(cross_track_unit, {unit::distance::nm}, "cross_talk_unit");
  85         check_status(status_arrival, "status_arrival");
  86         check_status(status_perpendicular_passing, "status_perpendicular_passing");
  87
  88         if (bearing_origin_to_destination && !bearing_origin_to_destination_ref)
  89                 throw std::invalid_argument{"missing bearing_origin_to_destination_ref"};
  90         check_value(bearing_origin_to_destination_ref, {reference::TRUE, reference::MAGNETIC},
  91                 "bearing_origin_to_destination_ref");
  92
  93         if (bearing_pos_to_destination && !bearing_pos_to_destination_ref)
  94                 throw std::invalid_argument{"missing bearing_pos_to_destination_ref"};
  95         check_value(bearing_pos_to_destination_ref, {reference::TRUE, reference::MAGNETIC},
  96                 "bearing_pos_to_destination_ref");
  97
  98         if (heading_to_steer_to_destination && !heading_to_steer_to_destination_ref)
  99                 throw std::invalid_argument{"missing heading_to_steer_to_destination_ref"};
 100         check_value(heading_to_steer_to_destination_ref, {reference::TRUE, reference::MAGNETIC},
 101                 "heading_to_steer_to_destination_ref");
 102
 103         check_value(mode_ind,
 104                 {mode_indicator::invalid, mode_indicator::autonomous, mode_indicator::differential},
 105                 "mode_indicator");
 106 }
 107
 108 std::vector<std::string> apb::get_data() const
 109 {
 110         return {to_string(loran_c_blink_warning), to_string(loran_c_cycle_lock_warning),
 111                 format(cross_track_error_magnitude, 2), to_string(direction_to_steer),
 112                 to_string(cross_track_unit), to_string(status_arrival),
 113                 to_string(status_perpendicular_passing), format(bearing_origin_to_destination, 1),
 114                 to_string(bearing_origin_to_destination_ref), to_string(waypoint_id),
 115                 format(bearing_pos_to_destination, 1), to_string(bearing_pos_to_destination_ref),
 116                 format(heading_to_steer_to_destination, 1),
 117                 to_string(heading_to_steer_to_destination_ref), to_string(mode_ind)};
 118 }
 119 }
 120 }