src/marnav/nmea/grs.hpp

   1 #ifndef __MARNAV__NMEA__GRS__HPP__
   2 #define __MARNAV__NMEA__GRS__HPP__
   3
   4 #include <array>
   5 #include <marnav/nmea/sentence.hpp>
   6 #include <marnav/nmea/time.hpp>
   7 #include <marnav/utils/optional.hpp>
   8
   9 namespace marnav
  10 {
  11 namespace nmea
  12 {
  13 MARNAV_NMEA_DECLARE_SENTENCE_PARSE_FUNC(grs)
  14
  15 /// @brief GRS - GPS Range Residuals
  16 ///
  17 /// @code
  18 ///         1         2 3  4  5  6  7  8  9 10 11 12 13 14
  19 ///         |         | |  |  |  |  |  |  |  |  |  |  |  |
  20 /// $--GRS,hhmmss.ss,m,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,*hh<CR><LF>
  21 /// @endcode
  22 ///
  23 /// Field Number:
  24 /// 1.  UTC time of associated GGA fix
  25 /// 2.  0 = Residuals used in GGA, 1 = residuals calculated after GGA
  26 /// 3.  Satellite 1 residual in meters
  27 /// 4.  Satellite 2 residual in meters
  28 /// 5.  Satellite 3 residual in meters
  29 /// 6.  Satellite 4 residual in meters (blank if unused)
  30 /// 7.  Satellite 5 residual in meters (blank if unused)
  31 /// 8.  Satellite 6 residual in meters (blank if unused)
  32 /// 9.  Satellite 7 residual in meters (blank if unused)
  33 /// 10. Satellite 8 residual in meters (blank if unused)
  34 /// 11. Satellite 9 residual in meters (blank if unused)
  35 /// 12. Satellite 10 residual in meters (blank if unused)
  36 /// 13. Satellite 11 residual in meters (blank if unused)
  37 /// 14. Satellite 12 residual in meters (blank if unused)
  38 ///
  39 /// The order of satellites the same as those in the last GSA.
  40 ///
  41 class grs : public sentence
  42 {
  43         MARNAV_NMEA_SENTENCE_FRIENDS(grs)
  44
  45 public:
  46         constexpr static const sentence_id ID = sentence_id::GRS;
  47         constexpr static const char * TAG = "GRS";
  48
  49         constexpr static int num_satellite_residuals = 12;
  50
  51         enum class residual_usage : uint32_t {
  52                 used_in_gga, ///< NMEA representation: 0
  53                 calculated_after_gga, ///< NMEA representation: 1
  54         };
  55
  56         grs();
  57         grs(const grs &) = default;
  58         grs & operator=(const grs &) = default;
  59         grs(grs &&) = default;
  60         grs & operator=(grs &&) = default;
  61
  62 protected:
  63         grs(talker talk, fields::const_iterator first, fields::const_iterator last);
  64         virtual std::vector<std::string> get_data() const override;
  65
  66 private:
  67         nmea::time time_utc;
  68         residual_usage usage;
  69         std::array<utils::optional<double>, num_satellite_residuals> sat_residual;
  70
  71         void check_index(int index) const;
  72
  73 public:
  74         decltype(time_utc) get_time_utc() const { return time_utc; }
  75         decltype(usage) get_usage() const { return usage; }
  76         utils::optional<double> get_sat_residual(int index) const;
  77
  78         void set_time_utc(const nmea::time & t) noexcept { time_utc = t; }
  79         void set_usage(residual_usage t) noexcept { usage = t; }
  80         void set_sat_residual(int index, double value);
  81 };
  82
  83 std::string to_string(grs::residual_usage value);
  84 }
  85 }
  86
  87 #endif