src/marnav/nmea/xtr.hpp

   1 #ifndef __MARNAV__NMEA__XTR__HPP__
   2 #define __MARNAV__NMEA__XTR__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(xtr)
  12
  13 /// @brief XTR - Cross Track Error - Dead Reckoning
  14 ///
  15 /// @code
  16 ///        1   2 3
  17 ///        |   | |
  18 /// $--XTR,x.x,a,N*hh<CR><LF>
  19 /// @endcode
  20 ///
  21 /// Field Number:
  22 /// 1. Magnitude of cross track error
  23 /// 2. Direction to steer
  24 ///    - L = left
  25 ///    - R = right
  26 /// 3. Unit
  27 ///    - N = Nautical Miles
  28 ///
  29 class xtr : public sentence
  30 {
  31         MARNAV_NMEA_SENTENCE_FRIENDS(xtr)
  32
  33 public:
  34         constexpr static const sentence_id ID = sentence_id::XTR;
  35         constexpr static const char * TAG = "XTR";
  36
  37         xtr();
  38         xtr(const xtr &) = default;
  39         xtr & operator=(const xtr &) = default;
  40         xtr(xtr &&) = default;
  41         xtr & operator=(xtr &&) = default;
  42
  43 protected:
  44         xtr(talker talk, fields::const_iterator first, fields::const_iterator last);
  45         virtual std::vector<std::string> get_data() const override;
  46
  47 private:
  48         utils::optional<double> cross_track_error_magnitude;
  49         utils::optional<side> direction_to_steer;
  50         utils::optional<unit::distance> cross_track_unit;
  51
  52 public:
  53         decltype(cross_track_error_magnitude) get_cross_track_error_magnitude() const
  54         {
  55                 return cross_track_error_magnitude;
  56         }
  57         decltype(direction_to_steer) get_direction_to_steer() const { return direction_to_steer; }
  58         decltype(cross_track_unit) get_cross_track_unit() const { return cross_track_unit; }
  59
  60         void set_cross_track_error_magnitude(double t) noexcept
  61         {
  62                 cross_track_error_magnitude = t;
  63                 cross_track_unit = unit::distance::nm;
  64         }
  65         void set_direction_to_steer(side t) noexcept { direction_to_steer = t; }
  66 };
  67 }
  68 }
  69
  70 #endif