parsing_utilities.cpp

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// ROSaic includes
#include <septentrio_gnss_driver/parsers/parsing_utilities.hpp>
#include <septentrio_gnss_driver/parsers/string_utilities.hpp>
// C++ library includes
#include <limits>
// Boost
#include <boost/spirit/include/qi_binary.hpp>
 
namespace parsing_utilities {
 
    const double pihalf = boost::math::constants::pi<double>() / 2.0;
 
    namespace qi = boost::spirit::qi;
 
    [[nodiscard]] double wrapAngle180to180(double angle)
    {
        return std::remainder(angle, 360.0);
    }
 
    [[nodiscard]] double parseDouble(const uint8_t* buffer)
    {
        double val;
        qi::parse(buffer, buffer + 8, qi::little_bin_double, val);
        return val;
    }
 
    [[nodiscard]] bool parseDouble(const std::string& string, double& value)
    {
        return string_utilities::toDouble(string, value) || string.empty();
    }
 
    [[nodiscard]] float parseFloat(const uint8_t* buffer)
    {
        float val;
        qi::parse(buffer, buffer + 4, qi::little_bin_float, val);
        return val;
    }
 
    [[nodiscard]] bool parseFloat(const std::string& string, float& value)
    {
        return string_utilities::toFloat(string, value) || string.empty();
    }
 
    [[nodiscard]] int16_t parseInt16(const uint8_t* buffer)
    {
        int16_t val;
        qi::parse(buffer, buffer + 2, qi::little_word, val);
        return val;
    }
 
    [[nodiscard]] bool parseInt16(const std::string& string, int16_t& value,
                                  int32_t base)
    {
        value = 0;
        if (string.empty())
        {
            return true;
        }
 
        int32_t intermd;
        if (string_utilities::toInt32(string, intermd, base) &&
            intermd <= std::numeric_limits<int16_t>::max() &&
            intermd >= std::numeric_limits<int16_t>::min())
        {
            value = static_cast<int16_t>(intermd);
            return true;
        }
 
        return false;
    }
 
    [[nodiscard]] int32_t parseInt32(const uint8_t* buffer)
    {
        int32_t val;
        qi::parse(buffer, buffer + 4, qi::little_dword, val);
        return val;
    }
 
    [[nodiscard]] bool parseInt32(const std::string& string, int32_t& value,
                                  int32_t base)
    {
        return string_utilities::toInt32(string, value, base) || string.empty();
    }
 
    [[nodiscard]] bool parseUInt8(const std::string& string, uint8_t& value,
                                  int32_t base)
    {
        value = 0;
        if (string.empty())
        {
            return true;
        }
 
        uint32_t intermd;
        if (string_utilities::toUInt32(string, intermd, base) &&
            intermd <= std::numeric_limits<uint8_t>::max())
        {
            value = static_cast<uint8_t>(intermd);
            return true;
        }
 
        return false;
    }
 
    [[nodiscard]] uint16_t parseUInt16(const uint8_t* buffer)
    {
        uint16_t val;
        qi::parse(buffer, buffer + 2, qi::little_word, val);
        return val;
    }
 
    [[nodiscard]] bool parseUInt16(const std::string& string, uint16_t& value,
                                   int32_t base)
    {
        value = 0;
        if (string.empty())
        {
            return true;
        }
 
        uint32_t intermd;
        if (string_utilities::toUInt32(string, intermd, base) &&
            intermd <= std::numeric_limits<uint16_t>::max())
        {
            value = static_cast<uint16_t>(intermd);
            return true;
        }
 
        return false;
    }
 
    [[nodiscard]] uint32_t parseUInt32(const uint8_t* buffer)
    {
        uint32_t val;
        qi::parse(buffer, buffer + 4, qi::little_dword, val);
        return val;
    }
 
    [[nodiscard]] bool parseUInt32(const std::string& string, uint32_t& value,
                                   int32_t base)
    {
        return string_utilities::toUInt32(string, value, base) || string.empty();
    }
 
    [[nodiscard]] double convertUTCDoubleToSeconds(double utc_double)
    {
        uint32_t hours = static_cast<uint32_t>(utc_double) / 10000;
        uint32_t minutes = (static_cast<uint32_t>(utc_double) - hours * 10000) / 100;
 
        return utc_double - static_cast<double>(hours * 10000 + minutes * 100) +
               static_cast<double>(hours * 3600 + minutes * 60);
    }
 
    [[nodiscard]] double convertDMSToDegrees(double dms)
    {
        uint32_t whole_degrees = static_cast<uint32_t>(dms) / 100;
        double minutes = dms - static_cast<double>(whole_degrees * 100);
        return static_cast<double>(whole_degrees) + minutes / 60.0;
    }
 
    [[nodiscard]] time_t convertUTCtoUnix(double utc_double)
    {
        time_t time_now = time(0);
        struct tm* timeinfo;
 
        // The function gmtime uses the value at &time_now to fill a tm structure
        // with the values that represent the corresponding time, expressed as a UTC
        // time.
        timeinfo = gmtime(&time_now);
 
        uint32_t hours = static_cast<uint32_t>(utc_double) / 10000;
        uint32_t minutes = (static_cast<uint32_t>(utc_double) - hours * 10000) / 100;
        uint32_t seconds =
            (static_cast<uint32_t>(utc_double) - hours * 10000 - minutes * 100);
 
        // Overwriting timeinfo with UTC time as extracted from utc_double..
        timeinfo->tm_hour = hours;  // hours since midnight - [0,23]
        timeinfo->tm_min = minutes; // minutes after the hour - [0,59]
        timeinfo->tm_sec = seconds; // seconds after the minute - [0,59]
 
        /* // If you are doing a simulation, add year, month and day here:
        uint32_t year; // year, starting from 1900
        uint32_t month; // months since January - [0,11]
        uint32_t day;  //day of the month - [1,31]
        timeinfo->tm_year = year;
        timeinfo->tm_mon = month;
        timeinfo->tm_mday = day;
        */
 
        // Inverse of gmtime, the latter converts time_t (Unix time) to tm (UTC time)
        return timegm(timeinfo);
    }
 
    [[nodiscard]] Eigen::Quaterniond
    convertEulerToQuaternion(double roll, double pitch, double yaw)
    {
        double cy = std::cos(yaw * 0.5);
        double sy = std::sin(yaw * 0.5);
        double cp = std::cos(pitch * 0.5);
        double sp = std::sin(pitch * 0.5);
        double cr = std::cos(roll * 0.5);
        double sr = std::sin(roll * 0.5);
 
        return Eigen::Quaterniond(
            cr * cp * cy + sr * sp * sy, sr * cp * cy - cr * sp * sy,
            cr * sp * cy + sr * cp * sy, cr * cp * sy - sr * sp * cy);
    }
 
    [[nodiscard]] QuaternionMsg
    quaternionToQuaternionMsg(const Eigen::Quaterniond& q)
    {
        QuaternionMsg qm;
 
        qm.w = q.w();
        qm.x = q.x();
        qm.y = q.y();
        qm.z = q.z();
 
        return qm;
    }
 
    [[nodiscard]] QuaternionMsg convertEulerToQuaternionMsg(double roll,
                                                            double pitch, double yaw)
    {
        return quaternionToQuaternionMsg(convertEulerToQuaternion(roll, pitch, yaw));
    }
 
    [[nodiscard]] Eigen::Quaterniond q_enu_ecef(double lat, double lon)
    {
        double sr = sin((pihalf - lat) / 2.0);
        double cr = cos((pihalf - lat) / 2.0);
        double sy = sin((lon + pihalf) / 2.0);
        double cy = cos((lon + pihalf) / 2.0);
 
        return Eigen::Quaterniond(cr * cy, sr * cy, sr * sy, cr * sy);
    }
 
    [[nodiscard]] Eigen::Quaterniond q_ned_ecef(double lat, double lon)
    {
        double sp = sin((-lat - pihalf) / 2.0);
        double cp = cos((-lat - pihalf) / 2.0);
        double sy = sin(lon / 2.0);
        double cy = cos(lon / 2.0);
 
        return Eigen::Quaterniond(cp * cy, -sp * sy, sp * cy, cp * sy);
    }
 
    [[nodiscard]] Eigen::Matrix3d R_enu_ecef(double lat, double lon)
    {
        Eigen::Matrix3d R;
 
        double sin_lat = sin(lat);
        double cos_lat = cos(lat);
        double sin_lon = sin(lon);
        double cos_lon = cos(lon);
 
        R(0, 0) = -sin_lon;
        R(0, 1) = -cos_lon * sin_lat;
        R(0, 2) = cos_lon * cos_lat;
        R(1, 0) = cos_lon;
        R(1, 1) = -sin_lon * sin_lat;
        R(1, 2) = sin_lon * cos_lat;
        R(2, 0) = 0.0;
        R(2, 1) = cos_lat;
        R(2, 2) = sin_lat;
 
        return R;
    }
 
    [[nodiscard]] Eigen::Matrix3d R_ned_ecef(double lat, double lon)
    {
        Eigen::Matrix3d R;
 
        double sin_lat = sin(lat);
        double cos_lat = cos(lat);
        double sin_lon = sin(lon);
        double cos_lon = cos(lon);
 
        R(0, 0) = -cos_lon * sin_lat;
        R(0, 1) = -sin_lon;
        R(0, 2) = -cos_lon * cos_lat;
        R(1, 0) = -sin_lon * sin_lat;
        R(1, 1) = cos_lon;
        R(1, 2) = -sin_lon * cos_lat;
        R(2, 0) = cos_lat;
        R(2, 1) = 0.0;
        R(2, 2) = -sin_lat;
 
        return R;
    }
 
    [[nodiscard]] std::string convertUserPeriodToRxCommand(uint32_t period_user)
    {
        std::string cmd;
 
        if (period_user == 0)
            return "OnChange";
        else if (period_user < 1000)
            return "msec" + std::to_string(period_user);
        else if (period_user <= 60000)
            return "sec" + std::to_string(period_user / 1000);
        else
            return "min" + std::to_string(period_user / 60000);
    }
 
    [[nodiscard]] uint16_t getCrc(const std::vector<uint8_t>& message)
    {
        return parseUInt16(message.data() + 2);
    }
 
    [[nodiscard]] uint16_t getId(const std::vector<uint8_t>& message)
    {
        // Defines bit mask..
        // Highest three bits are for revision and rest for block number
        static uint16_t mask = 8191;
        // Bitwise AND gives us all but highest 3 bits set to zero, rest unchanged
 
        return parseUInt16(message.data() + 4) & mask;
    }
 
    [[nodiscard]] uint16_t getLength(const std::vector<uint8_t>& message)
    {
        return parseUInt16(message.data() + 6);
    }
 
    [[nodiscard]] uint32_t getTow(const std::vector<uint8_t>& message)
    {
        return parseUInt32(message.data() + 8);
    }
 
    [[nodiscard]] uint16_t getWnc(const std::vector<uint8_t>& message)
    {
        return parseUInt16(message.data() + 12);
    }
 
} // namespace parsing_utilities