nav_library_orbital_data_provider.h

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// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#pragma once
 
#include <memory>
#include <string>
#include <unordered_map>
#include <unordered_set>
#include <utility>
 
#include <cras_cpp_common/expected.hpp>
#include <gnss_info/nav_library_data_source.h>
#include <gnss_info/orbital_data_provider.h>
#include <ros/ros.h>
 
 
namespace gnss_info
{
 
struct NavLibraryOrbitalDataProviderPrivate;
 
class NavLibraryOrbitalDataProvider : public OrbitalDataProvider
{
public:
    NavLibraryOrbitalDataProvider();
    ~NavLibraryOrbitalDataProvider() override;
 
    virtual void addDataSource(const std::shared_ptr<NavLibraryDataSource>& source);
 
    std::string getName() const override;
    bool isPrecise() const override;
    bool isApproximate() const override;
 
    std::pair<ros::Time, ros::Time> getTimeRange() const override;
    std::unordered_set<std::string> getConstellations() const override;
 
    bool load(const ros::Time& time, const cras::optional<bool>& precise) override;
    bool load(const ros::Time& startTime, const ros::Time& endTime, const cras::optional<bool>& precise) override;
 
    cras::expected<std::unordered_map<uint32_t, gnss_info_msgs::SatellitePosition>, std::string> getECEFPositions(
        const ros::Time& time, const std::unordered_map<uint32_t, gnss_info_msgs::SatelliteInfo>& satellites) override;
 
    cras::expected<std::unordered_map<uint32_t, gnss_info_msgs::SatelliteSkyPosition>, std::string> getSkyView(
        const geographic_msgs::GeoPoint& position,
        const std::unordered_map<uint32_t, gnss_info_msgs::SatellitePosition>& positions,
        double elevationMaskDeg) override;
 
private:
    std::unique_ptr<NavLibraryOrbitalDataProviderPrivate> data;  
};
 
}