rx_message.hpp

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#ifndef NMEA_SYNC_BYTE_1
#define NMEA_SYNC_BYTE_1 0x24
#endif
#ifndef NMEA_SYNC_BYTE_2_1
#define NMEA_SYNC_BYTE_2_1 0x47
#endif
#ifndef NMEA_SYNC_BYTE_2_2
#define NMEA_SYNC_BYTE_2_2 0x50
#endif
#ifndef RESPONSE_SYNC_BYTE_1
#define RESPONSE_SYNC_BYTE_1 0x24
#endif
#ifndef RESPONSE_SYNC_BYTE_2
#define RESPONSE_SYNC_BYTE_2 0x52
#endif
#ifndef CARRIAGE_RETURN
#define CARRIAGE_RETURN 0x0D
#endif
#ifndef LINE_FEED
#define LINE_FEED 0x0A
#endif
#ifndef RESPONSE_SYNC_BYTE_3
#define RESPONSE_SYNC_BYTE_3 0x3F
#endif
#ifndef CONNECTION_DESCRIPTOR_BYTE_1
#define CONNECTION_DESCRIPTOR_BYTE_1 0x49
#endif
#ifndef CONNECTION_DESCRIPTOR_BYTE_2
#define CONNECTION_DESCRIPTOR_BYTE_2 0x50
#endif
 
// C++ libraries
#include <cassert> // for assert
#include <cstddef>
#include <map>
#include <sstream>
// Boost includes
#include <boost/call_traits.hpp>
#include <boost/format.hpp>
#include <boost/math/constants/constants.hpp>
#include <boost/tokenizer.hpp>
// ROSaic includes
#include <septentrio_gnss_driver/abstraction/typedefs.hpp>
#include <septentrio_gnss_driver/crc/crc.h>
#include <septentrio_gnss_driver/parsers/nmea_parsers/gpgga.hpp>
#include <septentrio_gnss_driver/parsers/nmea_parsers/gpgsa.hpp>
#include <septentrio_gnss_driver/parsers/nmea_parsers/gpgsv.hpp>
#include <septentrio_gnss_driver/parsers/nmea_parsers/gprmc.hpp>
#include <septentrio_gnss_driver/parsers/string_utilities.h>
 
#ifndef RX_MESSAGE_HPP
#define RX_MESSAGE_HPP
 
extern bool g_read_cd;
extern uint32_t g_cd_count;
 
enum TypeOfPVT_Enum
{
    evNoPVT,
    evStandAlone,
    evDGPS,
    evFixed,
    evRTKFixed,
    evRTKFloat,
    evSBAS,
    evMovingBaseRTKFixed,
    evMovingBaseRTKFloat,
    evPPP
};
 
enum RxID_Enum
{
    evNavSatFix,
    evINSNavSatFix,
    evGPSFix,
    evINSGPSFix,
    evPoseWithCovarianceStamped,
    evINSPoseWithCovarianceStamped,
    evGPGGA,
    evGPRMC,
    evGPGSA,
    evGPGSV,
    evGLGSV,
    evGAGSV,
    evPVTCartesian,
    evPVTGeodetic,
    evBaseVectorCart,
    evBaseVectorGeod,
    evPosCovCartesian,
    evPosCovGeodetic,
    evAttEuler,
    evAttCovEuler,
    evINSNavCart,
    evINSNavGeod,
    evIMUSetup,
    evVelSensorSetup,
    evExtEventINSNavGeod,
    evExtEventINSNavCart,
    evExtSensorMeas,
    evGPST,
    evChannelStatus,
    evMeasEpoch,
    evDOP,
    evVelCovGeodetic,
    evDiagnosticArray,
    evLocalization,
    evReceiverStatus,
    evQualityInd,
    evReceiverTime,
    evReceiverSetup
};
 
namespace io_comm_rx {
 
    class RxMessage
    {
    public:
        RxMessage(ROSaicNodeBase* node, Settings* settings) :
            node_(node), settings_(settings), unix_time_(0)
        {
            found_ = false;
            crc_check_ = false;
            message_size_ = 0;
 
            std::pair<uint16_t, TypeOfPVT_Enum> type_of_pvt_pairs[] = {
                std::make_pair(static_cast<uint16_t>(0), evNoPVT),
                std::make_pair(static_cast<uint16_t>(1), evStandAlone),
                std::make_pair(static_cast<uint16_t>(2), evDGPS),
                std::make_pair(static_cast<uint16_t>(3), evFixed),
                std::make_pair(static_cast<uint16_t>(4), evRTKFixed),
                std::make_pair(static_cast<uint16_t>(5), evRTKFloat),
                std::make_pair(static_cast<uint16_t>(6), evSBAS),
                std::make_pair(static_cast<uint16_t>(7), evMovingBaseRTKFixed),
                std::make_pair(static_cast<uint16_t>(8), evMovingBaseRTKFloat),
                std::make_pair(static_cast<uint16_t>(10), evPPP)};
 
            type_of_pvt_map =
                TypeOfPVTMap(type_of_pvt_pairs, type_of_pvt_pairs + evPPP + 1);
 
            std::pair<std::string, RxID_Enum> rx_id_pairs[] = {
                std::make_pair("NavSatFix", evNavSatFix),
                std::make_pair("INSNavSatFix", evINSNavSatFix),
                std::make_pair("GPSFix", evGPSFix),
                std::make_pair("INSGPSFix", evINSGPSFix),
                std::make_pair("PoseWithCovarianceStamped",
                               evPoseWithCovarianceStamped),
                std::make_pair("INSPoseWithCovarianceStamped",
                               evINSPoseWithCovarianceStamped),
                std::make_pair("$GPGGA", evGPGGA),
                std::make_pair("$GPRMC", evGPRMC),
                std::make_pair("$GPGSA", evGPGSA),
                std::make_pair("$GPGSV", evGPGSV),
                std::make_pair("$GLGSV", evGLGSV),
                std::make_pair("$GAGSV", evGAGSV),
                std::make_pair("4006", evPVTCartesian),
                std::make_pair("4007", evPVTGeodetic),
                std::make_pair("4043", evBaseVectorCart),
                std::make_pair("4028", evBaseVectorGeod),
                std::make_pair("5905", evPosCovCartesian),
                std::make_pair("5906", evPosCovGeodetic),
                std::make_pair("5938", evAttEuler),
                std::make_pair("5939", evAttCovEuler),
                std::make_pair("GPST", evGPST),
                std::make_pair("4013", evChannelStatus),
                std::make_pair("4027", evMeasEpoch),
                std::make_pair("4001", evDOP),
                std::make_pair("5908", evVelCovGeodetic),
                std::make_pair("DiagnosticArray", evDiagnosticArray),
                std::make_pair("Localization", evLocalization),
                std::make_pair("4014", evReceiverStatus),
                std::make_pair("4082", evQualityInd),
                std::make_pair("5902", evReceiverSetup),
                std::make_pair("4225", evINSNavCart),
                std::make_pair("4226", evINSNavGeod),
                std::make_pair("4230", evExtEventINSNavGeod),
                std::make_pair("4229", evExtEventINSNavCart),
                std::make_pair("4224", evIMUSetup),
                std::make_pair("4244", evVelSensorSetup),
                std::make_pair("4050", evExtSensorMeas),
                std::make_pair("5914", evReceiverTime)};
 
            rx_id_map = RxIDMap(rx_id_pairs, rx_id_pairs + evReceiverSetup + 1);
        }
 
        void newData(Timestamp recvTimestamp, const uint8_t* data, std::size_t& size)
        {
            recvTimestamp_ = recvTimestamp;
            data_ = data;
            count_ = size;
            found_ = false;
            crc_check_ = false;
            message_size_ = 0;
        }
 
        bool isMessage(const uint16_t ID);
        bool isMessage(std::string ID);
        bool isSBF();
        bool isNMEA();
        bool isResponse();
        bool isConnectionDescriptor();
        bool isErrorMessage();
        std::size_t messageSize();
        std::string messageID();
 
        std::size_t getCount() { return count_; };
        const uint8_t* search();
 
        uint16_t getBlockLength();
 
        const uint8_t* getPosBuffer();
 
        const uint8_t* getEndBuffer();
 
        bool found();
 
        void next();
 
        template <typename M>
        void publish(const std::string& topic, const M& msg);
 
        void publishTf(const LocalizationUtmMsg& msg);
 
        bool read(std::string message_key, bool search = false);
 
        bool found_;
 
        bool gnss_gpsfix_complete(uint32_t id);
 
        bool ins_gpsfix_complete(uint32_t id);
 
        bool gnss_navsatfix_complete(uint32_t id);
 
        bool ins_navsatfix_complete(uint32_t id);
 
        bool gnss_pose_complete(uint32_t id);
 
        bool ins_pose_complete(uint32_t id);
 
        bool diagnostics_complete(uint32_t id);
 
        bool ins_localization_complete(uint32_t id);
 
    private:
        ROSaicNodeBase* node_;
 
        Timestamp recvTimestamp_;
 
        const uint8_t* data_;
 
        std::size_t count_;
 
        bool crc_check_;
 
        std::size_t message_size_;
 
        uint32_t count_gpsfix_ = 0;
 
        PVTGeodeticMsg last_pvtgeodetic_;
 
        PosCovGeodeticMsg last_poscovgeodetic_;
 
        AttEulerMsg last_atteuler_;
 
        AttCovEulerMsg last_attcoveuler_;
 
        INSNavGeodMsg last_insnavgeod_;
 
        ExtSensorMeasMsg last_extsensmeas_;
 
        ChannelStatus last_channelstatus_;
 
        MeasEpochMsg last_measepoch_;
 
        DOP last_dop_;
 
        VelCovGeodeticMsg last_velcovgeodetic_;
 
        ReceiverStatus last_receiverstatus_;
 
        QualityInd last_qualityind_;
 
        ReceiverSetup last_receiversetup_;
 
        typedef std::unordered_map<uint16_t, TypeOfPVT_Enum> TypeOfPVTMap;
 
        TypeOfPVTMap type_of_pvt_map;
 
        typedef std::unordered_map<std::string, RxID_Enum> RxIDMap;
 
        RxIDMap rx_id_map;
 
        Timestamp unix_time_;
 
        int8_t current_leap_seconds_ = -128;
 
        bool channelstatus_has_arrived_gpsfix_ = false;
 
        bool measepoch_has_arrived_gpsfix_ = false;
 
        bool dop_has_arrived_gpsfix_ = false;
 
        bool pvtgeodetic_has_arrived_gpsfix_ = false;
 
        bool poscovgeodetic_has_arrived_gpsfix_ = false;
 
        bool velcovgeodetic_has_arrived_gpsfix_ = false;
 
        bool atteuler_has_arrived_gpsfix_ = false;
 
        bool attcoveuler_has_arrived_gpsfix_ = false;
 
        bool insnavgeod_has_arrived_gpsfix_ = false;
 
        bool pvtgeodetic_has_arrived_navsatfix_ = false;
 
        bool poscovgeodetic_has_arrived_navsatfix_ = false;
 
        bool insnavgeod_has_arrived_navsatfix_ = false;
        bool pvtgeodetic_has_arrived_pose_ = false;
 
        bool poscovgeodetic_has_arrived_pose_ = false;
 
        bool atteuler_has_arrived_pose_ = false;
 
        bool attcoveuler_has_arrived_pose_ = false;
 
        bool insnavgeod_has_arrived_pose_ = false;
 
        bool receiverstatus_has_arrived_diagnostics_ = false;
 
        bool qualityind_has_arrived_diagnostics_ = false;
 
        bool insnavgeod_has_arrived_localization_ = false;
 
        NavSatFixMsg NavSatFixCallback();
 
        GPSFixMsg GPSFixCallback();
 
        PoseWithCovarianceStampedMsg PoseWithCovarianceStampedCallback();
 
        DiagnosticArrayMsg DiagnosticArrayCallback();
 
        ImuMsg ImuCallback();
 
        LocalizationUtmMsg LocalizationUtmCallback();
 
        TwistWithCovarianceStampedMsg TwistCallback(bool fromIns = false);
 
        void wait(Timestamp time_obj);
 
        bool allTrue(std::vector<bool>& vec, uint32_t id);
 
        Settings* settings_;
 
        std::shared_ptr<std::string> fixedUtmZone_;
 
        Timestamp timestampSBF(const uint8_t* data, bool use_gnss_time);
 
        Timestamp timestampSBF(uint32_t tow, uint16_t wnc, bool use_gnss_time);
    };
} // namespace io_comm_rx
#endif // for RX_MESSAGE_HPP