Program Listing for File ubx_nav_pvt.hpp
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// Copyright 2021 Australian Robotics Supplies & Technology
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_PVT_HPP_
#define UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_PVT_HPP_
#include <unistd.h>
#include <memory>
#include <tuple>
#include <string>
#include "ublox_dgnss_node/ubx/ubx.hpp"
#include "ublox_dgnss_node/ubx/utils.hpp"
namespace ubx::nav::pvt
{
struct validity_flags_t
{
union {
x1_t all;
struct
{
l_t validDate : 1; // 1 = valid UTC date
l_t validTime : 1; // 1 = valid UTC time of day
l_t fullyResolved : 1; // 1 = UTC Time of day has been fully resolved
// (no seconds uncertainty)
l_t validMag : 1; // 1 = valid magnetic declination
} bits;
};
};
enum gnss_fix_t : u1_t {gnss_no_fix = 0, gnss_dead_reackoning_only = 1, gnss_fix_2d = 2,
gnss_fix_3d = 3,
gnss_plus_dead_reackoning = 4, gnss_time_only = 5};
enum psm_state_pvt_t : u1_t {not_active = 0, enabled = 1, acquisition = 2, tracking = 3,
power_optimized_tracking = 4, inactive = 5};
enum pvt_carrier_solution_status_t : u1_t {no_carrier_range_solution = 0,
carrier_phase_solution_with_floating_ambiguities = 1,
carrier_phase_solution_with_fixed_ambiguities = 2 };
struct gnss_fix_status_flags_t
{
union {
x1_t all;
struct
{
l_t gnssFixOK : 1; // 1 = valid fix (ie within DOP & accruacy masks)
l_t diffSoln : 1; // 1 = differential corrections were applied
psm_state_pvt_t psmState : 3; // power save mode state
l_t headVehValid : 1; // 1 = heading of vehicle is valid,
// only set if the receiver is in sensor fusion mode
pvt_carrier_solution_status_t carrSoln : 2; // carrier phase range solution status
} bits;
};
};
struct additional_flags_1_t
{
union {
x1_t all;
struct
{
l_t confirmedAvailable : 1; // 1 = information about UTC date and time of day
// validity confirmation is available
l_t confirmedDate : 1; // 1 = UTC Date validity could be confirmed
l_t confirmedTime : 1; // 1 = UTC Time of Day validity could be confirmed
} bits;
};
};
struct additional_flags_2_t
{
union {
x1_t all;
struct
{
l_t invalidLLH : 1; // 1 = invalid lon, lat, height, hMSL
} bits;
};
};
class NavPvtPayload : UBXPayload
{
public:
static const msg_class_t MSG_CLASS = UBX_NAV;
static const msg_id_t MSG_ID = UBX_NAV_PVT;
u4_t iTOW; // ms - GPS Time of week of the navigation epoch.
u2_t year; // y - year utc
u1_t month; // month - month utc
u1_t day; // d -day utc
u1_t hour; // h - hour utc
u1_t min; // mon - min utc
u1_t sec; // s - sec utc
validity_flags_t valid; // validity flags
u4_t tAcc; // ns - time accuracy estimate (utc)
i4_t nano; // ns - fraction of second, range -1e9 to 1e9 (utc)
gnss_fix_t fixType; // GNSSFix type
gnss_fix_status_flags_t flags; // fix status flags
additional_flags_1_t flags2; // additional flags
u1_t numSV; // Number of satellites used in Nav Solution
i4_t lon; // deg scale ie-7 - longitude
i4_t lat; // deg scale ie-7 - latitude
i4_t height; // mm - Height above ellipsoid
i4_t hMSL; // mm - Height above mean sea level
u4_t hAcc; // mm - Horizontal accuracy estimate
u4_t vAcc; // mm - Vertical accuracy estimate
i4_t velN; // mm/s - NED north velocity
i4_t velE; // mm/s - NED east velocity
i4_t velD; // mm/s - NED down velocity
i4_t gSpeed; // mm/s - ground speed (2-D)
i4_t headMot; // deg scale ie-5 - heading of motion (2-D)
u4_t sAcc; // mm/s - speed accuracy estimate
u4_t headAcc; // deg scale ie-5 - heading accruracy estime (both motion and vehicle)
u2_t pDOP; // scale 0.01 - Position DOP
additional_flags_2_t flags3; // additional flags
u1_t reserved0[5]; // reserved
i4_t headVeh; // deg scale 1e-5 - Heading of vehicle (2-D),
// this is only valid when headVehValid is set,
// otherwise the output is set to the heading of motion
i2_t magDec; // deg scale 1e-2 - Magnetic declination. Only supported in ADR 4.10 and later
u2_t magAcc; // deg scale ie-2 - Mangetic declination accuracy.
// Only supported in ADR 4.10 and later
public:
NavPvtPayload()
: UBXPayload(MSG_CLASS, MSG_ID)
{
}
NavPvtPayload(ch_t * payload_polled, u2_t size)
: UBXPayload(MSG_CLASS, MSG_ID)
{
payload_.clear();
payload_.reserve(size);
payload_.resize(size);
memcpy(payload_.data(), payload_polled, size);
iTOW = buf_offset<u4_t>(&payload_, 0);
year = buf_offset<u2_t>(&payload_, 4);
month = buf_offset<u1_t>(&payload_, 6);
day = buf_offset<u1_t>(&payload_, 7);
hour = buf_offset<u1_t>(&payload_, 8);
min = buf_offset<u1_t>(&payload_, 9);
sec = buf_offset<u1_t>(&payload_, 10);
valid.all = buf_offset<x1_t>(&payload_, 11);
tAcc = buf_offset<u4_t>(&payload_, 12);
nano = buf_offset<i4_t>(&payload_, 16);
fixType = buf_offset<gnss_fix_t>(&payload_, 20);
flags = buf_offset<gnss_fix_status_flags_t>(&payload_, 21);
flags2 = buf_offset<additional_flags_1_t>(&payload_, 22);
numSV = buf_offset<u1_t>(&payload_, 23);
lon = buf_offset<i4_t>(&payload_, 24);
lat = buf_offset<i4_t>(&payload_, 28);
height = buf_offset<i4_t>(&payload_, 32);
hMSL = buf_offset<i4_t>(&payload_, 36);
hAcc = buf_offset<u4_t>(&payload_, 40);
vAcc = buf_offset<u4_t>(&payload_, 44);
velN = buf_offset<i4_t>(&payload_, 48);
velE = buf_offset<i4_t>(&payload_, 52);
velD = buf_offset<i4_t>(&payload_, 56);
gSpeed = buf_offset<i4_t>(&payload_, 60);
headMot = buf_offset<i4_t>(&payload_, 64);
sAcc = buf_offset<u4_t>(&payload_, 68);
headAcc = buf_offset<u4_t>(&payload_, 72);
pDOP = buf_offset<u2_t>(&payload_, 76);
flags3 = buf_offset<additional_flags_2_t>(&payload_, 78);
headVeh = buf_offset<i4_t>(&payload_, 84);
magDec = buf_offset<i2_t>(&payload_, 88);
magAcc = buf_offset<u2_t>(&payload_, 90);
}
std::tuple<u1_t *, size_t> make_poll_payload()
{
payload_.clear();
return std::make_tuple(payload_.data(), payload_.size());
}
std::string to_string()
{
std::ostringstream oss;
oss << "iTOW: " << iTOW;
oss << std::setfill('0');
oss << " date time: " << std::setw(2) << +year << "/" << std::setw(2) << +month << "/" <<
std::setw(2) << +day;
oss << " " << std::setw(2) << +hour << ":" << std::setw(2) << +min << ":" << std::setw(2) <<
+sec;
oss << " validDate: " << +valid.bits.validDate;
oss << " validTime: " << +valid.bits.validTime;
oss << " fullyResolved: " << +valid.bits.fullyResolved;
oss << " validMag: " << +valid.bits.validMag;
oss << " tAcc: " << +tAcc;
oss << " nano: " << +nano;
oss << " fixType: " << +fixType;
oss << " gnssFixOK:" << +flags.bits.gnssFixOK;
oss << " diffSoln:" << +flags.bits.diffSoln;
oss << " psmState:" << +flags.bits.psmState;
oss << " headVehValid:" << +flags.bits.headVehValid;
oss << " carrSoln:" << +flags.bits.carrSoln;
oss << " confirmedAvailable: " << +flags2.bits.confirmedAvailable;
oss << " confirmedDate: " << +flags2.bits.confirmedDate;
oss << " confirmedTime: " << +flags2.bits.confirmedTime;
oss << " numSV: " << +numSV;
oss << std::fixed;
oss << std::setprecision(7);
oss << " lon: " << +lon << " " << lon * 1e-7;
oss << " lat: " << +lat << " " << lat * 1e-7;
oss << std::setprecision(0);
oss << " height: " << +height;
oss << " hMSL: " << +hMSL;
oss << " hAcc: " << +hAcc;
oss << " vAcc: " << +vAcc;
oss << " velN: " << +velN;
oss << " velE: " << +velE;
oss << " velD: " << +velD;
oss << " gSpeed: " << +gSpeed;
oss << std::setprecision(5);
oss << " headMot: " << +headMot * 1e-5;
oss << std::setprecision(0);
oss << " sAcc: " << +sAcc;
oss << std::setprecision(5);
oss << " headAcc: " << +headAcc * 1e-5;
oss << std::setprecision(2);
oss << " pDOP: " << +pDOP * 0.01;
oss << std::setprecision(0);
oss << " invalidLlh: " << +flags3.bits.invalidLLH;
oss << std::setprecision(5);
oss << " headVeh: " << +headVeh * 1e-5;
oss << std::setprecision(2);
oss << " magDec: " << +magDec * 1e-2;
oss << " magAcc: " << +magAcc * 1e-2;
return oss.str();
}
};
} // namespace ubx::nav::pvt
#endif // UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_PVT_HPP_