message_handler.hpp

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#pragma once
 
// 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
#ifdef ROS2
#include <septentrio_gnss_driver/abstraction/typedefs.hpp>
#endif
#ifdef ROS1
#include <septentrio_gnss_driver/abstraction/typedefs_ros1.hpp>
#endif
#include <septentrio_gnss_driver/communication/telegram.hpp>
#include <septentrio_gnss_driver/crc/crc.hpp>
#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.hpp>
 
enum TypeOfPVT_Enum
{
    evNoPVT,
    evStandAlone,
    evDGPS,
    evFixed,
    evRTKFixed,
    evRTKFloat,
    evSBAS,
    evMovingBaseRTKFixed,
    evMovingBaseRTKFloat,
    evPPP
};
 
enum SbfId
{
    PVT_CARTESIAN = 4006,
    PVT_GEODETIC = 4007,
    BASE_VECTOR_CART = 4043,
    BASE_VECTOR_GEOD = 4028,
    POS_COV_CARTESIAN = 5905,
    POS_COV_GEODETIC = 5906,
    ATT_EULER = 5938,
    ATT_COV_EULER = 5939,
    CHANNEL_STATUS = 4013,
    MEAS_EPOCH = 4027,
    DOP = 4001,
    VEL_COV_CARTESIAN = 5907,
    VEL_COV_GEODETIC = 5908,
    RECEIVER_STATUS = 4014,
    QUALITY_IND = 4082,
    RECEIVER_SETUP = 5902,
    INS_NAV_CART = 4225,
    INS_NAV_GEOD = 4226,
    EXT_EVENT_INS_NAV_GEOD = 4230,
    EXT_EVENT_INS_NAV_CART = 4229,
    IMU_SETUP = 4224,
    VEL_SENSOR_SETUP = 4244,
    EXT_SENSOR_MEAS = 4050,
    RECEIVER_TIME = 5914,
    GAL_AUTH_STATUS = 4245,
    RF_STATUS = 4092
};
 
namespace io {
 
    class MessageHandler
    {
    public:
        MessageHandler(ROSaicNodeBase* node) :
            node_(node), settings_(node->settings()), unix_time_(0)
        {
        }
 
        void setLeapSeconds()
        {
            // set leap seconds to paramter if reading from file
            if (settings_->read_from_sbf_log || settings_->read_from_pcap)
                current_leap_seconds_ = settings_->leap_seconds;
        }
 
        void parseSbf(const std::shared_ptr<Telegram>& telegram);
 
        void parseNmea(const std::shared_ptr<Telegram>& telegram);
 
    private:
        template <typename T>
        void assembleHeader(const std::string& frameId,
                            const std::shared_ptr<Telegram>& telegram, T& msg) const;
        template <typename M>
        void publish(const std::string& topic, const M& msg);
 
        void publishTf(const LocalizationMsg& msg);
 
        ROSaicNodeBase* node_;
 
        const Settings* settings_;
 
        std::unordered_map<std::string, uint8_t> nmeaMap_{
            {"$GPGGA", 0}, {"$INGGA", 0}, {"$GPRMC", 1}, {"$INRMC", 1},
            {"$GPGSA", 2}, {"$INGSA", 2}, {"$GAGSV", 3}, {"$INGSV", 3}};
 
        PVTGeodeticMsg last_pvtgeodetic_;
 
        PosCovGeodeticMsg last_poscovgeodetic_;
 
        AttEulerMsg last_atteuler_;
 
        AttCovEulerMsg last_attcoveuler_;
 
        INSNavGeodMsg last_insnavgeod_;
 
        INSNavCartMsg last_insnavcart_;
 
        ExtSensorMeasMsg last_extsensmeas_;
 
        ChannelStatus last_channelstatus_;
 
        MeasEpochMsg last_measepoch_;
 
        Dop last_dop_;
 
        VelCovGeodeticMsg last_velcovgeodetic_;
 
        ReceiverStatus last_receiverstatus_;
 
        QualityInd last_qualityind_;
 
        ReceiverSetup last_receiversetup_;
 
        GalAuthStatusMsg last_gal_auth_status_;
 
        bool osnma_info_available_ = false;
 
        RfStatusMsg last_rf_status_;
 
        Timestamp unix_time_;
 
        mutable uint64_t last_pvt_latency_ = 0;
 
        int32_t current_leap_seconds_ = -128;
 
        void setStatus(uint8_t mode, NavSatFixMsg& msg);
 
        void assembleNavSatFix();
 
        void setStatus(uint8_t mode, GpsFixMsg& msg);
 
        void assembleGpsFix();
 
        void assemblePoseWithCovarianceStamped();
 
        void assembleDiagnosticArray(const std::shared_ptr<Telegram>& telegram);
 
        void assembleOsnmaDiagnosticArray();
 
        void assembleAimAndDiagnosticArray();
 
        void assembleImu();
        bool hasImuMeas_ = false;
 
        void assembleLocalizationUtm();
 
        void assembleLocalizationEcef();
 
        void assembleLocalizationMsgTwist(double roll, double pitch, double yaw,
                                          LocalizationMsg& msg) const;
 
        void assembleTwist(bool fromIns = false);
 
        void assembleTimeReference(const std::shared_ptr<Telegram>& telegram);
 
        void wait(Timestamp time_obj);
 
        std::shared_ptr<std::string> fixedUtmZone_;
 
        Timestamp timestampSBF(const std::vector<uint8_t>& message) const;
 
        Timestamp timestampSBF(uint32_t tow, uint16_t wnc) const;
    };
} // namespace io