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Merge pull request #44 from fixposition/feature/gpgga
Feature/gpgga
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64 changes: 64 additions & 0 deletions
64
fixposition_driver_lib/include/fixposition_driver_lib/converter/gpgga.hpp
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| Original file line number | Diff line number | Diff line change |
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| /** | ||
| * @file | ||
| * @brief Declaration of GpggaConverter | ||
| * | ||
| * \verbatim | ||
| * ___ ___ | ||
| * \ \ / / | ||
| * \ \/ / Fixposition AG | ||
| * / /\ \ All right reserved. | ||
| * /__/ \__\ | ||
| * \endverbatim | ||
| * | ||
| */ | ||
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| #ifndef __FIXPOSITION_DRIVER_LIB_CONVERTER_GPGGA__ | ||
| #define __FIXPOSITION_DRIVER_LIB_CONVERTER_GPGGA__ | ||
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| /* SYSTEM / STL */ | ||
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| /* EXTERNAL */ | ||
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| /* PACKAGE */ | ||
| #include <fixposition_driver_lib/converter/base_converter.hpp> | ||
| #include <fixposition_driver_lib/msg_data.hpp> | ||
| #include <fixposition_driver_lib/time_conversions.hpp> | ||
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| namespace fixposition { | ||
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| class GpggaConverter : public BaseAsciiConverter { | ||
| public: | ||
| using GpggaObserver = std::function<void(const GpggaData&)>; | ||
| /** | ||
| * @brief Construct a new GpggaConverter | ||
| * | ||
| */ | ||
| GpggaConverter() {} | ||
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| ~GpggaConverter() = default; | ||
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| /** | ||
| * @brief Take comma-delimited tokens of GPGGA message, convert to Data structs and if available, | ||
| * call observers | ||
| * Example: | ||
| * $GPGGA,151229.40,4723.54108,N,00826.88485,E,4,12,00.98,473.5,M,,,,*3A\r\n | ||
| * | ||
| * @param[in] tokens message split in tokens | ||
| */ | ||
| void ConvertTokens(const std::vector<std::string>& tokens) final; | ||
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| /** | ||
| * @brief Add Observer to call at the end of ConvertTokens() | ||
| * | ||
| * @param[in] ob | ||
| */ | ||
| void AddObserver(GpggaObserver ob) { obs_.push_back(ob); } | ||
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| private: | ||
| GpggaData msg_; | ||
| std::vector<GpggaObserver> obs_; | ||
| const std::string header_ = "LLH"; | ||
| static constexpr const int kSize_ = 15; | ||
| }; | ||
| } // namespace fixposition | ||
| #endif // __FIXPOSITION_DRIVER_LIB_CONVERTER_GPGGA__ |
64 changes: 64 additions & 0 deletions
64
fixposition_driver_lib/include/fixposition_driver_lib/converter/gprmc.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,64 @@ | ||
| /** | ||
| * @file | ||
| * @brief Declaration of GprmcConverter | ||
| * | ||
| * \verbatim | ||
| * ___ ___ | ||
| * \ \ / / | ||
| * \ \/ / Fixposition AG | ||
| * / /\ \ All right reserved. | ||
| * /__/ \__\ | ||
| * \endverbatim | ||
| * | ||
| */ | ||
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| #ifndef __FIXPOSITION_DRIVER_LIB_CONVERTER_GPRMC__ | ||
| #define __FIXPOSITION_DRIVER_LIB_CONVERTER_GPRMC__ | ||
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| /* SYSTEM / STL */ | ||
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| /* EXTERNAL */ | ||
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| /* PACKAGE */ | ||
| #include <fixposition_driver_lib/converter/base_converter.hpp> | ||
| #include <fixposition_driver_lib/msg_data.hpp> | ||
| #include <fixposition_driver_lib/time_conversions.hpp> | ||
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| namespace fixposition { | ||
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| class GprmcConverter : public BaseAsciiConverter { | ||
| public: | ||
| using GprmcObserver = std::function<void(const GprmcData&)>; | ||
| /** | ||
| * @brief Construct a new GprmcConverter | ||
| * | ||
| */ | ||
| GprmcConverter() {} | ||
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| ~GprmcConverter() = default; | ||
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| /** | ||
| * @brief Take comma-delimited tokens of GPRMC message, convert to Data structs and if available, | ||
| * call observers | ||
| * Example: | ||
| * $GPRMC,151227.40,A,4723.54036,N,00826.88672,E,0.0,81.6,111022,,,R*7C\r\n | ||
| * | ||
| * @param[in] tokens message split in tokens | ||
| */ | ||
| void ConvertTokens(const std::vector<std::string>& tokens) final; | ||
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| /** | ||
| * @brief Add Observer to call at the end of ConvertTokens() | ||
| * | ||
| * @param[in] ob | ||
| */ | ||
| void AddObserver(GprmcObserver ob) { obs_.push_back(ob); } | ||
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| private: | ||
| GprmcData msg_; | ||
| std::vector<GprmcObserver> obs_; | ||
| const std::string header_ = "LLH"; | ||
| static constexpr const int kSize_ = 13; | ||
| }; | ||
| } // namespace fixposition | ||
| #endif // __FIXPOSITION_DRIVER_LIB_CONVERTER_GPRMC__ |
65 changes: 65 additions & 0 deletions
65
fixposition_driver_lib/include/fixposition_driver_lib/converter/gpzda.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| /** | ||
| * @file | ||
| * @brief Declaration of GpzdaConverter | ||
| * | ||
| * \verbatim | ||
| * ___ ___ | ||
| * \ \ / / | ||
| * \ \/ / Fixposition AG | ||
| * / /\ \ All right reserved. | ||
| * /__/ \__\ | ||
| * \endverbatim | ||
| * | ||
| */ | ||
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| #ifndef __FIXPOSITION_DRIVER_LIB_CONVERTER_GPZDA__ | ||
| #define __FIXPOSITION_DRIVER_LIB_CONVERTER_GPZDA__ | ||
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| /* SYSTEM / STL */ | ||
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| /* EXTERNAL */ | ||
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| /* PACKAGE */ | ||
| #include <fixposition_driver_lib/converter/base_converter.hpp> | ||
| #include <fixposition_driver_lib/msg_data.hpp> | ||
| #include <fixposition_driver_lib/time_conversions.hpp> | ||
| #include <chrono> | ||
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| namespace fixposition { | ||
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| class GpzdaConverter : public BaseAsciiConverter { | ||
| public: | ||
| using GpzdaObserver = std::function<void(const GpzdaData&)>; | ||
| /** | ||
| * @brief Construct a new GpzdaConverter | ||
| * | ||
| */ | ||
| GpzdaConverter() {} | ||
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| ~GpzdaConverter() = default; | ||
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| /** | ||
| * @brief Take comma-delimited tokens of GPZDA message, convert to Data structs and if available, | ||
| * call observers | ||
| * Example: | ||
| * $GPZDA,090411.0001,10,10,2023,00,00*69\r\n | ||
| * | ||
| * @param[in] tokens message split in tokens | ||
| */ | ||
| void ConvertTokens(const std::vector<std::string>& tokens) final; | ||
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| /** | ||
| * @brief Add Observer to call at the end of ConvertTokens() | ||
| * | ||
| * @param[in] ob | ||
| */ | ||
| void AddObserver(GpzdaObserver ob) { obs_.push_back(ob); } | ||
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| private: | ||
| GpzdaData msg_; | ||
| std::vector<GpzdaObserver> obs_; | ||
| const std::string header_ = "LLH"; | ||
| static constexpr const int kSize_ = 7; | ||
| }; | ||
| } // namespace fixposition | ||
| #endif // __FIXPOSITION_DRIVER_LIB_CONVERTER_GPZDA__ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,82 @@ | ||
| /** | ||
| * @file | ||
| * @brief Implementation of GpggaConverter converter | ||
| * | ||
| * \verbatim | ||
| * ___ ___ | ||
| * \ \ / / | ||
| * \ \/ / Fixposition AG | ||
| * / /\ \ All right reserved. | ||
| * /__/ \__\ | ||
| * \endverbatim | ||
| * | ||
| */ | ||
|
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| /* SYSTEM / STL */ | ||
| #include <iostream> | ||
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| /* PACKAGE */ | ||
| #include <fixposition_driver_lib/converter/gpgga.hpp> | ||
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| namespace fixposition { | ||
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| /// msg field indices | ||
| static constexpr const int time_idx = 1; | ||
| static constexpr const int lat_idx = 2; | ||
| static constexpr const int lat_ns_idx = 3; | ||
| static constexpr const int lon_idx = 4; | ||
| static constexpr const int lon_ew_idx = 5; | ||
| static constexpr const int quality_idx = 6; | ||
| static constexpr const int num_sv_idx = 7; | ||
| static constexpr const int hdop_idx = 8; | ||
| static constexpr const int alt_idx = 9; | ||
| static constexpr const int alt_unit_idx = 10; | ||
| static constexpr const int sep_idx = 11; | ||
| static constexpr const int sep_unit_idx = 12; | ||
| static constexpr const int diff_age_idx = 13; | ||
| static constexpr const int diff_sta_idx = 14; | ||
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| void GpggaConverter::ConvertTokens(const std::vector<std::string>& tokens) { | ||
| // Check if message size is wrong | ||
| bool ok = tokens.size() == kSize_; | ||
| if (!ok) { | ||
| std::cout << "Error in parsing GPGGA string with " << tokens.size() << " fields! GPGGA message will be empty.\n"; | ||
| msg_ = GpggaData(); | ||
| return; | ||
| } | ||
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| // Header stamps | ||
| msg_.time = tokens.at(time_idx); | ||
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| // LLH coordinates | ||
| const std::string _latstr = tokens.at(lat_idx); | ||
| double _lat = StringToDouble(_latstr.substr(0,2)) + StringToDouble((_latstr.substr(2))) / 60; | ||
| if (tokens.at(lat_ns_idx).compare("S") == 0) _lat *= -1; | ||
| msg_.latitude = _lat; | ||
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| const std::string _lonstr = tokens.at(lon_idx); | ||
| double _lon = StringToDouble(_lonstr.substr(0,3)) + StringToDouble((_lonstr.substr(3))) / 60; | ||
| if (tokens.at(lon_ew_idx).compare("W") == 0) _lon *= -1; | ||
| msg_.longitude = _lon; | ||
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| msg_.altitude = StringToDouble(tokens.at(alt_idx)); | ||
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| // Covariance diagonals | ||
| const double hdop = StringToDouble(tokens.at(hdop_idx)); | ||
| msg_.cov(0, 0) = hdop * hdop; | ||
| msg_.cov(1, 1) = hdop * hdop; | ||
| msg_.cov(2, 2) = 4 * hdop * hdop; | ||
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| // Rest of covariance fields | ||
| msg_.cov(0, 1) = msg_.cov(1, 0) = 0.0; | ||
| msg_.cov(0, 2) = msg_.cov(2, 0) = 0.0; | ||
| msg_.cov(1, 2) = msg_.cov(2, 1) = 0.0; | ||
| msg_.position_covariance_type = 1; // COVARIANCE_TYPE_APPROXIMATED | ||
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| // Process all observers | ||
| for (auto& ob : obs_) { | ||
| ob(msg_); | ||
| } | ||
| } | ||
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| } // namespace fixposition |
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