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/*
* GPSFix.h
*
* Created on: Jul 23, 2014
* Author: Cameron Karlsson
*/
#ifndef GPSFIX_H_
#define GPSFIX_H_
#include <cstdint>
#include <ctime>
#include <string>
#include <chrono>
#include <vector>
#include <cmath>
#include <sstream>
namespace nmea {
class GPSSatellite;
class GPSAlmanac;
class GPSFix;
class GPSService;
// =========================== GPS SATELLITE =====================================
class GPSSatellite {
public:
GPSSatellite() :
snr(0),
prn(0),
elevation(0),
azimuth(0)
{};
//satellite data
double snr; // 0-99 dB
uint32_t prn; // id - 0-32
double elevation; // 0-90 deg
double azimuth; // 0-359 deg
std::string toString();
operator std::string();
};
// =========================== GPS ALMANAC =====================================
class GPSAlmanac {
friend GPSService;
private:
uint32_t visibleSize;
uint32_t lastPage;
uint32_t totalPages;
uint32_t processedPages;
void clear(); //will remove all information from the satellites
void updateSatellite(GPSSatellite sat);
public:
GPSAlmanac() :
lastPage(0),
totalPages(0),
processedPages(0)
{};
//mapped by prn
std::vector<GPSSatellite> satellites;
double averageSNR();
double minSNR();
double maxSNR();
double percentComplete();
};
// =========================== GPS TIMESTAMP =====================================
// UTC time
class GPSTimestamp {
private:
std::string monthName(uint32_t index);
public:
GPSTimestamp();
int32_t hour;
int32_t min;
double sec;
int32_t month;
int32_t day;
int32_t year;
// Values collected directly from the GPS
double rawTime;
int32_t rawDate;
time_t getTime();
// Set directly from the NMEA time stamp
// hhmmss.sss
void setTime(double raw_ts);
// Set directly from the NMEA date stamp
// ddmmyy
void setDate(int32_t raw_date);
std::string toString();
};
// =========================== GPS FIX =====================================
class GPSFix {
friend GPSService;
private:
bool haslock;
bool setlock(bool b); //returns true if lock status **changed***, false otherwise.
public:
GPSFix();
virtual ~GPSFix();
GPSAlmanac almanac;
GPSTimestamp timestamp;
char status; // Status: A=active, V=void (not locked)
uint8_t type; // Type: 1=none, 2=2d, 3=3d
uint8_t quality; // Quality:
// 0 = invalid
// 1 = GPS fix (SPS)
// 2 = DGPS fix
// 3 = PPS fix
// 4 = Real Time Kinematic (RTK)
// 5 = Float RTK
// 6 = estimated (dead reckoning) (2.3 feature)
double dilution; // Combination of Vertical & Horizontal
double horizontalDilution; // Horizontal dilution of precision, initialized to 100, best =1, worst = >20
double verticalDilution; // Vertical is less accurate
double altitude; // meters
double latitude; // degrees N
double longitude; // degrees E
double speed; // km/h
double travelAngle; // degrees true north (0-360)
int32_t trackingSatellites;
int32_t visibleSatellites;
bool locked();
double horizontalAccuracy();
double verticalAccuracy();
bool hasEstimate();
std::chrono::seconds timeSinceLastUpdate(); // Returns seconds difference from last timestamp and right now.
std::string toString();
operator std::string();
static std::string travelAngleToCompassDirection(double deg, bool abbrev = false);
};
}
#endif /* GPSFIX_H_ */
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