nmeamessages.h

/*
 * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics
 *               http://gearbox.sf.net/
 * Copyright (c) 2004-2010  Alex Brooks, Alexei Makarenko, Tobias Kaupp, Duncan Mercer
 *
 * This distribution is licensed to you under the terms described in
 * the LICENSE file included in this distribution.
 *
 */
#ifndef GBXGPSUTILACFR_NMEAMESSAGES_H
#define GBXGPSUTILACFR_NMEAMESSAGES_H

#include <string>
#include <gbxgarminacfr/nmeasentence.h>

namespace gbxgarminacfr {

enum DataType 
{
    GpGga,
    GpVtg,
    PgRme,
    GpRmc
};

class GenericData
{
public:
    virtual ~GenericData() {};
    virtual DataType type() const=0;

private:
};

enum FixType 
{
    Invalid,
    Autonomous,
    Differential
};
std::string toString( const FixType &f );

struct GgaData : public GenericData
{
public:
    DataType type() const { return GpGga; }

    int timeStampSec;
    int timeStampUsec;

    int utcTimeHrs;
    int utcTimeMin;
    double utcTimeSec;

    double latitude;
    double longitude;
    bool isAltitudeKnown;
    double altitude;
    
    FixType fixType;

    int satellites;

    double horizontalDilutionOfPosition;
    
    double geoidalSeparation;    
};
std::string toString( const GgaData &d );
inline std::ostream &operator<<( std::ostream &s, const GgaData &d )
{ return s << toString(d); }
GenericData* extractGgaData( const gbxgpsutilacfr::NmeaSentence& sentence, int timeSec, int timeUsec );

class VtgData : public GenericData
{
public:
    DataType type() const { return GpVtg; }

    int timeStampSec;
    int timeStampUsec;

    bool isValid;
    
    double headingTrue; 
    double headingMagnetic; 
    double speed;
};
std::string toString( const VtgData &d );
inline std::ostream &operator<<( std::ostream &s, const VtgData &d )
{ return s << toString(d); }
GenericData* extractVtgData( const gbxgpsutilacfr::NmeaSentence& sentence, int timeSec, int timeUsec );

class RmeData : public GenericData
{
public:
    DataType type() const { return PgRme; }

    int timeStampSec;
    int timeStampUsec;
    
    bool isValid;

    bool isVerticalPositionErrorValid;
    
    double horizontalPositionError;
    double verticalPositionError;

    double estimatedPositionError;
};
std::string toString( const RmeData &d );
inline std::ostream &operator<<( std::ostream &s, const RmeData &d )
{ return s << toString(d); }
GenericData* extractRmeData( const gbxgpsutilacfr::NmeaSentence& sentence, int timeSec, int timeUsec );

class RmcData : public GenericData
{
public:
    DataType type() const { return GpRmc; }

    int timeStampSec;
    int timeStampUsec;

    int utcTimeHrs;
    int utcTimeMin;
    double utcTimeSec;

    double latitude;
    double longitude;

    bool isValid;
    
    double headingTrue; 
    double headingMagnetic; 
    double speed;
};
std::string toString( const RmcData &d );
inline std::ostream &operator<<( std::ostream &s, const RmcData &d )
{ return s << toString(d); }
GenericData* extractRmcData( const gbxgpsutilacfr::NmeaSentence& sentence, int timeSec, int timeUsec );

}

#endif