EmlidTypes.hpp

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// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 
#pragma once
 
#include <string>
#include <array>
#include <optional>
#include <bitset>
#include <vector>
#include <cstdint>
 
namespace NAV::vendor::emlid
{
enum ErrorDetectionMode
{
    ERRORDETECTIONMODE_NONE,     
    ERRORDETECTIONMODE_CHECKSUM, 
};
 
enum ErbMessageID
{
    ERB_MessageId_NONE = 0x00, 
    ERB_MessageId_VER = 0x01,  
    ERB_MessageId_POS = 0x02,  
    ERB_MessageId_STAT = 0x03, 
    ERB_MessageId_DPOS = 0x04, 
    ERB_MessageId_VEL = 0x05,  
    ERB_MessageId_SVI = 0x06,  
    ERB_MessageId_RTK = 0x07,  
};
 
struct ErbVer
{
    uint32_t iTOW = 0; 
    uint8_t verH = 0;  
    uint8_t verM = 0;  
    uint8_t verL = 0;  
};
 
struct ErbPos
{
    uint32_t iTOW = 0;   
    double lon = 0.0;    
    double lat = 0.0;    
    double height = 0.0; 
    double hMSL = 0.0;   
    uint32_t hAcc = 0;   
    uint32_t vAcc = 0;   
};
 
struct ErbStat
{
    uint32_t iTOW = 0;     
    uint16_t weekGPS = 0;  
    uint8_t fixType = 0;   
    uint8_t fixStatus = 0; 
    uint8_t numSV = 0;     
};
 
struct ErbDops
{
    uint32_t iTOW = 0;   
    uint16_t dopGeo = 0; 
    uint16_t dopPos = 0; 
    uint16_t dopVer = 0; 
    uint16_t dopHor = 0; 
};
 
struct ErbVel
{
    uint32_t iTOW = 0;   
    int32_t velN = 0;    
    int32_t velE = 0;    
    int32_t velD = 0;    
    uint32_t speed = 0;  
    uint32_t gSpeed = 0; 
    int32_t heading = 0; 
    uint32_t sAcc = 0;   
};
 
struct ErbSvi
{
    uint32_t iTOW = 0;  
    uint8_t nSV = 0;    
    uint8_t idSV = 0;   
    uint8_t typeSV = 0; 
    int32_t carPh = 0;  
    int32_t psRan = 0;  
    int32_t freqD = 0;  
    uint16_t snr = 0;   
    uint16_t azim = 0;  
    uint16_t elev = 0;  
};
 
struct ErbRtk
{
    uint8_t numSV = 0;     
    uint16_t age = 0;      
    int32_t baselineN = 0; 
    int32_t baselineE = 0; 
    int32_t baselineD = 0; 
    uint16_t arRatio = 0;  
    uint16_t weekGPS = 0;  
    uint32_t timeGPS = 0;  
};
 
[[nodiscard]] ErbMessageID getMsgIdFromString(const std::string& idName);
 
} // namespace NAV::vendor::emlid