RINEXUtilities.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 <map>
#include <unordered_set>
 
#include "Navigation/GNSS/Core/Code.hpp"
#include "Navigation/GNSS/Core/SatelliteIdentifier.hpp"
#include "Navigation/Time/TimeSystem.hpp"
#include "NodeData/GNSS/GnssObs.hpp"
#include "util/Eigen.hpp"
#include "util//Json.hpp"
 
namespace NAV
{
namespace vendor::RINEX
{
 
enum class ObsType
{
    Error, 
    C,     
    L,     
    D,     
    S,     
    I,     
    X,     
};
 
struct ObservationDescription
{
    ObsType type{ ObsType::Error };
 
    Code code;
};
 
struct ObsHeader
{
    double version = 3.04;             
    std::string runBy;                 
    std::vector<std::string> comments; 
    std::string markerName;            
    std::string markerNumber;          
 
    enum class MarkerTypes
    {
        GEODETIC,      
        NON_GEODETIC,  
        NON_PHYSICAL,  
        SPACEBORNE,    
        GROUND_CRAFT,  
        WATER_CRAFT,   
        AIRBORNE,      
        FIXED_BUOY,    
        FLOATING_BUOY, 
        FLOATING_ICE,  
        GLACIER,       
        BALLISTIC,     
        ANIMAL,        
        HUMAN,         
        USER_DEFINED,  
        COUNT,         
    };
    MarkerTypes markerType = MarkerTypes::GEODETIC;              
    std::string markerTypeUser;                                  
    std::string observer;                                        
    std::string agency;                                          
    std::string receiverNumber;                                  
    std::string receiverType;                                    
    std::string receiverVersion;                                 
    std::string antennaNumber;                                   
    std::string antennaType;                                     
    bool approxPositionEnabled = true;                           
    Eigen::Vector3d approxPositionXYZ = Eigen::Vector3d::Zero(); 
    std::array<double, 3> antennaDeltaHeightEastNorth{};         
 
    // ------------------------------- Dynamic data to clear and not to save ---------------------------------
 
    SatelliteSystem satSys = SatSys_None;                                          
    std::map<SatelliteSystem, std::vector<ObservationDescription>> systemObsTypes; 
    double interval = 1e9;                                                         
    InsTime timeFirstObs;                                                          
    InsTime timeLastObs;                                                           
    std::unordered_set<SatId> satellites;                                          
    TimeSystem timeSys = TimeSys_None;                                             
 
    void reset();
 
    bool addObsType(const Code& code, ObsType type);
 
    [[nodiscard]] std::string generateHeader() const;
    [[nodiscard]] std::string headerLineRinexVersionType() const;
    [[nodiscard]] std::string headerLinePgmRunByDate() const;
    [[nodiscard]] std::string headerLineComments() const;
    [[nodiscard]] std::string headerLineMarkerName() const;
    [[nodiscard]] std::string headerLineMarkerNumber() const;
    [[nodiscard]] std::string headerLineMarkerType() const;
    [[nodiscard]] std::string headerLineObserverAgency() const;
    [[nodiscard]] std::string headerLineRecNumTypeVers() const;
    [[nodiscard]] std::string headerLineAntNumType() const;
    [[nodiscard]] std::string headerLineApproxPositionXYZ() const;
    [[nodiscard]] std::string headerLineAntennaDeltaHEN() const;
    [[nodiscard]] std::string headerLineSysNumObsType() const;
    [[nodiscard]] static std::string headerLineSignalStrengthUnit();
    [[nodiscard]] std::string headerLineInterval() const;
    [[nodiscard]] std::string headerLineTimeOfFirstObs() const;
    [[nodiscard]] std::string headerLineTimeOfLastObs() const;
    [[nodiscard]] static std::string headerLineSysPhaseShift();
    [[nodiscard]] static std::string headerLineGlonassCodPhsBis();
    [[nodiscard]] std::string headerLineLeapSeconds() const;
    [[nodiscard]] std::string headerLineNumSatellites() const;
    [[nodiscard]] static std::string headerLineEndOfHeader();
 
    [[nodiscard]] std::string epochRecordLine(const InsTime& epochTime) const;
};
 
void to_json(json& j, const ObsHeader& obj);
void from_json(const json& j, ObsHeader& obj);
 
ObsType obsTypeFromChar(char c);
 
char obsTypeToChar(ObsType type);
 
std::string timeSystemString(TimeSystem timeSys);
 
TimeSystem timeSystem(SatelliteSystem satSys);
 
[[nodiscard]] Frequency getFrequencyFromBand(SatelliteSystem satSys, int band);
 
} // namespace vendor::RINEX
 
const char* to_string(vendor::RINEX::ObsHeader::MarkerTypes markerType);
const char* tooltip(vendor::RINEX::ObsHeader::MarkerTypes markerType);
 
} // namespace NAV