UbloxGnssOrbitCollector.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 <mutex>
#include <bitset>
#include <memory>
#include <unordered_map>
#include <set>
 
#include "internal/Node/Node.hpp"
#include "NodeData/GNSS/GnssNavInfo.hpp"
#include "NodeData/GNSS/UbloxObs.hpp"
 
#include "Navigation/GNSS/Satellite/internal/SatNavData.hpp"
 
namespace ubx = NAV::vendor::ublox;
 
namespace NAV
{
class UbloxGnssOrbitCollector : public Node
{
  public:
    UbloxGnssOrbitCollector();
    ~UbloxGnssOrbitCollector() override;
    UbloxGnssOrbitCollector(const UbloxGnssOrbitCollector&) = delete;
    UbloxGnssOrbitCollector(UbloxGnssOrbitCollector&&) = delete;
    UbloxGnssOrbitCollector& operator=(const UbloxGnssOrbitCollector&) = delete;
    UbloxGnssOrbitCollector& operator=(UbloxGnssOrbitCollector&&) = delete;
 
    [[nodiscard]] static std::string typeStatic();
 
    [[nodiscard]] std::string type() const override;
 
    [[nodiscard]] static std::string category();
 
  private:
    constexpr static size_t INPUT_PORT_INDEX_UBLOX_OBS = 0;      
    constexpr static size_t OUTPUT_PORT_INDEX_GNSS_NAV_INFO = 0; 
 
    bool initialize() override;
 
    void onDeleteLink(OutputPin& startPin, InputPin& endPin) override;
 
    GnssNavInfo _gnssNavInfo;
 
    std::optional<std::unique_lock<std::mutex>> _postProcessingLock;
 
    struct EphemerisBuilder
    {
        EphemerisBuilder(const SatId& satId, std::shared_ptr<SatNavData> navData)
            : satId(satId), navData(std::move(navData))
        {
            subframes.reset();
        }
 
        SatId satId;                         
        std::shared_ptr<SatNavData> navData; 
        std::bitset<5> subframes;            
    };
 
    std::vector<EphemerisBuilder> _ephemerisBuilder;
 
    std::unordered_map<SatId, size_t> _lastAccessedBuilder;
 
    std::set<SatelliteSystem> _warningsNotImplemented;
 
    EphemerisBuilder& getEphemerisBuilder(const SatId& satId, const InsTime& insTime, size_t IOD = 0);
 
    std::optional<std::reference_wrapper<EphemerisBuilder>> getEphemerisBuilder(const SatId& satId, size_t IOD);
 
    std::optional<std::reference_wrapper<EphemerisBuilder>> getLastEphemerisBuilder(const SatId& satId);
 
    void receiveObs(InputPin::NodeDataQueue& queue, size_t pinIdx);
 
    void decryptGPS(const SatId& satId, const ubx::UbxRxmSfrbx& sfrbx, const InsTime& insTime);
 
    void decryptGalileo(const SatId& satId, const ubx::UbxRxmSfrbx& sfrbx, const InsTime& insTime);
 
    void decryptGLONASS(const SatId& satId, const ubx::UbxRxmSfrbx& sfrbx, const InsTime& insTime);
 
    void decryptBeiDou(const SatId& satId, const ubx::UbxRxmSfrbx& sfrbx, const InsTime& insTime);
 
    void decryptQZSS(const SatId& satId, const ubx::UbxRxmSfrbx& sfrbx, const InsTime& insTime);
 
    void decryptIRNSS(const SatId& satId, const ubx::UbxRxmSfrbx& sfrbx, const InsTime& insTime);
 
    void decryptSBAS(const SatId& satId, const ubx::UbxRxmSfrbx& sfrbx, const InsTime& insTime);
};
 
} // namespace NAV