UbloxObs.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/.
 
/// @file UbloxObs.hpp
/// @brief ublox Observation Class
/// @author T. Topp (topp@ins.uni-stuttgart.de)
/// @date 2020-03-19
 
#pragma once
 
#include "NodeData/NodeData.hpp"
 
#include <variant>
 
#include "util/Vendor/Ublox/UbloxTypes.hpp"
 
namespace NAV
{
/// ublox Observation Class
class UbloxObs : public NodeData
{
  public:
    /// @brief Returns the type of the data class
    /// @return The data type
    [[nodiscard]] static std::string type()
    {
        return "UbloxObs";
    }
 
    /// @brief Returns the type of the data class
    /// @return The data type
    [[nodiscard]] std::string getType() const override { return type(); }
 
    /// @brief Returns the parent types of the data class
    /// @return The parent data types
    [[nodiscard]] static std::vector<std::string> parentTypes()
    {
        return { NodeData::type() };
    }
 
    /// Ubx Message Class (NONE if NMEA message)
    vendor::ublox::UbxClass msgClass = vendor::ublox::UbxClass::UBX_CLASS_NONE;
    /// Ubx Message ID
    uint8_t msgId = 0;
    /// Payload length in bytes
    uint16_t payloadLength = 0;
 
    /// Decoded data
    std::variant<
        // ACK: Ack/Nak Messages: Acknowledge or Reject messages to UBX-CFG input messages
        vendor::ublox::UbxAckAck, vendor::ublox::UbxAckNak,
        // CFG: Configuration Input Messages: Configure the receiver
        // ESF: External Sensor Fusion Messages: External Sensor Measurements and Status Information
        vendor::ublox::UbxEsfIns,
        vendor::ublox::UbxEsfMeas,
        vendor::ublox::UbxEsfRaw,
        vendor::ublox::UbxEsfStatus,
        // HNR: High Rate Navigation Results Messages: High rate time, position, speed, heading
        // INF: Information Messages: Printf-Style Messages, with IDs such as Error, Warning, Notice
        // LOG: Logging Messages: Log creation, deletion, info and retrieval
        // MGA: Multiple GNSS Assistance Messages: Assistance data for various GNSS
        // MON:Monitoring Messages: Communication Status, CPU Load, Stack Usage, Task Status
        // NAV: Navigation Results Messages: Position, Speed, Time, Acceleration, Heading, DOP, SVs used
        vendor::ublox::UbxNavAtt,
        vendor::ublox::UbxNavPosecef,
        vendor::ublox::UbxNavPosllh,
        vendor::ublox::UbxNavVelned,
        // RXM: Receiver Manager Messages: Satellite Status, RTC Status
        vendor::ublox::UbxRxmRawx,
        vendor::ublox::UbxRxmSfrbx
        // SEC: Security Feature Messages
        // TIM: Timing Messages: Time Pulse Output, Time Mark Results
        // UPD: Firmware Update Messages: Memory/Flash erase/write, Reboot, Flash identification, etc.
        >
        data;
};
 
} // namespace NAV