File reader Node for RINEX Navigation messages. More...

Public Member Functions
void	guiConfig () override
	ImGui config window which is shown on double click.

RinexNavFile &	operator= (const RinexNavFile &)=delete
	Copy assignment operator.

RinexNavFile &	operator= (RinexNavFile &&)=delete
	Move assignment operator.

bool	resetNode () override
	Resets the node. Moves the read cursor to the start.

void	restore (const json &j) override
	Restores the node from a json object.

	RinexNavFile ()
	Default constructor.

	RinexNavFile (const RinexNavFile &)=delete
	Copy constructor.

	RinexNavFile (RinexNavFile &&)=delete
	Move constructor.

json	save () const override
	Saves the node into a json object.

std::string	type () const override
	String representation of the Class Type.

	~RinexNavFile () override
	Destructor.

Public Member Functions inherited from NAV::Node
virtual void	afterCreateLink (OutputPin &startPin, InputPin &endPin)
	Called when a new link was established.

virtual void	afterDeleteLink (OutputPin &startPin, InputPin &endPin)
	Called when a link was deleted.

bool	doDeinitialize (bool wait=false)
	Asks the node worker to deinitialize the node.

bool	doDisable (bool wait=false)
	Asks the node worker to disable the node.

bool	doEnable ()
	Enable the node.

bool	doInitialize (bool wait=false)
	Asks the node worker to initialize the node.

bool	doReinitialize (bool wait=false)
	Asks the node worker to reinitialize the node.

virtual void	flush ()
	Function called by the flow executer after finishing to flush out remaining data.

template<typename T>
std::optional< InputPin::IncomingLink::ValueWrapper< T > >	getInputValue (size_t portIndex) const
	Get Input Value connected on the pin. Only const data types.

Mode	getMode () const
	Get the current mode of the node.

const ImVec2 &	getSize () const
	Get the size of the node.

State	getState () const
	Get the current state of the node.

bool	hasInputPinWithSameTime (const InsTime &insTime) const
	Checks wether there is an input pin with the same time.

InputPin &	inputPinFromId (ax::NodeEditor::PinId pinId)
	Returns the pin with the given id.

size_t	inputPinIndexFromId (ax::NodeEditor::PinId pinId) const
	Returns the index of the pin.

void	invokeCallbacks (size_t portIndex, const std::shared_ptr< const NodeData > &data)
	Calls all registered callbacks on the specified output port.

bool	isDisabled () const
	Checks if the node is disabled.

bool	isInitialized () const
	Checks if the node is initialized.

bool	isOnlyRealtime () const
	Checks if the node is only working in real time (sensors, network interfaces, ...)

bool	isTransient () const
	Checks if the node is changing its state currently.

std::string	nameId () const
	Node name and id.

	Node (const Node &)=delete
	Copy constructor.

	Node (Node &&)=delete
	Move constructor.

	Node (std::string name)
	Constructor.

void	notifyOutputValueChanged (size_t pinIdx, const InsTime &insTime, const std::scoped_lock< std::mutex > &&guard)
	Notifies connected nodes about the change.

virtual bool	onCreateLink (OutputPin &startPin, InputPin &endPin)
	Called when a new link is to be established.

virtual void	onDeleteLink (OutputPin &startPin, InputPin &endPin)
	Called when a link is to be deleted.

Node &	operator= (const Node &)=delete
	Copy assignment operator.

Node &	operator= (Node &&)=delete
	Move assignment operator.

OutputPin &	outputPinFromId (ax::NodeEditor::PinId pinId)
	Returns the pin with the given id.

size_t	outputPinIndexFromId (ax::NodeEditor::PinId pinId) const
	Returns the index of the pin.

void	releaseInputValue (size_t portIndex)
	Unblocks the connected node. Has to be called when the input value should be released and getInputValue was not called.

std::scoped_lock< std::mutex >	requestOutputValueLock (size_t pinIdx)
	Blocks the thread till the output values was read by all connected nodes.

virtual void	restoreAtferLink (const json &j)
	Restores link related properties of the node from a json object.

void	wakeWorker ()
	Wakes the worker thread.

virtual	~Node ()
	Destructor.

Public Member Functions inherited from NAV::FileReader
	FileReader (const FileReader &)=delete
	Copy constructor.

	FileReader (FileReader &&)=delete
	Move constructor.

FileReader &	operator= (const FileReader &)=delete
	Copy assignment operator.

FileReader &	operator= (FileReader &&)=delete
	Move assignment operator.

virtual	~FileReader ()=default
	Destructor.

Static Public Member Functions
static std::string	category ()
	String representation of the Class Category.

static std::string	typeStatic ()
	String representation of the Class Type.

Static Public Member Functions inherited from NAV::Node
static std::string	toString (State state)
	Converts the state into a printable text.

Private Types
enum class	NavMsgType : uint8_t { EPH , STO , EOP , ION , UNKNOWN }
	RINEX navigation message types enumeration with continuous range. More...

Private Member Functions
void	abortReading ()
	Aborts RINEX file reading and deinitializes node.

void	deinitialize () override
	Deinitialize the node.

FileType	determineFileType () override
	Determines the type of the file.

void	executeHeaderParser (double version)
	Read the header of the file with correct version.

void	executeOrbitParser (double version)
	Read the messages of the file with correct version.

bool	initialize () override
	Initialize the node.

bool	parseEphemeris (std::string &line, SatelliteSystem satSys, uint8_t satNum)
	Parses ephemeris message since version 3.

void	parseHeader2 ()
	Parses RINEX version 2.* headers.

void	parseHeader3 ()
	Parses RINEX version 3.* headers.

void	parseHeader4 ()
	Parses RINEX version 4.00 headers.

void	parseOrbit2 ()
	Parses RINEX version 2.* messages.

void	parseOrbit3 ()
	Parses RINEX version 3.* messages.

void	parseOrbit4 ()
	Parses RINEX version 4.00 messages.

void	readHeader () override
	Read the Header of the file.

void	readOrbits ()
	Read the orbit information.

Static Private Member Functions
static NavMsgType	getNavMsgType (const std::string &type)
	Converts RINEX navigation message string to enum type.

Private Attributes
GnssNavInfo	_gnssNavInfo
	Data object to share over the output pin.

bool	_sbasNotSupportedWarned
	Only warn once.

double	_version
	Version of the RINEX file.

Static Private Attributes
static const std::set< double >	_supportedVersions
	Supported RINEX versions.

static constexpr size_t	OUTPUT_PORT_INDEX_GNSS_NAV_INFO
	Object (GnssNavInfo)

Additional Inherited Members
Public Types inherited from NAV::Node
enum class	Mode : uint8_t { REAL_TIME , POST_PROCESSING }
	Different Modes the Node can work in. More...

enum class	State : uint8_t { Disabled , Deinitialized , DoInitialize , Initializing , Initialized , DoDeinitialize , Deinitializing , DoShutdown , Shutdown }
	Possible states of the node. More...

Public Types inherited from NAV::FileReader
enum	FileType : uint8_t { NONE , BINARY , ASCII }
	File Type Enumeration. More...

enum	GuiResult : uint8_t { PATH_UNCHANGED , PATH_CHANGED , PATH_CHANGED_INVALID }
	Results enum for the gui config. More...

Data Fields inherited from NAV::Node
bool	callbacksEnabled
	Enables the callbacks.

ax::NodeEditor::NodeId	id
	Unique Id of the Node.

std::vector< InputPin >	inputPins
	List of input pins.

Kind	kind
	Kind of the Node.

std::string	name
	Name of the Node.

std::vector< OutputPin >	outputPins
	List of output pins.

std::multimap< InsTime, std::pair< OutputPin *, size_t > >	pollEvents
	Map with callback events (sorted by time)

Protected Member Functions inherited from NAV::FileReader
void	deinitialize ()
	Deinitialize the file reader.

auto	eof () const
	Check whether the end of file is reached.

	FileReader ()=default
	Default constructor.

size_t	getCurrentLineNumber () const
	Get the current line number.

std::filesystem::path	getFilepath ()
	Returns the path of the file.

auto &	getline (std::string &str)
	Reads a line from the filestream.

bool	good () const
	Fast error checking.

GuiResult	guiConfig (const char *vFilters, const std::vector< std::string > &extensions, size_t id, const std::string &nameId)
	ImGui config.

auto &	ignore (std::streamsize count, int delim)
	Extracts and discards characters from the input stream until and including delim.

bool	initialize ()
	Initialize the file reader.

auto	peek ()
	Looking ahead in the stream.

auto &	read (char *__s, std::streamsize __n)
	Extraction without delimiters.

auto	readsome (char *s, std::streamsize count)
	Extracts up to count immediately available characters from the input stream. The extracted characters are stored into the character array pointed to by s.

void	resetReader ()
	Moves the read cursor to the start.

void	restore (const json &j)
	Restores the node from a json object.

json	save () const
	Saves the node into a json object.

auto &	seekg (std::streamoff pos, std::ios_base::seekdir dir)
	Changing the current read position.

std::streampos	tellg ()
	Getting the current read position.

Protected Attributes inherited from NAV::Node
ImVec2	_guiConfigDefaultWindowSize

bool	_hasConfig
	Flag if the config window should be shown.

bool	_lockConfigDuringRun
	Lock the config when executing post-processing.

bool	_onlyRealTime
	Whether the node can run in post-processing or only real-time.

Protected Attributes inherited from NAV::FileReader
FileType	_fileType
	File Type.

std::vector< std::string >	_headerColumns
	Header Columns of a CSV file.

std::string	_path
	Path to the file.

Detailed Description

File reader Node for RINEX Navigation messages.

Definition at line 26 of file RinexNavFile.hpp.

Member Enumeration Documentation

◆ NavMsgType

enum class NAV::RinexNavFile::NavMsgType : uint8_t

strongprivate

RINEX navigation message types enumeration with continuous range.

Enumerator
EPH	Ephemeris.
STO	System Time Offset.
EOP	Earth Orientation Parameter.
ION	Ionosphere.
UNKNOWN	Unknown message type.

Definition at line 129 of file RinexNavFile.hpp.

Constructor & Destructor Documentation

◆ RinexNavFile() [1/3]

NAV::RinexNavFile::RinexNavFile ( )

Default constructor.

Definition at line 30 of file RinexNavFile.cpp.

◆ ~RinexNavFile()

NAV::RinexNavFile::~RinexNavFile ( )

override

Destructor.

Definition at line 41 of file RinexNavFile.cpp.

◆ RinexNavFile() [2/3]

NAV::RinexNavFile::RinexNavFile ( const RinexNavFile & )

delete

Copy constructor.

◆ RinexNavFile() [3/3]

NAV::RinexNavFile::RinexNavFile ( RinexNavFile && )

delete

Move constructor.

Member Function Documentation

◆ abortReading()

void NAV::RinexNavFile::abortReading ( )

inlineprivate

Aborts RINEX file reading and deinitializes node.

Definition at line 83 of file RinexNavFile.hpp.

◆ category()

std::string NAV::RinexNavFile::category ( )

staticnodiscard

String representation of the Class Category.

Definition at line 56 of file RinexNavFile.cpp.

◆ deinitialize()

void NAV::RinexNavFile::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

Definition at line 127 of file RinexNavFile.cpp.

◆ determineFileType()

FileReader::FileType NAV::RinexNavFile::determineFileType ( )

nodiscardoverrideprivatevirtual

Determines the type of the file.

Returns: The File Type

Reimplemented from NAV::FileReader.

Definition at line 143 of file RinexNavFile.cpp.

◆ executeHeaderParser()

void NAV::RinexNavFile::executeHeaderParser ( double version )

private

Read the header of the file with correct version.

Parameters

[in] version RINEX version

Definition at line 259 of file RinexNavFile.cpp.

◆ executeOrbitParser()

void NAV::RinexNavFile::executeOrbitParser ( double version )

private

Read the messages of the file with correct version.

Parameters

[in] version RINEX version

Definition at line 280 of file RinexNavFile.cpp.

◆ getNavMsgType()

static NavMsgType NAV::RinexNavFile::getNavMsgType ( const std::string & type )

inlinestaticprivate

Converts RINEX navigation message string to enum type.

Parameters

[in] type string

Returns: navMsgType enum

Definition at line 141 of file RinexNavFile.hpp.

◆ guiConfig()

void NAV::RinexNavFile::guiConfig ( )

overridevirtual

ImGui config window which is shown on double click.

Attention: Don't forget to set _hasConfig to true in the constructor of the node

Reimplemented from NAV::Node.

Definition at line 61 of file RinexNavFile.cpp.

◆ initialize()

bool NAV::RinexNavFile::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

Definition at line 105 of file RinexNavFile.cpp.

◆ operator=() [1/2]

RinexNavFile & NAV::RinexNavFile::operator= ( const RinexNavFile & )

delete

Copy assignment operator.

◆ operator=() [2/2]

RinexNavFile & NAV::RinexNavFile::operator= ( RinexNavFile && )

delete

Move assignment operator.

◆ parseEphemeris()

bool NAV::RinexNavFile::parseEphemeris	(	std::string &	line,
		SatelliteSystem	satSys,
		uint8_t	satNum )

private

Parses ephemeris message since version 3.

Parameters

[in]	line	string
[in]	satSys	Satellite System
[in]	satNum	uint8_t Satellite Number

Returns: False if message should be skipped

Definition at line 1354 of file RinexNavFile.cpp.

◆ parseHeader2()

void NAV::RinexNavFile::parseHeader2 ( )

private

Parses RINEX version 2.* headers.

Definition at line 301 of file RinexNavFile.cpp.

◆ parseHeader3()

void NAV::RinexNavFile::parseHeader3 ( )

private

Parses RINEX version 3.* headers.

Definition at line 409 of file RinexNavFile.cpp.

◆ parseHeader4()

void NAV::RinexNavFile::parseHeader4 ( )

private

Parses RINEX version 4.00 headers.

Definition at line 543 of file RinexNavFile.cpp.

◆ parseOrbit2()

void NAV::RinexNavFile::parseOrbit2 ( )

private

Parses RINEX version 2.* messages.

Definition at line 615 of file RinexNavFile.cpp.

◆ parseOrbit3()

void NAV::RinexNavFile::parseOrbit3 ( )

private

Parses RINEX version 3.* messages.

Definition at line 1037 of file RinexNavFile.cpp.

◆ parseOrbit4()

void NAV::RinexNavFile::parseOrbit4 ( )

private

Parses RINEX version 4.00 messages.

Definition at line 1084 of file RinexNavFile.cpp.

◆ readHeader()

void NAV::RinexNavFile::readHeader ( )

overrideprivatevirtual

Read the Header of the file.

Reimplemented from NAV::FileReader.

Definition at line 1767 of file RinexNavFile.cpp.

◆ readOrbits()

void NAV::RinexNavFile::readOrbits ( )

private

Read the orbit information.

Definition at line 1774 of file RinexNavFile.cpp.

◆ resetNode()

bool NAV::RinexNavFile::resetNode ( )

overridevirtual

Resets the node. Moves the read cursor to the start.

Reimplemented from NAV::Node.

Definition at line 134 of file RinexNavFile.cpp.

◆ restore()

void NAV::RinexNavFile::restore ( const json & j )

overridevirtual

Restores the node from a json object.

Parameters

[in] j Json object with the node state

Reimplemented from NAV::Node.

Definition at line 95 of file RinexNavFile.cpp.

◆ save()

json NAV::RinexNavFile::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

Definition at line 84 of file RinexNavFile.cpp.

◆ type()

std::string NAV::RinexNavFile::type ( ) const

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Definition at line 51 of file RinexNavFile.cpp.

◆ typeStatic()

std::string NAV::RinexNavFile::typeStatic ( )

staticnodiscard

String representation of the Class Type.

Definition at line 46 of file RinexNavFile.cpp.

Field Documentation

◆ _gnssNavInfo

GnssNavInfo NAV::RinexNavFile::_gnssNavInfo

private

Data object to share over the output pin.

Definition at line 164 of file RinexNavFile.hpp.

◆ _sbasNotSupportedWarned

bool NAV::RinexNavFile::_sbasNotSupportedWarned

private

Only warn once.

Definition at line 170 of file RinexNavFile.hpp.

◆ _supportedVersions

const std::set<double> NAV::RinexNavFile::_supportedVersions

inlinestaticprivate

Supported RINEX versions.

Definition at line 126 of file RinexNavFile.hpp.

◆ _version

double NAV::RinexNavFile::_version

private

Version of the RINEX file.

Definition at line 167 of file RinexNavFile.hpp.

◆ OUTPUT_PORT_INDEX_GNSS_NAV_INFO

size_t NAV::RinexNavFile::OUTPUT_PORT_INDEX_GNSS_NAV_INFO

staticconstexprprivate

Object (GnssNavInfo)

Definition at line 66 of file RinexNavFile.hpp.

The documentation for this class was generated from the following files:

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProvider/GNSS/FileReader/RinexNavFile.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProvider/GNSS/FileReader/RinexNavFile.cpp

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ NavMsgType

Constructor & Destructor Documentation

◆ RinexNavFile() [1/3]

◆ ~RinexNavFile()

◆ RinexNavFile() [2/3]

◆ RinexNavFile() [3/3]

Member Function Documentation

◆ abortReading()

◆ category()

◆ deinitialize()

◆ determineFileType()

◆ executeHeaderParser()

◆ executeOrbitParser()

◆ getNavMsgType()

◆ guiConfig()

◆ initialize()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ parseEphemeris()

◆ parseHeader2()

◆ parseHeader3()

◆ parseHeader4()

◆ parseOrbit2()

◆ parseOrbit3()

◆ parseOrbit4()

◆ readHeader()

◆ readOrbits()

◆ resetNode()

◆ restore()

◆ save()

◆ type()

◆ typeStatic()

Field Documentation

◆ _gnssNavInfo

◆ _sbasNotSupportedWarned

◆ _supportedVersions

◆ _version

◆ OUTPUT_PORT_INDEX_GNSS_NAV_INFO