| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | /// @file EmlidObs.hpp | ||
| 10 | /// @brief Emlid Observation Class | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2020-06-23 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include "NodeData/NodeData.hpp" | ||
| 17 | |||
| 18 | #include <variant> | ||
| 19 | |||
| 20 | #include "util/Vendor/Emlid/EmlidTypes.hpp" | ||
| 21 | |||
| 22 | namespace NAV | ||
| 23 | { | ||
| 24 | /// Emlid Observation Class | ||
| 25 | class EmlidObs : public NodeData | ||
| 26 | { | ||
| 27 | public: | ||
| 28 | /// @brief Returns the type of the data class | ||
| 29 | /// @return The data type | ||
| 30 | 581618 | [[nodiscard]] static std::string type() | |
| 31 | { | ||
| 32 |
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1163236 | return "EmlidObs"; |
| 33 | } | ||
| 34 | |||
| 35 | /// @brief Returns the type of the data class | ||
| 36 | /// @return The data type | ||
| 37 | ✗ | [[nodiscard]] std::string getType() const override { return type(); } | |
| 38 | |||
| 39 | /// @brief Returns the parent types of the data class | ||
| 40 | /// @return The parent data types | ||
| 41 | 112 | [[nodiscard]] static std::vector<std::string> parentTypes() | |
| 42 | { | ||
| 43 |
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336 | return { NodeData::type() }; |
| 44 | 112 | } | |
| 45 | |||
| 46 | /// Erb Message ID | ||
| 47 | uint8_t msgId = 0; | ||
| 48 | /// Payload length in bytes | ||
| 49 | uint16_t payloadLength = 0; | ||
| 50 | |||
| 51 | /// Decoded data | ||
| 52 | std::variant< | ||
| 53 | vendor::emlid::ErbVer, // VER: Version of protocol | ||
| 54 | vendor::emlid::ErbPos, // POS: Geodetic position solution | ||
| 55 | vendor::emlid::ErbStat, // STAT: Receiver navigation status | ||
| 56 | vendor::emlid::ErbDops, // DOPS: Dilution of precision | ||
| 57 | vendor::emlid::ErbVel, // VEL: Velocity solution in NED | ||
| 58 | vendor::emlid::ErbSvi, // SVI: Space vehicle information | ||
| 59 | vendor::emlid::ErbRtk // RTK: RTK information | ||
| 60 | > | ||
| 61 | data; | ||
| 62 | }; | ||
| 63 | |||
| 64 | } // namespace NAV | ||
| 65 |