INSTINCT Code Coverage Report

Directory: src/
File: Nodes/DataProvider/GNSS/FileReader/RinexNavFile.hpp
Date: 2025-07-19 10:51:51
Exec Total Coverage
Lines: 15 16 93.8%
Functions: 2 2 100.0%
Branches: 8 12 66.7%
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 RinexNavFile.hpp
10 /// @brief File reader for RINEX Navigation messages
11 /// @author T. Topp (topp@ins.uni-stuttgart.de)
12 /// @date 2022-04-21
13
14 #pragma once
15
16 #include <set>
17
18 #include "internal/Node/Node.hpp"
19 #include "Nodes/DataProvider/Protocol/FileReader.hpp"
20
21 #include "NodeData/GNSS/GnssNavInfo.hpp"
22
23 namespace NAV
24 {
25 /// File reader Node for RINEX Navigation messages
26 class RinexNavFile : public Node, public FileReader
27 {
28 public:
29 /// @brief Default constructor
30 RinexNavFile();
31 /// @brief Destructor
32 ~RinexNavFile() override;
33 /// @brief Copy constructor
34 RinexNavFile(const RinexNavFile&) = delete;
35 /// @brief Move constructor
36 RinexNavFile(RinexNavFile&&) = delete;
37 /// @brief Copy assignment operator
38 RinexNavFile& operator=(const RinexNavFile&) = delete;
39 /// @brief Move assignment operator
40 RinexNavFile& operator=(RinexNavFile&&) = delete;
41
42 /// @brief String representation of the Class Type
43 [[nodiscard]] static std::string typeStatic();
44
45 /// @brief String representation of the Class Type
46 [[nodiscard]] std::string type() const override;
47
48 /// @brief String representation of the Class Category
49 [[nodiscard]] static std::string category();
50
51 /// @brief ImGui config window which is shown on double click
52 /// @attention Don't forget to set _hasConfig to true in the constructor of the node
53 void guiConfig() override;
54
55 /// @brief Saves the node into a json object
56 [[nodiscard]] json save() const override;
57
58 /// @brief Restores the node from a json object
59 /// @param[in] j Json object with the node state
60 void restore(const json& j) override;
61
62 /// @brief Resets the node. Moves the read cursor to the start
63 bool resetNode() override;
64
65 private:
66 constexpr static size_t OUTPUT_PORT_INDEX_GNSS_NAV_INFO = 0; ///< @brief Object (GnssNavInfo)
67
68 /// @brief Initialize the node
69 bool initialize() override;
70
71 /// @brief Deinitialize the node
72 void deinitialize() override;
73
74 /// @brief Determines the type of the file
75 /// @return The File Type
76 [[nodiscard]] FileType determineFileType() override;
77
78 /// @brief Read the header of the file with correct version
79 /// @param[in] version RINEX version
80 void executeHeaderParser(double version);
81
82 /// @brief Aborts RINEX file reading and deinitializes node
83 6 void abortReading()
84 {
85
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 6 LOG_ERROR("{}: The file '{}' is corrupt in line {}.", nameId(), _path, getCurrentLineNumber());
86 6 _gnssNavInfo.reset();
87 6 doDeinitialize();
88 6 };
89
90 /// @brief Read the messages of the file with correct version
91 /// @param[in] version RINEX version
92 void executeOrbitParser(double version);
93
94 /// @brief Parses RINEX version 2.* headers
95 void parseHeader2();
96
97 /// @brief Parses RINEX version 3.* headers
98 void parseHeader3();
99
100 /// @brief Parses RINEX version 4.00 headers
101 void parseHeader4();
102
103 /// @brief Parses RINEX version 2.* messages
104 void parseOrbit2();
105
106 /// @brief Parses RINEX version 3.* messages
107 void parseOrbit3();
108
109 /// @brief Parses RINEX version 4.00 messages
110 void parseOrbit4();
111
112 /// @brief Parses ephemeris message since version 3
113 /// @param[in] line string
114 /// @param[in] satSys Satellite System
115 /// @param[in] satNum uint8_t Satellite Number
116 /// @return False if message should be skipped
117 bool parseEphemeris(std::string& line, SatelliteSystem satSys, uint8_t satNum);
118
119 /// @brief Read the Header of the file
120 void readHeader() override;
121
122 /// @brief Read the orbit information
123 void readOrbits();
124
125 /// @brief Supported RINEX versions
126 static inline const std::set<double> _supportedVersions = { 4.00, 3.05, 3.04, 3.03, 3.02, 2.11, 2.10, 2.01 };
127
128 /// @brief RINEX navigation message types enumeration with continuous range
129 enum class NavMsgType : uint8_t
130 {
131 EPH, ///< Ephemeris
132 STO, ///< System Time Offset
133 EOP, ///< Earth Orientation Parameter
134 ION, ///< Ionosphere
135 UNKNOWN ///< Unknown message type
136 };
137
138 /// @brief Converts RINEX navigation message string to enum type
139 /// @param[in] type string
140 /// @return navMsgType enum
141 64 static NavMsgType getNavMsgType(const std::string& type)
142 {
143 64 NavMsgType navMsgType = NavMsgType::UNKNOWN;
144
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 64 if (type == "EPH")
145 {
146 41 navMsgType = NavMsgType::EPH;
147 }
148
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 23 else if (type == "STO")
149 {
150 18 navMsgType = NavMsgType::STO;
151 }
152
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 5 else if (type == "EOP")
153 {
154 ✗ navMsgType = NavMsgType::EOP;
155 }
156
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 5 else if (type == "ION")
157 {
158 5 navMsgType = NavMsgType::ION;
159 }
160 64 return navMsgType;
161 }
162
163 /// @brief Data object to share over the output pin
164 GnssNavInfo _gnssNavInfo;
165
166 /// @brief Version of the RINEX file
167 double _version = 0.0;
168
169 /// Only warn once
170 bool _sbasNotSupportedWarned = false;
171 };
172
173 } // namespace NAV
174