INSTINCT Code Coverage Report

Directory: src/
File: Navigation/GNSS/Core/SatelliteSystem.hpp
Date: 2025-07-19 10:51:51
Exec Total Coverage
Lines: 46 47 97.9%
Functions: 17 17 100.0%
Branches: 10 13 76.9%
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 SatelliteSystem.hpp
10 /// @brief GNSS Satellite System
11 /// @author T. Topp (topp@ins.uni-stuttgart.de)
12 /// @date 2022-04-22
13
14 #pragma once
15
16 #include <cstdint>
17 #include <string>
18 #include <vector>
19 #include <fmt/format.h>
20
21 #include <nlohmann/json.hpp>
22 using json = nlohmann::json; ///< json namespace
23
24 #include "Navigation/Time/TimeSystem.hpp"
25
26 namespace NAV
27 {
28
29 /// @brief Satellite System enumeration
30 enum SatelliteSystem_ : uint64_t
31 { // clang-format off
32 SatSys_None = 0x0000'0000'0000'0000, ///< No Satellite system
33 GPS = 0x0000'0000'0000'00FF, ///< Global Positioning System
34 GAL = 0x0000'0000'0000'FF00, ///< Galileo
35 GLO = 0x0000'0000'00FF'0000, ///< Globalnaja nawigazionnaja sputnikowaja sistema (GLONASS)
36 BDS = 0x0000'0000'FF00'0000, ///< Beidou
37 QZSS = 0x0000'00FF'0000'0000, ///< Quasi-Zenith Satellite System
38 IRNSS = 0x0000'FF00'0000'0000, ///< Indian Regional Navigation Satellite System
39 SBAS = 0x00FF'0000'0000'0000, ///< Satellite Based Augmentation System
40 }; // clang-format on
41
42 /// @brief Satellite System type
43 struct SatelliteSystem
44 {
45 /// @brief Satellite System enumeration with continuous range. Not usable as a mask
46 enum Enum : uint8_t
47 {
48 Enum_GPS, ///< Global Positioning System
49 Enum_GAL, ///< Galileo
50 Enum_GLO, ///< Globalnaja nawigazionnaja sputnikowaja sistema (GLONASS)
51 Enum_BDS, ///< Beidou
52 Enum_QZSS, ///< Quasi-Zenith Satellite System
53 Enum_IRNSS, ///< Indian Regional Navigation Satellite System
54 Enum_SBAS, ///< Satellite Based Augmentation System
55 Enum_COUNT, ///< Count variable
56 Enum_None, ///< No Satellite system
57 };
58
59 /// @brief Default Constructor
60 constexpr SatelliteSystem() = default;
61
62 /// @brief Implicit Constructor from Value type
63 /// @param[in] type Value type to construct from
64 2450322 constexpr SatelliteSystem(SatelliteSystem_ type) // NOLINT(hicpp-explicit-conversions, google-explicit-constructor)
65 2450322 : value(type)
66 2450322 {}
67
68 /// @brief Implicit Constructor from Enum type
69 /// @param[in] enumeration Enum type to construct from
70 SatelliteSystem(Enum enumeration) // NOLINT(hicpp-explicit-conversions, google-explicit-constructor)
71 : value(SatelliteSystem::fromEnum(enumeration))
72 {}
73
74 /// @brief Construct new object from std::string
75 /// @param[in] typeString String representation of the satellite system
76 static SatelliteSystem fromString(const std::string& typeString);
77
78 /// @brief Construct new object from char
79 /// @param[in] typeChar Character representation of the satellite system
80 static SatelliteSystem fromChar(char typeChar);
81
82 /// @brief Constructs a new object from continuous enumeration
83 /// @param[in] enumeration Continuous enumeration of the satellite system
84 static SatelliteSystem fromEnum(Enum enumeration);
85
86 /// @brief Assignment operator from Value type
87 /// @param[in] v Value type to construct from
88 /// @return The Type type from the value type
89 12537171 constexpr SatelliteSystem& operator=(SatelliteSystem_ v)
90 {
91 12537171 value = v;
92 12537171 return *this;
93 }
94
95 friend constexpr bool operator==(const SatelliteSystem& lhs, const SatelliteSystem& rhs);
96
97 /// @brief Less than comparison (needed for map)
98 /// @param[in] rhs Right hand side of the operator
99 /// @return True if lhs < rhs
100 3078360 constexpr bool operator<(const SatelliteSystem& rhs) const { return value < rhs.value; }
101
102 /// @brief Allow switch(SatelliteSystem_(type)) and comparisons
103 31512757 constexpr explicit operator SatelliteSystem_() const { return value; }
104 /// @brief Prevent usage: if(...)
105 constexpr explicit operator bool() = delete;
106
107 /// @brief int conversion operator
108 /// @return A int representation of the type
109 86678281 constexpr explicit operator uint64_t() const { return uint64_t(value); }
110
111 /// @brief std::string conversion operator
112 /// @return A std::string representation of the type
113 explicit operator std::string() const;
114
115 /// @brief char conversion operator
116 /// @return A char representation of the type
117 explicit operator char() const;
118
119 /// @brief Get the Time System of the specified Satellite System
120 /// @param[in] satSys Satellite System to get the time system for
121 static TimeSystem GetTimeSystemForSatelliteSystem(SatelliteSystem satSys);
122
123 /// @brief Get the Time System of this Satellite System
124 [[nodiscard]] TimeSystem getTimeSystem() const;
125
126 /// @brief Get a list of satellites in the constellation
127 /// @param[in] satSys Satellite System to get the list for
128 static std::vector<uint16_t> GetSatellitesForSatelliteSystem(SatelliteSystem satSys);
129
130 /// @brief Get a list of satellites in the constellation
131 [[nodiscard]] std::vector<uint16_t> getSatellites() const;
132
133 /// @brief Get additional information about the satellite if available
134 /// @param[in] satSys Satellite System
135 /// @param[in] satNum Satellite Number
136 /// @return Optional String of additional information
137 static std::optional<std::string> GetSatelliteInfo(SatelliteSystem satSys, uint16_t satNum);
138
139 /// @brief Get additional information about the satellite if available
140 /// @param[in] satNum Satellite Number
141 /// @return Optional String of additional information
142 [[nodiscard]] std::optional<std::string> getSatelliteInfo(uint16_t satNum) const;
143
144 /// @brief Get the continuous enumeration of the specified Satellite System
145 /// @param[in] satSys Satellite System to get the continuous enumeration for
146 static Enum ToEnumeration(SatelliteSystem satSys);
147
148 /// @brief Returns a continuous enumeration of the object
149 [[nodiscard]] Enum toEnumeration() const;
150
151 /// @brief Get char representation of the specified Satellite System
152 /// @param[in] satSys Satellite System to get the continuous enumeration for
153 static char ToChar(SatelliteSystem satSys);
154
155 /// @brief Returns the char representation of the object
156 [[nodiscard]] char toChar() const;
157
158 /// @brief Get a vector representation of the specified Satellite Systems
159 /// @param[in] satSys Satellite System to get the vector for
160 static std::vector<SatelliteSystem> ToVector(SatelliteSystem satSys);
161
162 /// @brief Get a vector representation of the specified Satellite Systems
163 [[nodiscard]] std::vector<SatelliteSystem> toVector() const;
164
165 /// @brief Returns a list with all possible satellite systems
166 static std::vector<SatelliteSystem> GetAll();
167
168 private:
169 /// @brief Internal value
170 SatelliteSystem_ value = SatelliteSystem_::SatSys_None;
171 };
172
173 // #########################################################################################################################################
174
175 /// @brief Converts the provided link into a json object
176 /// @param[out] j Json object which gets filled with the info
177 /// @param[in] data Data to convert into json
178 void to_json(json& j, const SatelliteSystem& data);
179 /// @brief Converts the provided json object into a link object
180 /// @param[in] j Json object with the needed values
181 /// @param[out] data Object to fill from the json
182 void from_json(const json& j, SatelliteSystem& data);
183
184 // #########################################################################################################################################
185
186 /// @brief Allows combining flags of the SatelliteSystem enum.
187 /// @param[in] lhs Left-hand side enum value.
188 /// @param[in] rhs Right-hand side enum value.
189 /// @return The binary ORed value.
190 12531302 constexpr SatelliteSystem_ operator|(SatelliteSystem_ lhs, SatelliteSystem_ rhs)
191 {
192 12531302 return SatelliteSystem_(uint64_t(lhs) | uint64_t(rhs));
193 }
194 /// @brief Allows combining flags of the SatelliteSystem enum.
195 /// @param[in] lhs Left-hand side enum value.
196 /// @param[in] rhs Right-hand side enum value.
197 /// @return The binary ORed value.
198 12530723 constexpr SatelliteSystem_ operator|(SatelliteSystem lhs, SatelliteSystem rhs)
199 {
200 12530723 return SatelliteSystem_(lhs) | SatelliteSystem_(rhs);
201 }
202 /// @brief Allows combining flags of the SatelliteSystem enum.
203 /// @param[in] lhs Left-hand side enum value.
204 /// @param[in] rhs Right-hand side enum value.
205 /// @return The binary ORed value.
206 constexpr SatelliteSystem_ operator|(SatelliteSystem_ lhs, SatelliteSystem rhs)
207 {
208 return lhs | SatelliteSystem_(rhs);
209 }
210 /// @brief Allows combining flags of the SatelliteSystem enum.
211 /// @param[in] lhs Left-hand side enum value.
212 /// @param[in] rhs Right-hand side enum value.
213 /// @return The binary ORed value.
214 constexpr SatelliteSystem_ operator|(SatelliteSystem lhs, SatelliteSystem_ rhs)
215 {
216 return SatelliteSystem_(lhs) | rhs;
217 }
218
219 /// @brief Allows combining flags of the SatelliteSystem enum.
220 /// @param[in] lhs Left-hand side enum value.
221 /// @param[in] rhs Right-hand side enum value.
222 /// @return The binary ORed value.
223 constexpr SatelliteSystem_& operator|=(SatelliteSystem_& lhs, const SatelliteSystem_& rhs)
224 {
225 lhs = lhs | rhs;
226 return lhs;
227 }
228 /// @brief Allows combining flags of the SatelliteSystem enum.
229 /// @param[in] lhs Left-hand side enum value.
230 /// @param[in] rhs Right-hand side enum value.
231 /// @return The binary ORed value.
232 12530850 constexpr SatelliteSystem& operator|=(SatelliteSystem& lhs, const SatelliteSystem& rhs)
233 {
234 12530850 lhs = lhs | rhs;
235 12530742 return lhs;
236 }
237 /// @brief Allows combining flags of the SatelliteSystem enum.
238 /// @param[in] lhs Left-hand side enum value.
239 /// @param[in] rhs Right-hand side enum value.
240 /// @return The binary ORed value.
241 constexpr SatelliteSystem_& operator|=(SatelliteSystem_& lhs, const SatelliteSystem& rhs)
242 {
243 lhs = lhs | SatelliteSystem_(rhs);
244 return lhs;
245 }
246 /// @brief Allows combining flags of the SatelliteSystem enum.
247 /// @param[in] lhs Left-hand side enum value.
248 /// @param[in] rhs Right-hand side enum value.
249 /// @return The binary ORed value.
250 constexpr SatelliteSystem& operator|=(SatelliteSystem& lhs, const SatelliteSystem_& rhs)
251 {
252 lhs = lhs | rhs;
253 return lhs;
254 }
255
256 /// @brief Allows combining flags of the SatelliteSystem enum.
257 /// @param[in] lhs Left-hand side enum value.
258 /// @param[in] rhs Right-hand side enum value.
259 /// @return The binary ANDed value.
260 278558 constexpr SatelliteSystem_ operator&(SatelliteSystem_ lhs, SatelliteSystem_ rhs)
261 {
262 278558 return SatelliteSystem_(uint64_t(lhs) & uint64_t(rhs));
263 }
264 /// @brief Allows combining flags of the SatelliteSystem enum.
265 /// @param[in] lhs Left-hand side enum value.
266 /// @param[in] rhs Right-hand side enum value.
267 /// @return The binary ANDed value.
268 6342 constexpr SatelliteSystem operator&(SatelliteSystem lhs, SatelliteSystem rhs)
269 {
270 6342 return SatelliteSystem_(lhs) & SatelliteSystem_(rhs);
271 }
272 /// @brief Allows combining flags of the SatelliteSystem enum.
273 /// @param[in] lhs Left-hand side enum value.
274 /// @param[in] rhs Right-hand side enum value.
275 /// @return The binary ANDed value.
276 constexpr SatelliteSystem_ operator&(SatelliteSystem lhs, SatelliteSystem_ rhs)
277 {
278 return SatelliteSystem_(lhs) & rhs;
279 }
280 /// @brief Allows combining flags of the SatelliteSystem enum.
281 /// @param[in] lhs Left-hand side enum value.
282 /// @param[in] rhs Right-hand side enum value.
283 /// @return The binary ANDed value.
284 constexpr SatelliteSystem_ operator&(SatelliteSystem_ lhs, SatelliteSystem rhs)
285 {
286 return lhs & SatelliteSystem_(rhs);
287 }
288
289 /// @brief Allows combining flags of the SatelliteSystem enum.
290 /// @param[in] lhs Left-hand side enum value.
291 /// @param[in] rhs Right-hand side enum value.
292 /// @return The binary ANDed value.
293 constexpr SatelliteSystem_& operator&=(SatelliteSystem_& lhs, const SatelliteSystem_& rhs)
294 {
295 lhs = lhs & rhs;
296 return lhs;
297 }
298 /// @brief Allows combining flags of the SatelliteSystem enum.
299 /// @param[in] lhs Left-hand side enum value.
300 /// @param[in] rhs Right-hand side enum value.
301 /// @return The binary ANDed value.
302 constexpr SatelliteSystem& operator&=(SatelliteSystem& lhs, const SatelliteSystem& rhs)
303 {
304 lhs = lhs & rhs;
305 return lhs;
306 }
307 /// @brief Allows combining flags of the SatelliteSystem enum.
308 /// @param[in] lhs Left-hand side enum value.
309 /// @param[in] rhs Right-hand side enum value.
310 /// @return The binary ANDed value.
311 constexpr SatelliteSystem_& operator&=(SatelliteSystem_& lhs, const SatelliteSystem& rhs)
312 {
313 lhs = lhs & SatelliteSystem_(rhs);
314 return lhs;
315 }
316 /// @brief Allows combining flags of the SatelliteSystem enum.
317 /// @param[in] lhs Left-hand side enum value.
318 /// @param[in] rhs Right-hand side enum value.
319 /// @return The binary ANDed value.
320 constexpr SatelliteSystem& operator&=(SatelliteSystem& lhs, const SatelliteSystem_& rhs)
321 {
322 lhs = lhs & rhs;
323 return lhs;
324 }
325
326 /// @brief Allows negating flags of the SatelliteSystem enum.
327 /// @param[in] rhs Right-hand side enum value.
328 /// @return The binary NEGed value.
329 constexpr SatelliteSystem_ operator~(SatelliteSystem_ rhs)
330 {
331 return SatelliteSystem_(~uint64_t(rhs));
332 }
333 /// @brief Allows negating flags of the SatelliteSystem enum.
334 /// @param[in] rhs Right-hand side enum value.
335 /// @return The binary NEGed value.
336 constexpr SatelliteSystem_ operator~(SatelliteSystem rhs)
337 {
338 return SatelliteSystem_(~uint64_t(rhs));
339 }
340
341 // #########################################################################################################################################
342
343 /// @brief Equal compares values
344 /// @param[in] lhs Left-hand side of the operator
345 /// @param[in] rhs Right-hand side of the operator
346 /// @return Whether the comparison was successful
347 54545346 constexpr bool operator==(const SatelliteSystem& lhs, const SatelliteSystem& rhs) { return lhs.value == rhs.value; }
348 /// @brief Equal compares values
349 /// @param[in] lhs Left-hand side of the operator
350 /// @param[in] rhs Right-hand side of the operator
351 /// @return Whether the comparison was successful
352 896740 constexpr bool operator==(const SatelliteSystem& lhs, const SatelliteSystem_& rhs) { return lhs == SatelliteSystem(rhs); }
353 /// @brief Equal compares values
354 /// @param[in] lhs Left-hand side of the operator
355 /// @param[in] rhs Right-hand side of the operator
356 /// @return Whether the comparison was successful
357 constexpr bool operator==(const SatelliteSystem_& lhs, const SatelliteSystem& rhs) { return SatelliteSystem(lhs) == rhs; }
358
359 /// @brief Inequal compares values
360 /// @param[in] lhs Left-hand side of the operator
361 /// @param[in] rhs Right-hand side of the operator
362 /// @return Whether the comparison was successful
363 223622 constexpr bool operator!=(const SatelliteSystem& lhs, const SatelliteSystem& rhs) { return !(lhs == rhs); }
364 /// @brief Inequal compares values
365 /// @param[in] lhs Left-hand side of the operator
366 /// @param[in] rhs Right-hand side of the operator
367 /// @return Whether the comparison was successful
368 12684 constexpr bool operator!=(const SatelliteSystem& lhs, const SatelliteSystem_& rhs) { return !(lhs == rhs); }
369 /// @brief Inequal compares values
370 /// @param[in] lhs Left-hand side of the operator
371 /// @param[in] rhs Right-hand side of the operator
372 /// @return Whether the comparison was successful
373 constexpr bool operator!=(const SatelliteSystem_& lhs, const SatelliteSystem& rhs) { return !(lhs == rhs); }
374
375 /// @brief Stream insertion operator overload
376 /// @param[in, out] os Output stream object to stream the time into
377 /// @param[in] satSys Object to print
378 /// @return Returns the output stream object in order to chain stream insertions
379 std::ostream& operator<<(std::ostream& os, const SatelliteSystem& satSys);
380
381 /// All Systems
382 constexpr SatelliteSystem_ SatSys_All = GPS | GAL | GLO | BDS | QZSS | IRNSS | SBAS;
383
384 } // namespace NAV
385
386 namespace std
387 {
388 /// @brief Hash function for SatelliteSystem (needed for unordered_map)
389 template<>
390 struct hash<NAV::SatelliteSystem_>
391 {
392 /// @brief Hash function for SatelliteSystem
393 /// @param[in] satSys Satellite system
394 3207338 std::size_t operator()(const NAV::SatelliteSystem_& satSys) const
395 {
396 using namespace NAV; // NOLINT(google-build-using-namespace)
397
8/9
✓ Branch 0 taken 400 times.
✓ Branch 1 taken 1441133 times.
✓ Branch 2 taken 1247880 times.
✓ Branch 3 taken 155174 times.
✓ Branch 4 taken 229104 times.
✓ Branch 5 taken 111934 times.
✓ Branch 6 taken 14609 times.
✓ Branch 7 taken 7220 times.
✗ Branch 8 not taken.
 3207338 switch (satSys)
398 {
399 400 case SatSys_None:
400 400 return 1;
401 1441133 case GPS:
402 1441133 return 100;
403 1247880 case GAL:
404 1247880 return 200;
405 155174 case GLO:
406 155174 return 300;
407 229104 case BDS:
408 229104 return 400;
409 111934 case QZSS:
410 111934 return 500;
411 14609 case IRNSS:
412 14609 return 600;
413 7220 case SBAS:
414 7220 return 700;
415 }
416 ✗ return 0;
417 }
418 };
419 /// @brief Hash function for SatelliteSystem (needed for unordered_map)
420 template<>
421 struct hash<NAV::SatelliteSystem>
422 {
423 /// @brief Hash function for SatelliteSystem
424 /// @param[in] satSys Satellite system
425 651361 std::size_t operator()(const NAV::SatelliteSystem& satSys) const
426 {
427 651361 return std::hash<NAV::SatelliteSystem_>()(NAV::SatelliteSystem_(satSys));
428 }
429 };
430 } // namespace std
431
432 #ifndef DOXYGEN_IGNORE
433
434 /// @brief Formatter for SatelliteSystem
435 template<>
436 struct fmt::formatter<NAV::SatelliteSystem> : fmt::formatter<std::string>
437 {
438 /// @brief Defines how to format SatelliteSystem structs
439 /// @param[in] satSys Struct to format
440 /// @param[in, out] ctx Format context
441 /// @return Output iterator
442 template<typename FormatContext>
443 38591 auto format(const NAV::SatelliteSystem& satSys, FormatContext& ctx) const
444 {
445
2/4
✓ Branch 1 taken 38591 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 38591 times.
✗ Branch 6 not taken.
 38591 return fmt::formatter<std::string>::format(std::string(satSys), ctx);
446 }
447 };
448
449 #endif
450