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|---|---|---|---|
| 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 VectorNavTypes.hpp | ||
| 10 | /// @brief Type Definitions for VectorNav messages | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2021-07-01 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | // VectorNav library includes <winsock2.h>, but <boost/asio.hpp> needs to be included before (even though not used in this file) | ||
| 17 | // https://stackoverflow.com/questions/9750344/boostasio-winsock-and-winsock-2-compatibility-issue | ||
| 18 | #ifdef _WIN32 | ||
| 19 | // Set the proper SDK version before including boost/Asio | ||
| 20 | #include <SDKDDKVer.h> | ||
| 21 | // Note boost/ASIO includes Windows.h. | ||
| 22 | #include <boost/asio.hpp> | ||
| 23 | #endif //_WIN32 | ||
| 24 | |||
| 25 | #include <cstdint> | ||
| 26 | #include <vector> | ||
| 27 | #include <iostream> | ||
| 28 | #include <fmt/format.h> | ||
| 29 | #include <fmt/ostream.h> | ||
| 30 | #include <vn/vector.h> | ||
| 31 | #include <vn/matrix.h> | ||
| 32 | #include <vn/types.h> | ||
| 33 | |||
| 34 | namespace NAV::vendor::vectornav | ||
| 35 | { | ||
| 36 | /// @brief The VPE status bitfield | ||
| 37 | /// | ||
| 38 | /// Bit | Name | Description | ||
| 39 | /// 0 | timeOk | GpsTow is valid. | ||
| 40 | /// 1 | dateOk | TimeGps and GpsWeek are valid. | ||
| 41 | /// 2 | utcTimeValid | UTC time is valid. | ||
| 42 | class TimeStatus | ||
| 43 | { | ||
| 44 | public: | ||
| 45 | /// Constructor | ||
| 46 | /// @param[in] status Status to set | ||
| 47 | explicit TimeStatus(uint8_t status) : _status(status) {} | ||
| 48 | |||
| 49 | /// @brief Assignment operator | ||
| 50 | /// @param[in] status Status to set | ||
| 51 | 57173 | TimeStatus& operator=(const uint8_t& status) | |
| 52 | { | ||
| 53 | 57173 | _status = status; | |
| 54 | 57173 | return *this; | |
| 55 | } | ||
| 56 | |||
| 57 | /// @brief Default constructor | ||
| 58 | TimeStatus() = default; | ||
| 59 | |||
| 60 | /// @brief Returns a reference to the status | ||
| 61 | 426 | [[nodiscard]] constexpr uint8_t& status() | |
| 62 | { | ||
| 63 | 426 | return _status; | |
| 64 | } | ||
| 65 | |||
| 66 | /// GpsTow is valid | ||
| 67 | 29074 | [[nodiscard]] constexpr uint8_t timeOk() const | |
| 68 | { | ||
| 69 | 29074 | return ((_status & (1U << 0U)) >> 0U); | |
| 70 | } | ||
| 71 | /// TimeGps and GpsWeek are valid. | ||
| 72 | 29074 | [[nodiscard]] constexpr uint8_t dateOk() const | |
| 73 | { | ||
| 74 | 29074 | return ((_status & (1U << 1U)) >> 1U); // NOLINT | |
| 75 | } | ||
| 76 | /// UTC time is valid. | ||
| 77 | 690 | [[nodiscard]] constexpr uint8_t utcTimeValid() const | |
| 78 | { | ||
| 79 | 690 | return ((_status & (1U << 2U)) >> 2U); // NOLINT | |
| 80 | } | ||
| 81 | |||
| 82 | private: | ||
| 83 | /// The storage field | ||
| 84 | uint8_t _status; | ||
| 85 | }; | ||
| 86 | |||
| 87 | /// @brief Storage class for UTC Time | ||
| 88 | struct UTC | ||
| 89 | { | ||
| 90 | int8_t year{}; ///< The year is given as a signed byte year offset from the year 2000. For example the year 2013 would be given as year 13. | ||
| 91 | uint8_t month{}; ///< Months | ||
| 92 | uint8_t day{}; ///< Days | ||
| 93 | uint8_t hour{}; ///< Hours | ||
| 94 | uint8_t min{}; ///< Minutes | ||
| 95 | uint8_t sec{}; ///< Seconds | ||
| 96 | uint16_t ms{}; ///< Milliseconds | ||
| 97 | }; | ||
| 98 | |||
| 99 | /// @brief GNSS fix. | ||
| 100 | enum GnssFix : uint8_t | ||
| 101 | { | ||
| 102 | GnssFix_NoFix, ///< No fix | ||
| 103 | GnssFix_TimeOnly, ///< Time only | ||
| 104 | GnssFix_2D, ///< 2D | ||
| 105 | GnssFix_3D, ///< 3D | ||
| 106 | GnssFix_SBAS, ///< SBAS | ||
| 107 | GnssFix_RTK_Float, ///< RTK Float (only GNSS1) | ||
| 108 | GnssFix_RTK_Fixed ///< RTK Fixed (only GNSS1) | ||
| 109 | }; | ||
| 110 | |||
| 111 | /// @brief Flags for valid GPS TOW, week number and UTC and current leap seconds. | ||
| 112 | struct TimeInfo | ||
| 113 | { | ||
| 114 | /// Fields: timeOk | dateOk | utcTimeValid | resv | resv | resv | resv | resv | ||
| 115 | /// Bit Offset: 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | ||
| 116 | /// | ||
| 117 | /// Name | Description | ||
| 118 | /// ------------ | ---------------------------------- | ||
| 119 | /// timeOk | 1 – GpsTow is valid. | ||
| 120 | /// dateOk | 1 – TimeGps and GpsWeek are valid. | ||
| 121 | /// utcTimeValid | 1 – UTC time is valid. | ||
| 122 | /// resv | Reserved for future use. | ||
| 123 | TimeStatus status{}; | ||
| 124 | /// @brief Amount of leap seconds | ||
| 125 | int8_t leapSeconds{}; | ||
| 126 | }; | ||
| 127 | |||
| 128 | /// @brief Dilution of precision | ||
| 129 | struct DOP | ||
| 130 | { | ||
| 131 | float gDop{}; ///< Geometric DOP | ||
| 132 | float pDop{}; ///< Positional DOP (Overall 3D position precision) | ||
| 133 | float tDop{}; ///< Time DOP (time precision) | ||
| 134 | float vDop{}; ///< Vertical DOP (vertical position precision) | ||
| 135 | float hDop{}; ///< Horizontal DOP (2D position precision) | ||
| 136 | float nDop{}; ///< North DOP | ||
| 137 | float eDop{}; ///< East DOP | ||
| 138 | }; | ||
| 139 | |||
| 140 | /// @brief Satellite Constellation | ||
| 141 | enum class SatSys : uint8_t | ||
| 142 | { | ||
| 143 | GPS = 0, ///< GPS | ||
| 144 | SBAS = 1, ///< SBAS | ||
| 145 | Galileo = 2, ///< Galileo | ||
| 146 | BeiDou = 3, ///< BeiDou | ||
| 147 | IMES = 4, ///< IMES | ||
| 148 | QZSS = 5, ///< QZSS | ||
| 149 | GLONASS = 6, ///< GLONASS | ||
| 150 | }; | ||
| 151 | |||
| 152 | /// @brief Stream insertion operator overload | ||
| 153 | /// @param[in, out] os Output stream where data gets printed to | ||
| 154 | /// @param[in] satSys Satellite Constellation | ||
| 155 | /// @return Output stream object | ||
| 156 | std::ostream& operator<<(std::ostream& os, const SatSys& satSys); | ||
| 157 | |||
| 158 | /// @brief Information and measurements pertaining to each GNSS satellite in view. | ||
| 159 | /// | ||
| 160 | /// The size of this packet will vary depending upon the number of satellites in view. To parse this packet you | ||
| 161 | /// will first need to read the number of satellites (numSats) in the beginning of the packet to determine the | ||
| 162 | /// packets overall length. The total length of the packet payload will be 2 + N*8 bytes where N is the number of | ||
| 163 | /// satellites (numSats). | ||
| 164 | struct SatInfo | ||
| 165 | { | ||
| 166 | /// @brief Information for a certain satellite | ||
| 167 | struct SatInfoElement | ||
| 168 | { | ||
| 169 | /// @brief Tracking info flags | ||
| 170 | enum class Flags : uint8_t | ||
| 171 | { | ||
| 172 | None = 0, ///< No flag set | ||
| 173 | Healthy = 1 << 0, ///< Healthy | ||
| 174 | Almanac = 1 << 1, ///< Almanac | ||
| 175 | Ephemeris = 1 << 2, ///< Ephemeris | ||
| 176 | DifferentialCorrection = 1 << 3, ///< Differential Correction | ||
| 177 | UsedForNavigation = 1 << 4, ///< Used for Navigation | ||
| 178 | AzimuthElevationValid = 1 << 5, ///< Azimuth / Elevation Valid | ||
| 179 | UsedForRTK = 1 << 6, ///< Used for RTK | ||
| 180 | }; | ||
| 181 | |||
| 182 | /// @brief Binary or-operator | ||
| 183 | /// @param[in] lhs Left-hand side | ||
| 184 | /// @param[in] rhs Right-hand side | ||
| 185 | /// @return Binary or-ed result | ||
| 186 | 2090130 | friend Flags operator|(Flags lhs, Flags rhs) | |
| 187 | { | ||
| 188 | 2090130 | return Flags(int(lhs) | int(rhs)); | |
| 189 | } | ||
| 190 | |||
| 191 | /// @brief Quality Indicator | ||
| 192 | enum class QualityIndicator : uint8_t | ||
| 193 | { | ||
| 194 | NoSignal = 0, ///< No signal | ||
| 195 | SearchingSignal = 1, ///< Searching signal | ||
| 196 | SignalAcquired = 2, ///< Signal acquired | ||
| 197 | SignalDetectedButUnstable = 3, ///< Signal detected but unstable | ||
| 198 | CodeLockedAndTimeSynchronized = 4, ///< Code locked and time synchronized | ||
| 199 | CodeAndCarrierLockedAndTimeSynchronized1 = 5, ///< Code and carrier locked and time synchronized | ||
| 200 | CodeAndCarrierLockedAndTimeSynchronized2 = 6, ///< Code and carrier locked and time synchronized | ||
| 201 | CodeAndCarrierLockedAndTimeSynchronized3 = 7, ///< Code and carrier locked and time synchronized | ||
| 202 | }; | ||
| 203 | |||
| 204 | /// @brief Default Constructor | ||
| 205 | 2267 | SatInfoElement() = default; | |
| 206 | |||
| 207 | /// @brief Constructor | ||
| 208 | /// @param[in] sys GNSS constellation indicator | ||
| 209 | /// @param[in] svId Space vehicle Id | ||
| 210 | /// @param[in] flags Tracking info flags | ||
| 211 | /// @param[in] cno Carrier-to-noise density ratio (signal strength) [dB-Hz] | ||
| 212 | /// @param[in] qi Quality Indicator | ||
| 213 | /// @param[in] el Elevation in degrees | ||
| 214 | /// @param[in] az Azimuth angle in degrees | ||
| 215 | 69531 | SatInfoElement(uint8_t sys, uint8_t svId, uint8_t flags, uint8_t cno, uint8_t qi, int8_t el, int16_t az) | |
| 216 | 69531 | : sys(static_cast<SatSys>(sys)), svId(svId), flags(static_cast<Flags>(flags)), cno(cno), qi(static_cast<QualityIndicator>(qi)), el(el), az(az) {} | |
| 217 | |||
| 218 | /// @brief Constructor | ||
| 219 | /// @param[in] sys GNSS constellation indicator | ||
| 220 | /// @param[in] svId Space vehicle Id | ||
| 221 | /// @param[in] healthy Healthy | ||
| 222 | /// @param[in] almanac Almanac | ||
| 223 | /// @param[in] ephemeris Ephemeris | ||
| 224 | /// @param[in] differentialCorrection Differential Correction | ||
| 225 | /// @param[in] usedForNavigation Used for Navigation | ||
| 226 | /// @param[in] azimuthElevationValid Azimuth / Elevation Valid | ||
| 227 | /// @param[in] usedForRTK Used for RTK | ||
| 228 | /// @param[in] cno Carrier-to-noise density ratio (signal strength) [dB-Hz] | ||
| 229 | /// @param[in] qi Quality Indicator | ||
| 230 | /// @param[in] el Elevation in degrees | ||
| 231 | /// @param[in] az Azimuth angle in degrees | ||
| 232 | 348355 | SatInfoElement(uint8_t sys, uint8_t svId, | |
| 233 | uint8_t healthy, uint8_t almanac, uint8_t ephemeris, uint8_t differentialCorrection, uint8_t usedForNavigation, uint8_t azimuthElevationValid, uint8_t usedForRTK, | ||
| 234 | uint8_t cno, uint8_t qi, int8_t el, int16_t az) | ||
| 235 |
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348355 | : sys(static_cast<SatSys>(sys)), svId(svId), flags((healthy ? Flags::Healthy : Flags::None) | (almanac ? Flags::Almanac : Flags::None) | (ephemeris ? Flags::Ephemeris : Flags::None) | (differentialCorrection ? Flags::DifferentialCorrection : Flags::None) | (usedForNavigation ? Flags::UsedForNavigation : Flags::None) | (azimuthElevationValid ? Flags::AzimuthElevationValid : Flags::None) | (usedForRTK ? Flags::UsedForRTK : Flags::None)), cno(cno), qi(static_cast<QualityIndicator>(qi)), el(el), az(az) {} |
| 236 | |||
| 237 | SatSys sys{}; ///< GNSS constellation indicator | ||
| 238 | uint8_t svId{}; ///< Space vehicle Id | ||
| 239 | Flags flags{}; ///< Tracking info flags | ||
| 240 | uint8_t cno{}; ///< Carrier-to-noise density ratio (signal strength) [dB-Hz] | ||
| 241 | QualityIndicator qi{}; ///< Quality Indicator | ||
| 242 | int8_t el{}; ///< Elevation in degrees | ||
| 243 | int16_t az{}; ///< Azimuth angle in degrees | ||
| 244 | }; | ||
| 245 | |||
| 246 | /// @brief Number of measurements to follow. | ||
| 247 | uint8_t numSats{}; | ||
| 248 | /// @brief SatInfo container | ||
| 249 | std::vector<SatInfoElement> satellites; | ||
| 250 | }; | ||
| 251 | |||
| 252 | /// @brief Allows combining flags of the SatInfo::SatInfoElement::Flags enum. | ||
| 253 | /// | ||
| 254 | /// @param[in] lhs Left-hand side enum value. | ||
| 255 | /// @param[in] rhs Right-hand side enum value. | ||
| 256 | /// @return The binary ANDed value. | ||
| 257 | ✗ | constexpr SatInfo::SatInfoElement::Flags operator&(SatInfo::SatInfoElement::Flags lhs, SatInfo::SatInfoElement::Flags rhs) | |
| 258 | { | ||
| 259 | ✗ | return SatInfo::SatInfoElement::Flags(int(lhs) & int(rhs)); | |
| 260 | } | ||
| 261 | |||
| 262 | /// @brief Raw measurements pertaining to each GNSS satellite in view. | ||
| 263 | struct RawMeas | ||
| 264 | { | ||
| 265 | /// @brief Raw measurements for a certain satellite | ||
| 266 | struct SatRawElement | ||
| 267 | { | ||
| 268 | /// @brief Tracking info flags | ||
| 269 | enum class Flags : uint16_t | ||
| 270 | { | ||
| 271 | None = 0, ///< No flag set | ||
| 272 | Searching = 1 << 0, ///< Searching | ||
| 273 | Tracking = 1 << 1, ///< Tracking | ||
| 274 | TimeValid = 1 << 2, ///< Time Valid | ||
| 275 | CodeLock = 1 << 3, ///< Code Lock | ||
| 276 | PhaseLock = 1 << 4, ///< Phase Lock | ||
| 277 | PhaseHalfAmbiguity = 1 << 5, ///< Phase Half Ambiguity | ||
| 278 | PhaseHalfSub = 1 << 6, ///< Phase Half Sub | ||
| 279 | PhaseSlip = 1 << 7, ///< Phase Slip | ||
| 280 | PseudorangeSmoothed = 1 << 8, ///< Pseudorange Smoothed | ||
| 281 | }; | ||
| 282 | |||
| 283 | /// @brief Binary or-operator | ||
| 284 | /// @param[in] lhs Left-hand side | ||
| 285 | /// @param[in] rhs Right-hand side | ||
| 286 | /// @return Binary or-ed result | ||
| 287 | 2578096 | friend Flags operator|(Flags lhs, Flags rhs) | |
| 288 | { | ||
| 289 | 2578096 | return Flags(int(lhs) | int(rhs)); | |
| 290 | } | ||
| 291 | |||
| 292 | /// @brief Channel Indicator | ||
| 293 | enum class Chan : uint8_t | ||
| 294 | { | ||
| 295 | P_Code = 0, ///< P-code (GPS,GLO) | ||
| 296 | CA_Code = 1, ///< C/A-code (GPS,GLO,SBAS,QZSS), C chan (GAL) | ||
| 297 | SemiCodeless = 2, ///< semi-codeless (GPS) | ||
| 298 | Y_Code = 3, ///< Y-code (GPS) | ||
| 299 | M_Code = 4, ///< M-code (GPS) | ||
| 300 | Codeless = 5, ///< codeless (GPS) | ||
| 301 | A_Chan = 6, ///< A chan (GAL) | ||
| 302 | B_Chan = 7, ///< B chan (GAL) | ||
| 303 | I_Chan = 8, ///< I chan (GPS,GAL,QZSS,BDS) | ||
| 304 | Q_Chan = 9, ///< Q chan (GPS,GAL,QZSS,BDS) | ||
| 305 | M_Chan = 10, ///< M chan (L2CGPS, L2CQZSS), D chan (GPS,QZSS) | ||
| 306 | L_Chan = 11, ///< L chan (L2CGPS, L2CQZSS), P chan (GPS,QZSS) | ||
| 307 | BC_Chan = 12, ///< B+C chan (GAL), I+Q chan (GPS,GAL,QZSS,BDS), M+L chan (GPS,QZSS), D+P chan (GPS,QZSS) | ||
| 308 | Z_Tracking = 13, ///< based on Z-tracking (GPS) | ||
| 309 | ABC = 14, ///< A+B+C (GAL) | ||
| 310 | }; | ||
| 311 | |||
| 312 | /// @brief Stream insertion operator overload | ||
| 313 | /// @param[in, out] os Output stream where data gets printed to | ||
| 314 | /// @param[in] chan Channel indicator | ||
| 315 | /// @return Output stream object | ||
| 316 | ✗ | friend std::ostream& operator<<(std::ostream& os, const Chan& chan) | |
| 317 | { | ||
| 318 | ✗ | switch (chan) | |
| 319 | { | ||
| 320 | ✗ | case Chan::P_Code: | |
| 321 | ✗ | os << "P-Code"; | |
| 322 | ✗ | break; | |
| 323 | ✗ | case Chan::CA_Code: | |
| 324 | ✗ | os << "C/A-Code or C-Chan"; | |
| 325 | ✗ | break; | |
| 326 | ✗ | case Chan::SemiCodeless: | |
| 327 | ✗ | os << "Semi-codeless"; | |
| 328 | ✗ | break; | |
| 329 | ✗ | case Chan::Y_Code: | |
| 330 | ✗ | os << "Y-Code"; | |
| 331 | ✗ | break; | |
| 332 | ✗ | case Chan::M_Code: | |
| 333 | ✗ | os << "M-Code"; | |
| 334 | ✗ | break; | |
| 335 | ✗ | case Chan::Codeless: | |
| 336 | ✗ | os << "Codeless"; | |
| 337 | ✗ | break; | |
| 338 | ✗ | case Chan::A_Chan: | |
| 339 | ✗ | os << "A Chan"; | |
| 340 | ✗ | break; | |
| 341 | ✗ | case Chan::B_Chan: | |
| 342 | ✗ | os << "B Chan"; | |
| 343 | ✗ | break; | |
| 344 | ✗ | case Chan::I_Chan: | |
| 345 | ✗ | os << "I Chan"; | |
| 346 | ✗ | break; | |
| 347 | ✗ | case Chan::Q_Chan: | |
| 348 | ✗ | os << "Q Chan"; | |
| 349 | ✗ | break; | |
| 350 | ✗ | case Chan::M_Chan: | |
| 351 | ✗ | os << "M Chan or D Chan"; | |
| 352 | ✗ | break; | |
| 353 | ✗ | case Chan::L_Chan: | |
| 354 | ✗ | os << "L Chan or P Chan"; | |
| 355 | ✗ | break; | |
| 356 | ✗ | case Chan::BC_Chan: | |
| 357 | ✗ | os << "B+C Chan, I+Q Chan, M+L Chan or D+P Chan"; | |
| 358 | ✗ | break; | |
| 359 | ✗ | case Chan::Z_Tracking: | |
| 360 | ✗ | os << "based on Z-tracking"; | |
| 361 | ✗ | break; | |
| 362 | ✗ | case Chan::ABC: | |
| 363 | ✗ | os << "A+B+C"; | |
| 364 | ✗ | break; | |
| 365 | } | ||
| 366 | ✗ | return os; | |
| 367 | } | ||
| 368 | |||
| 369 | /// @brief Frequency indicator | ||
| 370 | enum class Freq : uint8_t | ||
| 371 | { | ||
| 372 | RxChannel = 0, ///< Rx Channel | ||
| 373 | L1 = 1, ///< L1(GPS,QZSS,SBAS), G1(GLO), E2-L1-E1(GAL), B1(BDS) | ||
| 374 | L2 = 2, ///< L2(GPS,QZSS), G2(GLO) | ||
| 375 | L5 = 3, ///< L5(GPS,QZSS,SBAS), E5a(GAL) | ||
| 376 | E6 = 4, ///< E6(GAL), LEX(QZSS), B3(BDS) | ||
| 377 | E5b = 5, ///< E5b(GAL), B2(BDS) | ||
| 378 | E5a = 6, ///< E5a+b(GAL) | ||
| 379 | }; | ||
| 380 | |||
| 381 | /// @brief Stream insertion operator overload | ||
| 382 | /// @param[in, out] os Output stream where data gets printed to | ||
| 383 | /// @param[in] freq Frequency indicator | ||
| 384 | /// @return Output stream object | ||
| 385 | ✗ | friend std::ostream& operator<<(std::ostream& os, const Freq& freq) | |
| 386 | { | ||
| 387 | ✗ | switch (freq) | |
| 388 | { | ||
| 389 | ✗ | case Freq::RxChannel: | |
| 390 | ✗ | os << "Rx Channel"; | |
| 391 | ✗ | break; | |
| 392 | ✗ | case Freq::L1: | |
| 393 | ✗ | os << "L1, G1, E2-L1-E1 or B1"; | |
| 394 | ✗ | break; | |
| 395 | ✗ | case Freq::L2: | |
| 396 | ✗ | os << "L2 or G2"; | |
| 397 | ✗ | break; | |
| 398 | ✗ | case Freq::L5: | |
| 399 | ✗ | os << "L5 or E5a"; | |
| 400 | ✗ | break; | |
| 401 | ✗ | case Freq::E6: | |
| 402 | ✗ | os << "E6, LEX or B3"; | |
| 403 | ✗ | break; | |
| 404 | ✗ | case Freq::E5b: | |
| 405 | ✗ | os << "E5b or B2"; | |
| 406 | ✗ | break; | |
| 407 | ✗ | case Freq::E5a: | |
| 408 | ✗ | os << "E5a+b"; | |
| 409 | ✗ | break; | |
| 410 | } | ||
| 411 | ✗ | return os; | |
| 412 | } | ||
| 413 | |||
| 414 | /// @brief Default Constructor | ||
| 415 | 1198 | SatRawElement() = default; | |
| 416 | |||
| 417 | /// @brief Constructor | ||
| 418 | /// @param[in] sys GNSS constellation indicator | ||
| 419 | /// @param[in] svId Space vehicle Id | ||
| 420 | /// @param[in] freq Frequency indicator | ||
| 421 | /// @param[in] chan Channel Indicator | ||
| 422 | /// @param[in] slot Slot Id | ||
| 423 | /// @param[in] cno Carrier-to-noise density ratio (signal strength) [dB-Hz] | ||
| 424 | /// @param[in] flags Tracking info flags | ||
| 425 | /// @param[in] pr Pseudorange measurement in meters | ||
| 426 | /// @param[in] cp Carrier phase measurement in cycles | ||
| 427 | /// @param[in] dp Doppler measurement in Hz. Positive sign for approaching satellites | ||
| 428 | 110718 | SatRawElement(uint8_t sys, uint8_t svId, uint8_t freq, uint8_t chan, int8_t slot, uint8_t cno, uint16_t flags, double pr, double cp, float dp) | |
| 429 | 110718 | : sys(static_cast<SatSys>(sys)), svId(svId), freq(static_cast<Freq>(freq)), chan(static_cast<Chan>(chan)), slot(slot), cno(cno), flags(static_cast<Flags>(flags)), pr(pr), cp(cp), dp(dp) {} | |
| 430 | |||
| 431 | /// @brief Constructor | ||
| 432 | /// @param[in] sys GNSS constellation indicator | ||
| 433 | /// @param[in] svId Space vehicle Id | ||
| 434 | /// @param[in] freq Frequency indicator | ||
| 435 | /// @param[in] chan Channel Indicator | ||
| 436 | /// @param[in] slot Slot Id | ||
| 437 | /// @param[in] cno Carrier-to-noise density ratio (signal strength) [dB-Hz] | ||
| 438 | /// @param[in] searching Searching | ||
| 439 | /// @param[in] tracking Tracking | ||
| 440 | /// @param[in] timeValid Time Valid | ||
| 441 | /// @param[in] codeLock Code Lock | ||
| 442 | /// @param[in] phaseLock Phase Lock | ||
| 443 | /// @param[in] phaseHalfAmbiguity Phase Half Ambiguity | ||
| 444 | /// @param[in] phaseHalfSub Phase Half Sub | ||
| 445 | /// @param[in] phaseSlip Phase Slip | ||
| 446 | /// @param[in] pseudorangeSmoothed Pseudorange Smoothed | ||
| 447 | /// @param[in] pr Pseudorange measurement in meters | ||
| 448 | /// @param[in] cp Carrier phase measurement in cycles | ||
| 449 | /// @param[in] dp Doppler measurement in Hz. Positive sign for approaching satellites | ||
| 450 | 322262 | SatRawElement(uint8_t sys, uint8_t svId, uint8_t freq, uint8_t chan, int8_t slot, uint8_t cno, | |
| 451 | uint8_t searching, uint8_t tracking, uint8_t timeValid, uint8_t codeLock, uint8_t phaseLock, uint8_t phaseHalfAmbiguity, uint8_t phaseHalfSub, uint8_t phaseSlip, uint8_t pseudorangeSmoothed, | ||
| 452 | double pr, double cp, double dp) | ||
| 453 |
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322262 | : sys(static_cast<SatSys>(sys)), svId(svId), freq(static_cast<Freq>(freq)), chan(static_cast<Chan>(chan)), slot(slot), cno(cno), flags((searching ? Flags::Searching : Flags::None) | (tracking ? Flags::Tracking : Flags::None) | (timeValid ? Flags::TimeValid : Flags::None) | (codeLock ? Flags::CodeLock : Flags::None) | (phaseLock ? Flags::PhaseLock : Flags::None) | (phaseHalfAmbiguity ? Flags::PhaseHalfAmbiguity : Flags::None) | (phaseHalfSub ? Flags::PhaseHalfSub : Flags::None) | (phaseSlip ? Flags::PhaseSlip : Flags::None) | (pseudorangeSmoothed ? Flags::PseudorangeSmoothed : Flags::None)), pr(pr), cp(cp), dp(static_cast<float>(dp)) {} |
| 454 | |||
| 455 | SatSys sys{}; ///< GNSS constellation indicator | ||
| 456 | uint8_t svId{}; ///< Space vehicle Id | ||
| 457 | Freq freq{}; ///< Frequency indicator | ||
| 458 | Chan chan{}; ///< Channel Indicator | ||
| 459 | int8_t slot{}; ///< Slot Id | ||
| 460 | uint8_t cno{}; ///< Carrier-to-noise density ratio (signal strength) [dB-Hz] | ||
| 461 | Flags flags{}; ///< Tracking info flags | ||
| 462 | double pr{}; ///< Pseudorange measurement in meters | ||
| 463 | double cp{}; ///< Carrier phase measurement in cycles | ||
| 464 | float dp{}; ///< Doppler measurement in Hz. Positive sign for approaching satellites | ||
| 465 | }; | ||
| 466 | |||
| 467 | /// @brief Time of week in seconds | ||
| 468 | double tow{}; | ||
| 469 | /// @brief GPS week number | ||
| 470 | uint16_t week{}; | ||
| 471 | /// @brief Number of measurements to follow | ||
| 472 | uint8_t numSats{}; | ||
| 473 | /// @brief SatRaw container | ||
| 474 | std::vector<SatRawElement> satellites; | ||
| 475 | }; | ||
| 476 | |||
| 477 | /// @brief Allows combining flags of the RawMeas::SatRawElement::Flags enum. | ||
| 478 | /// | ||
| 479 | /// @param[in] lhs Left-hand side enum value. | ||
| 480 | /// @param[in] rhs Right-hand side enum value. | ||
| 481 | /// @return The binary ANDed value. | ||
| 482 | ✗ | constexpr RawMeas::SatRawElement::Flags operator&(RawMeas::SatRawElement::Flags lhs, RawMeas::SatRawElement::Flags rhs) | |
| 483 | { | ||
| 484 | ✗ | return RawMeas::SatRawElement::Flags(int(lhs) & int(rhs)); | |
| 485 | } | ||
| 486 | |||
| 487 | /// @brief The VPE status bitfield | ||
| 488 | /// | ||
| 489 | /// Bit | Name | Description | ||
| 490 | /// 0+1 | AttitudeQuality | Provides an indication of the quality of the attitude solution. 0 - Excellent, 1 - Good, 2 - Bad, 3 - Not tracking | ||
| 491 | /// 2 | GyroSaturation | At least one gyro axis is currently saturated. | ||
| 492 | /// 3 | GyroSaturationRecovery | Filter is in the process of recovering from a gyro saturation event. | ||
| 493 | /// 4+5 | MagDisturbance | A magnetic DC disturbance has been detected. 0 – No magnetic disturbance. 1 to 3 – Magnetic disturbance is present. | ||
| 494 | /// 6 | MagSaturation | At least one magnetometer axis is currently saturated. | ||
| 495 | /// 7+8 | AccDisturbance | A strong acceleration disturbance has been detected. 0 – No acceleration disturbance. 1 to 3 – Acceleration disturbance has been detected. | ||
| 496 | /// 9 | AccSaturation | At least one accelerometer axis is currently saturated. | ||
| 497 | /// 11 | KnownMagDisturbance | A known magnetic disturbance has been reported by the user and the magnetometer is currently tuned out. | ||
| 498 | /// 12 | KnownAccelDisturbance | A known acceleration disturbance has been reported by the user and the accelerometer is currently tuned out. | ||
| 499 | class VpeStatus | ||
| 500 | { | ||
| 501 | public: | ||
| 502 | /// Constructor | ||
| 503 | /// @param[in] status Status to set | ||
| 504 | explicit VpeStatus(uint16_t status) : _status(status) {} | ||
| 505 | |||
| 506 | /// @brief Assignment operator | ||
| 507 | /// @param[in] status Status to set | ||
| 508 | ✗ | VpeStatus& operator=(const uint16_t& status) | |
| 509 | { | ||
| 510 | ✗ | _status = status; | |
| 511 | ✗ | return *this; | |
| 512 | } | ||
| 513 | |||
| 514 | /// @brief Default constructor | ||
| 515 | VpeStatus() = default; | ||
| 516 | |||
| 517 | /// @brief Returns a reference to the status | ||
| 518 | ✗ | [[nodiscard]] constexpr uint16_t& status() | |
| 519 | { | ||
| 520 | ✗ | return _status; | |
| 521 | } | ||
| 522 | |||
| 523 | /// Extract the attitude quality from the vpe status | ||
| 524 | ✗ | [[nodiscard]] constexpr uint8_t attitudeQuality() const | |
| 525 | { | ||
| 526 | ✗ | return ((_status & (1U << 0U | 1U << 1U)) >> 0U); | |
| 527 | } | ||
| 528 | /// Extract the gyro saturation from the vpe status | ||
| 529 | ✗ | [[nodiscard]] constexpr uint8_t gyroSaturation() const | |
| 530 | { | ||
| 531 | ✗ | return ((_status & (1U << 2U)) >> 2U); // NOLINT | |
| 532 | } | ||
| 533 | /// Extract the gyro saturation recovery from the vpe status | ||
| 534 | ✗ | [[nodiscard]] constexpr uint8_t gyroSaturationRecovery() const | |
| 535 | { | ||
| 536 | ✗ | return ((_status & (1U << 3U)) >> 3U); // NOLINT | |
| 537 | } | ||
| 538 | /// Extract the magnetic disturbance from the vpe status | ||
| 539 | ✗ | [[nodiscard]] constexpr uint8_t magDisturbance() const | |
| 540 | { | ||
| 541 | ✗ | return ((_status & (1U << 4U | 1U << 5U)) >> 4U); // NOLINT | |
| 542 | } | ||
| 543 | /// Extract the magnetic saturation from the vpe status | ||
| 544 | ✗ | [[nodiscard]] constexpr uint8_t magSaturation() const | |
| 545 | { | ||
| 546 | ✗ | return ((_status & (1U << 6U)) >> 6U); // NOLINT | |
| 547 | } | ||
| 548 | /// Extract the acceleration disturbance from the vpe status | ||
| 549 | ✗ | [[nodiscard]] constexpr uint8_t accDisturbance() const | |
| 550 | { | ||
| 551 | ✗ | return ((_status & (1U << 7U | 1U << 8U)) >> 7U); // NOLINT | |
| 552 | } | ||
| 553 | /// Extract the acceleration saturation from the vpe status | ||
| 554 | ✗ | [[nodiscard]] constexpr uint8_t accSaturation() const | |
| 555 | { | ||
| 556 | ✗ | return ((_status & (1U << 9U)) >> 9U); // NOLINT | |
| 557 | } | ||
| 558 | /// Extract the known magnetic disturbance from the vpe status | ||
| 559 | ✗ | [[nodiscard]] constexpr uint8_t knownMagDisturbance() const | |
| 560 | { | ||
| 561 | ✗ | return ((_status & (1U << 11U)) >> 11U); // NOLINT | |
| 562 | } | ||
| 563 | /// Extract the known acceleration disturbance from the vpe status | ||
| 564 | ✗ | [[nodiscard]] constexpr uint8_t knownAccelDisturbance() const | |
| 565 | { | ||
| 566 | ✗ | return ((_status & (1U << 12U)) >> 12U); // NOLINT | |
| 567 | } | ||
| 568 | |||
| 569 | private: | ||
| 570 | /// The storage field | ||
| 571 | uint16_t _status; | ||
| 572 | }; | ||
| 573 | |||
| 574 | /// @brief The INS status bitfield | ||
| 575 | /// | ||
| 576 | /// Bit | Name | Description | ||
| 577 | /// 0+1 | Mode | Indicates the current mode of the INS filter. | ||
| 578 | /// | 0 = Not tracking. GNSS Compass is initializing. Output heading is based on magnetometer measurements. | ||
| 579 | /// | 1 = Aligning. | ||
| 580 | /// | INS Filter is dynamically aligning. | ||
| 581 | /// | For a stationary startup: GNSS Compass has initialized and INS Filter is | ||
| 582 | /// | aligning from the magnetic heading to the GNSS Compass heading. | ||
| 583 | /// | For a dynamic startup: INS Filter has initialized and is dynamically aligning to | ||
| 584 | /// | True North heading. | ||
| 585 | /// | In operation, if the INS Filter drops from INS Mode 2 back down to 1, the | ||
| 586 | /// | attitude uncertainty has increased above 2 degrees. | ||
| 587 | /// | 2 = Tracking. The INS Filter is tracking and operating within specification. | ||
| 588 | /// | 3 = Loss of GNSS. A GNSS outage has lasted more than 45 seconds. The INS Filter will | ||
| 589 | /// | no longer update the position and velocity outputs, but the attitude remains valid. | ||
| 590 | /// 2 | GpsFix | Indicates whether the GNSS has a proper fix. | ||
| 591 | /// 4 | IMU Error | High if IMU communication error is detected. | ||
| 592 | /// 5 | Mag/Pres Error | High if Magnetometer or Pressure sensor error is detected. | ||
| 593 | /// 6 | GNSS Error | High if GNSS communication error is detected, | ||
| 594 | /// 8 | GpsHeadingIns | In stationary operation, if set the INS Filter has fully aligned to the GNSS Compass solution. | ||
| 595 | /// | In dynamic operation, the GNSS Compass solution is currently aiding the INS Filter heading solution. | ||
| 596 | /// 9 | GpsCompass | Indicates if the GNSS compass is operational and reporting a heading solution. | ||
| 597 | class InsStatus | ||
| 598 | { | ||
| 599 | public: | ||
| 600 | /// @brief Indicates the current mode of the INS filter. | ||
| 601 | enum class Mode : uint8_t | ||
| 602 | { | ||
| 603 | /// @brief Not tracking. | ||
| 604 | /// | ||
| 605 | /// GNSS Compass is initializing. Output heading is based on magnetometer measurements. | ||
| 606 | NotTracking = 0, | ||
| 607 | /// @brief INS Filter is dynamically aligning. | ||
| 608 | /// | ||
| 609 | /// For a stationary startup: GNSS Compass has initialized and INS Filter is | ||
| 610 | /// aligning from the magnetic heading to the GNSS Compass heading. | ||
| 611 | /// For a dynamic startup: INS Filter has initialized and is dynamically aligning to | ||
| 612 | /// True North heading. | ||
| 613 | /// In operation, if the INS Filter drops from INS Mode 2 back down to 1, the | ||
| 614 | /// attitude uncertainty has increased above 2 degrees. | ||
| 615 | Aligning = 1, | ||
| 616 | /// @brief Tracking. | ||
| 617 | /// | ||
| 618 | /// The INS Filter is tracking and operating within specification. | ||
| 619 | Tracking = 2, | ||
| 620 | /// @brief Loss of GNSS. | ||
| 621 | /// | ||
| 622 | /// A GNSS outage has lasted more than 45 seconds. The INS Filter will | ||
| 623 | /// no longer update the position and velocity outputs, but the attitude remains valid. | ||
| 624 | LossOfGNSS = 3, | ||
| 625 | }; | ||
| 626 | |||
| 627 | /// Constructor | ||
| 628 | /// @param[in] status Status to set | ||
| 629 | explicit InsStatus(uint16_t status) : _status(status) {} | ||
| 630 | |||
| 631 | /// @brief Assignment operator | ||
| 632 | /// @param[in] status Status to set | ||
| 633 | ✗ | InsStatus& operator=(const uint16_t& status) | |
| 634 | { | ||
| 635 | ✗ | _status = status; | |
| 636 | ✗ | return *this; | |
| 637 | } | ||
| 638 | |||
| 639 | /// @brief Default constructor | ||
| 640 | InsStatus() = default; | ||
| 641 | |||
| 642 | /// @brief Returns a reference to the status | ||
| 643 | 2803 | [[nodiscard]] constexpr uint16_t& status() | |
| 644 | { | ||
| 645 | 2803 | return _status; | |
| 646 | } | ||
| 647 | |||
| 648 | /// Extract the current mode of the INS filter from the ins status | ||
| 649 | 5362 | [[nodiscard]] constexpr Mode mode() const | |
| 650 | { | ||
| 651 | 5362 | return static_cast<Mode>((_status & (1U << 0U | 1U << 1U)) >> 0U); | |
| 652 | } | ||
| 653 | /// Extract the GPS Fix from the ins status | ||
| 654 | 146 | [[nodiscard]] constexpr bool gpsFix() const | |
| 655 | { | ||
| 656 | 146 | return ((_status & (1U << 2U)) >> 2U); // NOLINT | |
| 657 | } | ||
| 658 | /// Extract the IMU Error from the ins status | ||
| 659 | 146 | [[nodiscard]] constexpr bool errorIMU() const | |
| 660 | { | ||
| 661 | 146 | return ((_status & (1U << 4U)) >> 4U); // NOLINT | |
| 662 | } | ||
| 663 | /// Extract the Mag/Pres Error from the ins status | ||
| 664 | 146 | [[nodiscard]] constexpr bool errorMagPres() const | |
| 665 | { | ||
| 666 | 146 | return ((_status & (1U << 5U)) >> 5U); // NOLINT | |
| 667 | } | ||
| 668 | /// Extract the GNSS Error from the ins status | ||
| 669 | 146 | [[nodiscard]] constexpr bool errorGnss() const | |
| 670 | { | ||
| 671 | 146 | return ((_status & (1U << 6U)) >> 6U); // NOLINT | |
| 672 | } | ||
| 673 | /// Extract the GPS Heading INS from the ins status | ||
| 674 | 146 | [[nodiscard]] constexpr bool gpsHeadingIns() const | |
| 675 | { | ||
| 676 | 146 | return ((_status & (1U << 8U)) >> 8U); // NOLINT | |
| 677 | } | ||
| 678 | /// Extract the GPS Compass from the ins status | ||
| 679 | 146 | [[nodiscard]] constexpr bool gpsCompass() const | |
| 680 | { | ||
| 681 | 146 | return ((_status & (1U << 9U)) >> 9U); // NOLINT | |
| 682 | } | ||
| 683 | |||
| 684 | private: | ||
| 685 | /// The storage field | ||
| 686 | uint16_t _status; | ||
| 687 | }; | ||
| 688 | |||
| 689 | } // namespace NAV::vendor::vectornav | ||
| 690 | |||
| 691 | #ifndef DOXYGEN_IGNORE | ||
| 692 | |||
| 693 | template<> | ||
| 694 | struct fmt::formatter<vn::protocol::uart::ErrorDetectionMode> : ostream_formatter | ||
| 695 | {}; | ||
| 696 | template<> | ||
| 697 | struct fmt::formatter<vn::protocol::uart::AsciiAsync> : ostream_formatter | ||
| 698 | {}; | ||
| 699 | template<> | ||
| 700 | struct fmt::formatter<vn::protocol::uart::AsyncMode> : ostream_formatter | ||
| 701 | {}; | ||
| 702 | template<> | ||
| 703 | struct fmt::formatter<vn::protocol::uart::BinaryGroup> : ostream_formatter | ||
| 704 | {}; | ||
| 705 | template<> | ||
| 706 | struct fmt::formatter<vn::protocol::uart::CommonGroup> : ostream_formatter | ||
| 707 | {}; | ||
| 708 | template<> | ||
| 709 | struct fmt::formatter<vn::protocol::uart::TimeGroup> : ostream_formatter | ||
| 710 | {}; | ||
| 711 | template<> | ||
| 712 | struct fmt::formatter<vn::protocol::uart::ImuGroup> : ostream_formatter | ||
| 713 | {}; | ||
| 714 | template<> | ||
| 715 | struct fmt::formatter<vn::protocol::uart::GpsGroup> : ostream_formatter | ||
| 716 | {}; | ||
| 717 | template<> | ||
| 718 | struct fmt::formatter<vn::protocol::uart::AttitudeGroup> : ostream_formatter | ||
| 719 | {}; | ||
| 720 | template<> | ||
| 721 | struct fmt::formatter<vn::protocol::uart::InsGroup> : ostream_formatter | ||
| 722 | {}; | ||
| 723 | template<> | ||
| 724 | struct fmt::formatter<vn::protocol::uart::SensorError> : ostream_formatter | ||
| 725 | {}; | ||
| 726 | template<> | ||
| 727 | struct fmt::formatter<vn::protocol::uart::BootloaderError> : ostream_formatter | ||
| 728 | {}; | ||
| 729 | template<> | ||
| 730 | struct fmt::formatter<vn::protocol::uart::SyncInMode> : ostream_formatter | ||
| 731 | {}; | ||
| 732 | template<> | ||
| 733 | struct fmt::formatter<vn::protocol::uart::SyncInEdge> : ostream_formatter | ||
| 734 | {}; | ||
| 735 | template<> | ||
| 736 | struct fmt::formatter<vn::protocol::uart::SyncOutMode> : ostream_formatter | ||
| 737 | {}; | ||
| 738 | template<> | ||
| 739 | struct fmt::formatter<vn::protocol::uart::SyncOutPolarity> : ostream_formatter | ||
| 740 | {}; | ||
| 741 | template<> | ||
| 742 | struct fmt::formatter<vn::protocol::uart::CountMode> : ostream_formatter | ||
| 743 | {}; | ||
| 744 | template<> | ||
| 745 | struct fmt::formatter<vn::protocol::uart::StatusMode> : ostream_formatter | ||
| 746 | {}; | ||
| 747 | template<> | ||
| 748 | struct fmt::formatter<vn::protocol::uart::ChecksumMode> : ostream_formatter | ||
| 749 | {}; | ||
| 750 | template<> | ||
| 751 | struct fmt::formatter<vn::protocol::uart::ErrorMode> : ostream_formatter | ||
| 752 | {}; | ||
| 753 | template<> | ||
| 754 | struct fmt::formatter<vn::protocol::uart::FilterMode> : ostream_formatter | ||
| 755 | {}; | ||
| 756 | template<> | ||
| 757 | struct fmt::formatter<vn::protocol::uart::IntegrationFrame> : ostream_formatter | ||
| 758 | {}; | ||
| 759 | template<> | ||
| 760 | struct fmt::formatter<vn::protocol::uart::CompensationMode> : ostream_formatter | ||
| 761 | {}; | ||
| 762 | template<> | ||
| 763 | struct fmt::formatter<vn::protocol::uart::AccCompensationMode> : ostream_formatter | ||
| 764 | {}; | ||
| 765 | template<> | ||
| 766 | struct fmt::formatter<vn::protocol::uart::EarthRateCorrection> : ostream_formatter | ||
| 767 | {}; | ||
| 768 | template<> | ||
| 769 | struct fmt::formatter<vn::protocol::uart::GpsFix> : ostream_formatter | ||
| 770 | {}; | ||
| 771 | template<> | ||
| 772 | struct fmt::formatter<vn::protocol::uart::GpsMode> : ostream_formatter | ||
| 773 | {}; | ||
| 774 | template<> | ||
| 775 | struct fmt::formatter<vn::protocol::uart::PpsSource> : ostream_formatter | ||
| 776 | {}; | ||
| 777 | template<> | ||
| 778 | struct fmt::formatter<vn::protocol::uart::GpsRate> : ostream_formatter | ||
| 779 | {}; | ||
| 780 | template<> | ||
| 781 | struct fmt::formatter<vn::protocol::uart::AntPower> : ostream_formatter | ||
| 782 | {}; | ||
| 783 | template<> | ||
| 784 | struct fmt::formatter<vn::protocol::uart::VpeEnable> : ostream_formatter | ||
| 785 | {}; | ||
| 786 | template<> | ||
| 787 | struct fmt::formatter<vn::protocol::uart::HeadingMode> : ostream_formatter | ||
| 788 | {}; | ||
| 789 | template<> | ||
| 790 | struct fmt::formatter<vn::protocol::uart::VpeMode> : ostream_formatter | ||
| 791 | {}; | ||
| 792 | template<> | ||
| 793 | struct fmt::formatter<vn::protocol::uart::Scenario> : ostream_formatter | ||
| 794 | {}; | ||
| 795 | template<> | ||
| 796 | struct fmt::formatter<vn::protocol::uart::HsiMode> : ostream_formatter | ||
| 797 | {}; | ||
| 798 | template<> | ||
| 799 | struct fmt::formatter<vn::protocol::uart::HsiOutput> : ostream_formatter | ||
| 800 | {}; | ||
| 801 | template<> | ||
| 802 | struct fmt::formatter<vn::protocol::uart::VelocityCompensationMode> : ostream_formatter | ||
| 803 | {}; | ||
| 804 | template<> | ||
| 805 | struct fmt::formatter<vn::protocol::uart::MagneticMode> : ostream_formatter | ||
| 806 | {}; | ||
| 807 | template<> | ||
| 808 | struct fmt::formatter<vn::protocol::uart::ExternalSensorMode> : ostream_formatter | ||
| 809 | {}; | ||
| 810 | template<> | ||
| 811 | struct fmt::formatter<vn::protocol::uart::FoamInit> : ostream_formatter | ||
| 812 | {}; | ||
| 813 | template<> | ||
| 814 | struct fmt::formatter<vn::protocol::uart::SensSat> : ostream_formatter | ||
| 815 | {}; | ||
| 816 | template<> | ||
| 817 | struct fmt::formatter<vn::protocol::uart::InsStatus> : ostream_formatter | ||
| 818 | {}; | ||
| 819 | |||
| 820 | template<> | ||
| 821 | struct fmt::formatter<NAV::vendor::vectornav::SatSys> : ostream_formatter | ||
| 822 | {}; | ||
| 823 | template<> | ||
| 824 | struct fmt::formatter<NAV::vendor::vectornav::RawMeas::SatRawElement::Chan> : ostream_formatter | ||
| 825 | {}; | ||
| 826 | template<> | ||
| 827 | struct fmt::formatter<NAV::vendor::vectornav::RawMeas::SatRawElement::Freq> : ostream_formatter | ||
| 828 | {}; | ||
| 829 | |||
| 830 | template<size_t tdim, typename T> | ||
| 831 | struct fmt::formatter<vn::math::vec<tdim, T>> : ostream_formatter | ||
| 832 | {}; | ||
| 833 | |||
| 834 | template<size_t m, size_t n, typename T> | ||
| 835 | struct fmt::formatter<vn::math::mat<m, n, T>> : ostream_formatter | ||
| 836 | {}; | ||
| 837 | |||
| 838 | #endif | ||
| 839 |