rtcm3_parser.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <cmath>
#include <iostream>
#include <limits>
#include <map>
#include <memory>
#include <vector>
 
#include "modules/common_msgs/sensor_msgs/gnss_raw_observation.pb.h"
 
#include "cyber/cyber.h"
 
#include "modules/drivers/gnss/parser/parser.h"
#include "modules/drivers/gnss/parser/rtcm_decode.h"
 
namespace apollo {
namespace drivers {
namespace gnss {
 
class Rtcm3Parser : public Parser {
 public:
  explicit Rtcm3Parser(bool is_base_satation);
  virtual MessageType GetMessage(MessagePtr *message_ptr);
 
 private:
  void SetObservationTime();
  bool SetStationPosition();
  void FillKepplerOrbit(const eph_t &eph,
                        apollo::drivers::gnss::KepplerOrbit *keppler_orbit);
  void FillGlonassOrbit(const geph_t &eph,
                        apollo::drivers::gnss::GlonassOrbit *keppler_orbit);
  bool ProcessObservation();
  bool ProcessEphemerides();
  bool ProcessStationParameters();
  bool init_flag_;
 
  std::vector<uint8_t> buffer_;
 
  rtcm_t rtcm_;
  bool is_base_station_ = false;
 
  apollo::drivers::gnss::GnssEphemeris ephemeris_;
  apollo::drivers::gnss::EpochObservation observation_;
 
  struct Point3D {
    double x;
    double y;
    double z;
  };
  std::map<int, Point3D> station_location_;
};
 
}  // namespace gnss
}  // namespace drivers
}  // namespace apollo