rt3k/rt3k_udp.H

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// Copyright (C) 2004 Pablo Mejia


#ifndef CAJUN_RT3K_UDP_H
#define CAJUN_RT3K_UDP_H


#include "ncom.H"


#include <ctime>


namespace cajun
{
        class input_buffer_t;

        class rt3k_udp_t
        {
        public:
                rt3k_udp_t ();
                ~rt3k_udp_t ();

                void handle_input (int fd);

                void debug (bool flag) { m_debug = flag; }
                void overwrite_gps_time (bool flag)
                        { m_overwrite_gps_time = flag;}

                class observer_t
                {
                public:
                        virtual ~observer_t () {}

                        virtual void notify_backward_time (double tstamp,
                                                           double delta,
                                                           double packet_tstamp)                                                                         {}
                        virtual void notify_time_mismatch (double tstamp,
                                            double sys_tstamp) {}
                        virtual void notify_full_buffer (double tstamp) {}
                        virtual void notify_garbage_data (double tstamp) {}
                        virtual void notify_nav_status_locked (double tstamp) {}                        virtual void notify_no_differential_corrections (double tstamp, unsigned mode) {}
                        virtual void notify_yaw_rate (double tstamp,
                                                      double x_angular_rate) {}
                        virtual void cog (double tstamp, double cog) {}
                        virtual void sog (double tstamp, double sog) {}
                        virtual void heading (double tstamp, double heading,
                                              double heading_accuracy,
                                              bool attitude_accuracy_valid) {}
                        virtual void motion (double tstamp, double roll,
                                             double pitch, double heading,
                                              double roll_accuracy,
                                              double pitch_accuracy,
                                              double heading_accuracy,
                                              bool attitude_accuracy_valid) {}
                        virtual void position (double tstamp, double lat,
                                               double lon, double z,
                                               double n_position_accuracy,
                                               double e_position_accuracy,
                                               double d_position_accuracy,
                                               bool position_accuracy_valid) {}
                        virtual void acceleration (double tstamp,
                                                    double x_acl, double y_acl,
                                                    double z_acl) {}
                        virtual void angular_rate (double tstamp,
                                                   double x_ang_rate,
                                                   double y_ang_rate,
                                                   double z_ang_rate) {}
                };

                void register_observer (observer_t *observer)
                {
                        m_observer = observer;
                }

        protected:

                input_buffer_t *m_ib;

                observer_t *m_observer;

                bool m_debug;
                bool m_overwrite_gps_time;

                double m_sys_tstamp;
                double m_last_tstamp;

                int m_gps2utc_offset;
                time_t m_gps_time_base;
                time_t m_gps_minute_base;
                double m_n_position_accuracy;      // North position accuracy
                double m_e_position_accuracy;      // East position accuracy
                double m_d_position_accuracy;      // Down position accuray
                unsigned m_age;                    // position valid when < 150
                bool   m_position_accuracy_valid;

                double m_heading_accuracy;
                double m_pitch_accuracy;
                double m_roll_accuracy;
                unsigned m_attitude_age;
                bool   m_attitude_accuracy_valid;

                double utc_tstamp (double gps_minute_offset);

                void decode (ncom::channel_0_t const &channel);
                void decode (ncom::channel_3_t const &channel);
                void decode (ncom::channel_5_t const &channel);
                void decode (ncom::channel_16_t const &channel);
                void decode_packet (ncom::packet_t const &packet);

                void decode (unsigned char const *beg,
                             unsigned char const *end);
        };
};


#endif

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