60 lines
974 B
C++
60 lines
974 B
C++
#pragma once
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#include <string>
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#include <stdio.h>
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#include "navmon.hh"
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#include <vector>
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#include "galileo.hh"
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#include <map>
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struct RTCMFrame
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{
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std::string payload;
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};
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class RTCMReader
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{
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public:
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explicit RTCMReader(int fd) : d_fp(fdopen(fd, "r")) {}
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bool get(RTCMFrame& rf);
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private:
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FILE* d_fp;
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};
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struct RTCMMessage
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{
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void parse(const std::string& str);
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int type;
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int sow;
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int udi;
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bool mmi;
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bool reference;
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int ssrIOD, ssrProvider, ssrSolution;
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struct EphemerisDelta
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{
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SatID id;
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// in millimeters
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double radial, along, cross; // mm
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double dradial, dalong, dcross; // mm/s
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int iod;
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int sow;
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int udi;
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};
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struct ClockDelta
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{
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SatID id;
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double dclock0; // in meters
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double dclock1;
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double dclock2;
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int sow;
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int udi;
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int iod{-1};
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};
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std::vector<EphemerisDelta> d_ephs;
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std::vector<ClockDelta> d_clocks;
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std::map<SatID, double> d_dcbs;
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GalileoMessage d_gm;
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int d_sv;
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};
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