/home/travis/build/lis-epfl/MAVRIC_Library/drivers/gps_mocap.hpp

/*******************************************************************************
 * Copyright (c) 2009-2016, MAV'RIC Development Team
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 ******************************************************************************/

/*******************************************************************************
 * \file gps_mocap.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief Expose data received from motion capture system as GPS data
 *
 ******************************************************************************/


#ifndef GPS_MOCAP_HPP_
#define GPS_MOCAP_HPP_


#include <array>

#include "drivers/gps.hpp"
#include "communication/mavlink_message_handler.hpp"

#include "util/coord_conventions.hpp"
#include "util/constants.hpp"


class Gps_mocap: public Gps
{
public:
    typedef struct
    {
        global_position_t origin;
        float horizontal_position_accuracy;
        float vertical_position_accuracy;
        float velocity_accuracy;
        float heading_accuracy;
    } conf_t;

    Gps_mocap(Mavlink_message_handler& message_handler, conf_t config = default_config() );


    bool init(void);


    void callback(uint32_t sysid, const mavlink_message_t* msg);


    bool update(void);


    void configure(void);


    float last_update_us(void) const;


    float last_position_update_us(void) const;


    float last_velocity_update_us(void) const;


    global_position_t position_gf(void) const;


    float horizontal_position_accuracy(void) const;


    float vertical_position_accuracy(void) const;


    std::array<float, 3> velocity_lf(void) const;


    float velocity_accuracy(void) const;


    float heading(void) const;


    float heading_accuracy(void) const;


    uint8_t num_sats(void) const;


    gps_fix_t fix(void) const;


    bool healthy(void) const;

    static inline conf_t default_config();

private:
    Mavlink_message_handler& message_handler_;         
    conf_t config_;                                    

    local_position_t local_position_;                  
    std::array<float, 3> velocity_lf_;                 
    float heading_;                                    
    bool is_init_;                                     
    bool is_healthy_;                                  

    float last_update_us_;                             
};


inline Gps_mocap::conf_t Gps_mocap::default_config()
{
    conf_t conf = {};

    // EPFL esplanade
    conf.origin = ORIGIN_EPFL;

    // Accuracy
    conf.horizontal_position_accuracy = 0.001f;
    conf.vertical_position_accuracy   = 0.001f;
    conf.velocity_accuracy            = 0.01f;
    conf.heading_accuracy             = 0.1f;

    return conf;
};


#endif /* GPS_MOCAP_HPP_ */