/home/travis/build/lis-epfl/MAVRIC_Library/simulation/gps_sim.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_sim.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief Simulation for GPS
 *
 ******************************************************************************/


#ifndef GPS_SIM_HPP_
#define GPS_SIM_HPP_


#include "drivers/gps.hpp"
#include "simulation/dynamic_model.hpp"

class Gps_sim: public Gps
{
public:
    Gps_sim(Dynamic_model& dynamic_model);


    bool init(void);


    void configure(void);


    bool update(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;

private:
    Dynamic_model&      dynamic_model_;                     

    float               last_update_us_;                    
    float               last_position_update_us_;           
    float               last_velocity_update_us_;           
    global_position_t   global_position_;                   
    float               horizontal_position_accuracy_;      
    float               vertical_position_accuracy_;        
    std::array<float, 3> velocity_lf_;                      
    float               velocity_accuracy_;                 
    float               heading_;                           
    float               heading_accuracy_;                  
    uint8_t             num_sats_;                          
    gps_fix_t           fix_;                               
    bool                healthy_;                           
};


#endif /* GPS_SIM_HPP_ */