Program Listing for File aspn.hpp

↰ Return to documentation for file (src/navtk/aspn.hpp)

#pragma once

#include <vector>

#ifdef NAVTK_PYTHON_TENSOR
#   include <aspn23/xtensor_py/aspn_xtensor.hpp>
#else
#   include <aspn23/xtensor/aspn_xtensor.hpp>
#endif

#include <navtk/tensors.hpp>

typedef std::vector<std::shared_ptr<aspn_xtensor::AspnBase>> AspnBaseVector;

#ifndef NEED_DOXYGEN_EXHALE_WORKAROUND

#   include <spdlog/fmt/bundled/ostream.h>

// Define a custom formatter so fmt (via spdlog) can format ASPN types and enums.

template <>
struct fmt::formatter<aspn_xtensor::TypeTimestamp> {
    constexpr auto parse(format_parse_context& ctx) { return ctx.begin(); }

    template <typename FormatContext>
    constexpr auto format(const aspn_xtensor::TypeTimestamp& input, FormatContext& ctx) const {
        return fmt::format_to(ctx.out(), "{}", fmt::streamed(input));
    }
};


template <>
struct fmt::formatter<Aspn23MeasurementVelocityReferenceFrame> {
    constexpr auto parse(format_parse_context& ctx) { return ctx.begin(); }

    template <typename FormatContext>
    constexpr auto format(const Aspn23MeasurementVelocityReferenceFrame& input,
                          FormatContext& ctx) const {
        switch (input) {
        case ASPN23_MEASUREMENT_VELOCITY_REFERENCE_FRAME_ECI:
            return fmt::format_to(ctx.out(), "ASPN23_MEASUREMENT_VELOCITY_REFERENCE_FRAME_ECI");
        case ASPN23_MEASUREMENT_VELOCITY_REFERENCE_FRAME_ECEF:
            return fmt::format_to(ctx.out(), "ASPN23_MEASUREMENT_VELOCITY_REFERENCE_FRAME_ECEF");
        case ASPN23_MEASUREMENT_VELOCITY_REFERENCE_FRAME_NED:
            return fmt::format_to(ctx.out(), "ASPN23_MEASUREMENT_VELOCITY_REFERENCE_FRAME_NED");
        case ASPN23_MEASUREMENT_VELOCITY_REFERENCE_FRAME_SENSOR:
            return fmt::format_to(ctx.out(), "ASPN23_MEASUREMENT_VELOCITY_REFERENCE_FRAME_SENSOR");
        }
        return fmt::format_to(ctx.out(), "Unknown enum value");
    }
};

template <>
struct fmt::formatter<Aspn23MeasurementAttitude3DReferenceFrame> {
    constexpr auto parse(format_parse_context& ctx) { return ctx.begin(); }

    template <typename FormatContext>
    constexpr auto format(const Aspn23MeasurementAttitude3DReferenceFrame& input,
                          FormatContext& ctx) const {
        switch (input) {
        case ASPN23_MEASUREMENT_ATTITUDE_3D_REFERENCE_FRAME_ECI:
            return fmt::format_to(ctx.out(), "ASPN23_MEASUREMENT_ATTITUDE_3D_REFERENCE_FRAME_ECI");
        case ASPN23_MEASUREMENT_ATTITUDE_3D_REFERENCE_FRAME_ECEF:
            return fmt::format_to(ctx.out(), "ASPN23_MEASUREMENT_ATTITUDE_3D_REFERENCE_FRAME_ECEF");
        case ASPN23_MEASUREMENT_ATTITUDE_3D_REFERENCE_FRAME_NED:
            return fmt::format_to(ctx.out(), "ASPN23_MEASUREMENT_ATTITUDE_3D_REFERENCE_FRAME_NED");
        }
        return fmt::format_to(ctx.out(), "Unknown enum value");
    }
};
template <>
struct fmt::formatter<Aspn23MeasurementPositionVelocityAttitudeReferenceFrame> {
    constexpr auto parse(format_parse_context& ctx) { return ctx.begin(); }

    template <typename FormatContext>
    constexpr auto format(const Aspn23MeasurementPositionVelocityAttitudeReferenceFrame& input,
                          FormatContext& ctx) const {
        switch (input) {
        case ASPN23_MEASUREMENT_POSITION_VELOCITY_ATTITUDE_REFERENCE_FRAME_ECI:
            return fmt::format_to(
                ctx.out(), "ASPN23_MEASUREMENT_POSITION_VELOCITY_ATTITUDE_REFERENCE_FRAME_ECI");
        case ASPN23_MEASUREMENT_POSITION_VELOCITY_ATTITUDE_REFERENCE_FRAME_GEODETIC:
            return fmt::format_to(
                ctx.out(),
                "ASPN23_MEASUREMENT_POSITION_VELOCITY_ATTITUDE_REFERENCE_FRAME_GEODETIC");
        }
        return fmt::format_to(ctx.out(), "Unknown enum value");
    }
};
template <>
struct fmt::formatter<Aspn23MeasurementPositionReferenceFrame> {
    constexpr auto parse(format_parse_context& ctx) { return ctx.begin(); }

    template <typename FormatContext>
    constexpr auto format(const Aspn23MeasurementPositionReferenceFrame& input,
                          FormatContext& ctx) const {
        switch (input) {
        case ASPN23_MEASUREMENT_POSITION_REFERENCE_FRAME_ECI:
            return fmt::format_to(ctx.out(), "ASPN23_MEASUREMENT_POSITION_REFERENCE_FRAME_ECI");
        case ASPN23_MEASUREMENT_POSITION_REFERENCE_FRAME_GEODETIC:
            return fmt::format_to(ctx.out(),
                                  "ASPN23_MEASUREMENT_POSITION_REFERENCE_FRAME_GEODETIC");
        }
        return fmt::format_to(ctx.out(), "Unknown enum value");
    }
};
template <>
struct fmt::formatter<Aspn23TypeSatnavTimeTimeReference> {
    constexpr auto parse(format_parse_context& ctx) { return ctx.begin(); }

    template <typename FormatContext>
    constexpr auto format(const Aspn23TypeSatnavTimeTimeReference& input,
                          FormatContext& ctx) const {
        switch (input) {
        case ASPN23_TYPE_SATNAV_TIME_TIME_REFERENCE_TIME_GPS:
            return fmt::format_to(ctx.out(), "ASPN23_TYPE_SATNAV_TIME_TIME_REFERENCE_TIME_GPS");
        case ASPN23_TYPE_SATNAV_TIME_TIME_REFERENCE_TIME_GALILEO:
            return fmt::format_to(ctx.out(), "ASPN23_TYPE_SATNAV_TIME_TIME_REFERENCE_TIME_GALILEO");
        case ASPN23_TYPE_SATNAV_TIME_TIME_REFERENCE_TIME_BEIDOU:
            return fmt::format_to(ctx.out(), "ASPN23_TYPE_SATNAV_TIME_TIME_REFERENCE_TIME_BEIDOU");
        case ASPN23_TYPE_SATNAV_TIME_TIME_REFERENCE_TIME_GLONASS:
            return fmt::format_to(ctx.out(), "ASPN23_TYPE_SATNAV_TIME_TIME_REFERENCE_TIME_GLONASS");
        }
        return fmt::format_to(ctx.out(), "Unknown enum value");
    }
};
#endif