gnss_info: Refactored out NavLibraryOrbitalDataProvider.

gnss_info/CMakeLists.txt

@@ -44,7 +44,7 @@ if (CXX_FILESYSTEM_TYPE STREQUAL "Boost")
   add_compile_definitions(satellite_metadata PRIVATE -DCXX_FILESYSTEM_IS_BOOST=1)
 endif()
 
-add_library(orbital_data src/ethz_satdb_provider.cpp src/orbital_data_manager.cpp src/tle.c)
+add_library(orbital_data src/ethz_satdb_datasource.cpp src/nav_library_orbital_data_provider.cpp src/orbital_data_manager.cpp src/tle.c)
 add_dependencies(orbital_data ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(orbital_data PUBLIC ${catkin_LIBRARIES} PRIVATE Eigen3::Eigen ${PROJECT_NAME}_common gnsstk jsoncpp_lib std::filesystem)
 

gnss_info/include/gnss_info/cache_index.h

@@ -54,4 +54,4 @@ struct DayIndex
 template<> struct std::hash<gnss_info::DayIndex>
 {
     std::size_t operator()(const gnss_info::DayIndex& k) const noexcept;
-};
+};

gnss_info/include/gnss_info/ethz_satdb_datasource.h

@@ -0,0 +1,45 @@
+// SPDX-License-Identifier: BSD-3-Clause
+// SPDX-FileCopyrightText: Czech Technical University in Prague
+
+#pragma once
+
+#include <memory>
+#include <string>
+#include <unordered_map>
+#include <unordered_set>
+#include <utility>
+
+#include <gnss_info/nav_library_data_source.h>
+#include <gnss_info_msgs/SatelliteInfo.h>
+
+#include <ros/time.h>
+
+namespace gnss_info
+{
+
+struct EthzSatdbDataSourcePrivate;
+
+/**
+ * \brief GNSSTk NavLibrary data source downloading TLE data from ETHZ Satellite Database.
+ */
+class EthzSatdbDataSource : public NavLibraryDataSource
+{
+public:
+    explicit EthzSatdbDataSource(const std::unordered_map<uint32_t, gnss_info_msgs::SatelliteInfo>& satelliteInfo);
+    ~EthzSatdbDataSource() override;
+
+    std::string getName() const override;
+    bool isPrecise() const override;
+    bool isApproximate() const override;
+
+    std::pair<ros::Time, ros::Time> getTimeRange() const override;
+    std::unordered_set<std::string> getConstellations() const override;
+
+    bool load(const ros::Time& time, const DataSourceLoadCb& cb) override;
+    bool load(const ros::Time& startTime, const ros::Time& endTime, const DataSourceLoadCb& cb) override;
+
+private:
+    std::unique_ptr<EthzSatdbDataSourcePrivate> data;  //!< Private implementation data (PIMPL).
+};
+
+}

gnss_info/include/gnss_info/igs_satellite_metadata.h

@@ -7,7 +7,6 @@
 #include <string>
 #include <unordered_map>
 #include <unordered_set>
-#include <utility>
 
 #include <cras_cpp_common/optional.hpp>
 #include <gnss_info_msgs/SatelliteInfo.h>
@@ -73,6 +72,8 @@ class IGSSatelliteMetadata
      *        list will be returned.
      * \param[in] time The reference time (epoch).
      * \param[in] onlyActive If true, only active satellites will be returned.
+     * \param[in] onlyConstellations If set, only satellites from the given constellations will be returned.
+     * \param[in] onlySignals If set, only satellites transmitting the given signals will be returned.
      * \return Mapping Satcat ID => known valid satellite.
      */
     std::unordered_map<uint32_t, gnss_info_msgs::SatelliteInfo> getSatellites(

gnss_info/include/gnss_info/nav_library_data_source.h

@@ -0,0 +1,87 @@
+// SPDX-License-Identifier: BSD-3-Clause
+// SPDX-FileCopyrightText: Czech Technical University in Prague
+
+#pragma once
+
+#include <functional>
+#include <string>
+#include <unordered_set>
+#include <utility>
+
+#include <ros/time.h>
+
+
+namespace gnss_info
+{
+
+/**
+ * \brief Generic interface for various data sources for gnsstk::NavLibrary.
+ */
+class NavLibraryDataSource
+{
+public:
+    /**
+     * \brief Callback to be called when a new source file is introduced.
+     * \param[in] file Path to the source file.
+     * \return Whether reading the source file succeeded.
+     */
+    typedef std::function<bool(const std::string& file)> DataSourceLoadCb;
+
+    /**
+     * \brief Construct the data source.
+     *
+     * Also make sure the data source is registered via gnsstk::MultiFormatNavDataFactory::addFactory() (but only once).
+     */
+    NavLibraryDataSource() = default;
+
+    virtual ~NavLibraryDataSource() = default;
+
+    /**
+     * \brief Get human-readable name of the data source.
+     * \return The name.
+     */
+    virtual std::string getName() const = 0;
+
+    /**
+     * \brief Return whether this datasource works with precise orbit data.
+     * \return Whether this datasource works with precise orbit data.
+     */
+    virtual bool isPrecise() const = 0;
+
+    /**
+     * \brief Return whether this datasource works with approximate orbit data.
+     * \return Whether this datasource works with approximate orbit data.
+     */
+    virtual bool isApproximate() const = 0;
+
+    /**
+     * \brief Get the time range in which this datasource can provide information.
+     * \return The time range (first, latest).
+     */
+    virtual std::pair<ros::Time, ros::Time> getTimeRange() const = 0;
+
+    /**
+     * \brief Get the constellations handled by this data source.
+     * \return The constellations.
+     */
+    virtual std::unordered_set<std::string> getConstellations() const = 0;
+
+    /**
+     * \brief Load data for the given time instant.
+     * \param[in] time The time to load at.
+     * \param[in] cb Callback to call for each found and downloaded data file.
+     * \return Whether loading succeeded.
+     */
+    virtual bool load(const ros::Time& time, const DataSourceLoadCb& cb) = 0;
+
+    /**
+     * \brief Load data for the given time interval.
+     * \param[in] startTime The time to start loading at.
+     * \param[in] endTime The time to stop loading at.
+     * \param[in] cb Callback to call for each found and downloaded data file.
+     * \return Whether loading succeeded.
+     */
+    virtual bool load(const ros::Time& startTime, const ros::Time& endTime, const DataSourceLoadCb& cb) = 0;
+};
+
+}

gnss_info/include/gnss_info/ethz_satdb_provider.h → gnss_info/include/gnss_info/nav_library_orbital_data_provider.h

@@ -10,26 +10,30 @@
 #include <utility>
 
 #include <cras_cpp_common/expected.hpp>
+#include <gnss_info/nav_library_data_source.h>
 #include <gnss_info/orbital_data_provider.h>
-#include <gnss_info_msgs/SatelliteInfo.h>
-#include <gnss_info_msgs/SatellitePosition.h>
-#include <gnss_info_msgs/SatelliteSkyPosition.h>
+#include <ros/ros.h>
 
-#include <ros/time.h>
 
 namespace gnss_info
 {
 
-struct EthzSatdbProviderPrivate;
+struct NavLibraryOrbitalDataProviderPrivate;
 
 /**
- * \brief Generic interface for various providers of GNSS satellite orbital data.
+ * \brief GNSS satellite orbits provider based on gnsstk::NavLibrary with multi-format data source.
  */
-class EthzSatdbProvider : public OrbitalDataProvider
+class NavLibraryOrbitalDataProvider : public OrbitalDataProvider
 {
 public:
-    explicit EthzSatdbProvider(const std::unordered_map<uint32_t, gnss_info_msgs::SatelliteInfo>& satelliteInfo);
-    ~EthzSatdbProvider() override;
+    NavLibraryOrbitalDataProvider();
+    ~NavLibraryOrbitalDataProvider() override;
+
+    /**
+     * \brief Add data source.
+     * \param[in] source The data source to add.
+     */
+    virtual void addDataSource(const std::shared_ptr<NavLibraryDataSource>& source);
 
     std::string getName() const override;
     bool isPrecise() const override;
@@ -38,17 +42,19 @@ class EthzSatdbProvider : public OrbitalDataProvider
     std::pair<ros::Time, ros::Time> getTimeRange() const override;
     std::unordered_set<std::string> getConstellations() const override;
 
-    bool preload(const ros::Time& startTime, const ros::Time& endTime) override;
+    bool load(const ros::Time& time, const cras::optional<bool>& precise) override;
+    bool load(const ros::Time& startTime, const ros::Time& endTime, const cras::optional<bool>& precise) override;
 
     cras::expected<std::unordered_map<uint32_t, gnss_info_msgs::SatellitePosition>, std::string> getECEFPositions(
         const ros::Time& time, const std::unordered_map<uint32_t, gnss_info_msgs::SatelliteInfo>& satellites) override;
 
     cras::expected<std::unordered_map<uint32_t, gnss_info_msgs::SatelliteSkyPosition>, std::string> getSkyView(
-        const ros::Time& time, const geographic_msgs::GeoPoint& receiverPosition, double elevationMaskDeg,
-        const std::unordered_map<uint32_t, gnss_info_msgs::SatellitePosition>& satelliteECEFPositions) override;
+        const geographic_msgs::GeoPoint& position,
+        const std::unordered_map<uint32_t, gnss_info_msgs::SatellitePosition>& positions,
+        double elevationMaskDeg) override;
 
 private:
-    std::unique_ptr<EthzSatdbProviderPrivate> data;  //!< Private implementation data (PIMPL).
+    std::unique_ptr<NavLibraryOrbitalDataProviderPrivate> data;  //!< Private implementation data (PIMPL).
 };
 
 }

gnss_info/include/gnss_info/orbital_data_manager.h

@@ -14,41 +14,107 @@
 #include <gnss_info_msgs/SatellitesList.h>
 #include <gnss_info_msgs/SatellitesPositions.h>
 #include <gnss_info_msgs/SkyView.h>
-
 #include <ros/time.h>
 
 namespace gnss_info
 {
 
 struct OrbitalDataManagerPrivate;
 
+/**
+ * \brief Manager of multiple providers of satellite orbital data.
+ */
 class OrbitalDataManager
 {
 public:
     OrbitalDataManager();
     virtual ~OrbitalDataManager();
 
+    /**
+     * \brief Add the given provider to this manager and make its data available.
+     * \param[in] provider The provider to add.
+     */
     void addProvider(const std::shared_ptr<OrbitalDataProvider>& provider);
 
-    bool preload(const ros::Time& time);
-    bool preload(const ros::Time& time, const cras::optional<bool>& precise);
-    bool preload(const ros::Time& startTime, const ros::Time& endTime);
-    virtual bool preload(const ros::Time& startTime, const ros::Time& endTime, const cras::optional<bool>& precise);
-
+    /**
+     * \brief Load (and possibly download) data for the given time instant.
+     * \param[in] time The time instant to load for.
+     * \return Whether the loading succeeded.
+     */
+    bool load(const ros::Time& time);
+
+    /**
+     * \brief Load (and possibly download) data for the given time instant.
+     * \param[in] time The time instant to load for.
+     * \param[in] precise If set, selects whether precise or approximate data should be loaded.
+     * \return Whether the loading succeeded.
+     */
+    virtual bool load(const ros::Time& time, const cras::optional<bool>& precise);
+
+    /**
+     * \brief Load (and possibly download) data for the given time interval.
+     * \param[in] startTime Earliest time to load.
+     * \param[in] endTime Latest time to load.
+     * \return Whether the loading succeeded.
+     */
+    bool load(const ros::Time& startTime, const ros::Time& endTime);
+
+    /**
+     * \brief Load (and possibly download) data for the given time interval.
+     * \param[in] startTime Earliest time to load.
+     * \param[in] endTime Latest time to load.
+     * \param[in] precise If set, selects whether precise or approximate data should be loaded.
+     * \return Whether the loading succeeded.
+     */
+    virtual bool load(const ros::Time& startTime, const ros::Time& endTime, const cras::optional<bool>& precise);
+
+    /**
+     * \brief Compute ECEF positions of the satellites at the given time.
+     * \param[in] time The time to get positions for.
+     * \param[in] satellites The satellites to get positions for.
+     * \return ECEF positions of the satellites, or an error string.
+     */
     cras::expected<gnss_info_msgs::SatellitesPositions, std::string> getPositions(
         const ros::Time& time, const gnss_info_msgs::SatellitesList& satellites);
 
+    /**
+     * \brief Compute ECEF positions of the satellites at the given time.
+     * \param[in] time The time to get positions for.
+     * \param[in] satellites The satellites to get positions for.
+     * \param[in] precise If set, selects whether precise or approximate positions should be computed.
+     * \return ECEF positions of the satellites, or an error string.
+     */
     virtual cras::expected<gnss_info_msgs::SatellitesPositions, std::string> getPositions(
         const ros::Time& time, const gnss_info_msgs::SatellitesList& satellites, const cras::optional<bool>& precise);
 
+    /**
+     * \brief Compute sky view (azimuths, elevations and distances) of satellites from the given receiver position.
+     * \param[in] position Geographic position of the receiver.
+     * \param[in] positions ECEF positions of the satellites.
+     * \param[in] elevationMaskDeg Minimum elevation of satellites to return (in degrees).
+     * \return Sky view corresponding to the given configuration, or an error string.
+     */
     cras::expected<gnss_info_msgs::SkyView, std::string> getSkyView(
         const geographic_msgs::GeoPoint& position, const gnss_info_msgs::SatellitesPositions& positions,
         double elevationMaskDeg);
 
+    /**
+     * \brief Compute sky view (azimuths, elevations and distances) of satellites from the given receiver position.
+     * \param[in] position Geographic position of the receiver.
+     * \param[in] positions ECEF positions of the satellites.
+     * \param[in] elevationMaskDeg Minimum elevation of satellites to return (in degrees).
+     * \param[in] precise If set, selects whether precise or approximate positions should be computed.
+     * \return Sky view corresponding to the given configuration, or an error string.
+     */
     virtual cras::expected<gnss_info_msgs::SkyView, std::string> getSkyView(
         const geographic_msgs::GeoPoint& position, const gnss_info_msgs::SatellitesPositions& positions,
         double elevationMaskDeg, const cras::optional<bool>& precise);
 
+    /**
+     * \brief Compute Dilution of Precision for the given sky view.
+     * \param[in] skyView The sky view to compute DOP for.
+     * \return The dilution of precision for the given sky view.
+     */
     virtual gnss_info_msgs::DOP computeDOP(
         const std::unordered_map<uint32_t, gnss_info_msgs::SatelliteSkyPosition>& skyView) const;