position.h

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#ifndef SENSESP_TYPES_POSITION_H_
#define SENSESP_TYPES_POSITION_H_
 
#include <ArduinoJson.h>
#include <limits>
 
namespace sensesp {
 
constexpr double kInvalidDouble = std::numeric_limits<double>::lowest();
constexpr float kPositionInvalidAltitude = std::numeric_limits<float>::lowest();
 
struct Position {
  double latitude;
  double longitude;
  float altitude = kPositionInvalidAltitude;
 
  Position() : latitude(kInvalidDouble), longitude(kInvalidDouble) {}
  Position(double latitude, double longitude,
           float altitude = kPositionInvalidAltitude)
      : latitude(latitude), longitude(longitude), altitude(altitude) {}
};
 
struct ENUVector {
  float east;
  float north;
  float up = kPositionInvalidAltitude;
 
  ENUVector()
      : east(kPositionInvalidAltitude), north(kPositionInvalidAltitude) {}
  ENUVector(float east, float north, float up = kPositionInvalidAltitude)
      : east(east), north(north), up(up) {}
};
 
struct AttitudeVector {
  // Ordering chosen to match the order of fields in Signal K
  float roll;
  float pitch;
  float yaw;  // heading
 
  AttitudeVector()
      : roll(kPositionInvalidAltitude),
        pitch(kPositionInvalidAltitude),
        yaw(kPositionInvalidAltitude) {}
  AttitudeVector(float roll, float pitch, float yaw)
      : roll(roll), pitch(pitch), yaw(yaw) {}
};
 
void convertFromJson(JsonVariantConst src, Position &dst);
void convertFromJson(JsonVariantConst src, ENUVector &dst);
void convertFromJson(JsonVariantConst src, AttitudeVector &dst);
 
bool canConvertFromJson(JsonVariantConst src, const Position &);
bool canConvertFromJson(JsonVariantConst src, const ENUVector &);
bool canConvertFromJson(JsonVariantConst src, const AttitudeVector &);
 
void convertToJson(const Position &src, JsonVariant dst);
void convertToJson(const ENUVector &src, JsonVariant dst);
void convertToJson(const AttitudeVector &src, JsonVariant dst);
 
}  // namespace sensesp
 
#endif  // SENSESP_TYPES_POSITION_H_