Initial commit

srcs/RobotNet10/Shared/RobotNet10.Shared/Sensor/NavSatFix.cs

@@ -0,0 +1,136 @@
+namespace RobotNet10.Shared.Sensor;
+
+/// <summary>
+/// NavSatFix message (sensor_msgs/NavSatFix)
+/// Navigation Satellite fix for any Global Navigation Satellite System
+/// </summary>
+public struct NavSatFix
+{
+    /// <summary>
+    /// Header with timestamp and frame ID
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Navigation Satellite fix status constants
+    /// </summary>
+    public const short StatusNoFix = -1;
+    public const short StatusFix = 0;
+    public const short StatusSbasFix = 1;
+    public const short StatusGbasFix = 2;
+
+    /// <summary>
+    /// Navigation Satellite fix status (Status constants)
+    /// </summary>
+    public short Status { get; set; }
+
+    /// <summary>
+    /// Service constants
+    /// </summary>
+    public const ushort ServiceGps = 1;
+    public const ushort ServiceGlonass = 2;
+    public const ushort ServiceCompass = 4;
+    public const ushort ServiceGalileo = 8;
+
+    /// <summary>
+    /// Service which is being used (Service constants)
+    /// </summary>
+    public ushort Service { get; set; }
+
+    /// <summary>
+    /// Latitude in degrees
+    /// </summary>
+    public double Latitude { get; set; }
+
+    /// <summary>
+    /// Longitude in degrees
+    /// </summary>
+    public double Longitude { get; set; }
+
+    /// <summary>
+    /// Altitude in meters
+    /// </summary>
+    public double Altitude { get; set; }
+
+    /// <summary>
+    /// Position covariance matrix (row-major about x, y, z axes)
+    /// Size: 9 (3x3 matrix)
+    /// </summary>
+    public double[] PositionCovariance { get; set; }
+
+    /// <summary>
+    /// Size of position covariance matrix (3x3 = 9 elements)
+    /// </summary>
+    public const int PositionCovarianceSize = 9;
+
+    /// <summary>
+    /// Position covariance type constants
+    /// </summary>
+    public const byte CovarianceTypeUnknown = 0;
+    public const byte CovarianceTypeApproximated = 1;
+    public const byte CovarianceTypeDiagonalKnown = 2;
+    public const byte CovarianceTypeKnown = 3;
+
+    /// <summary>
+    /// Position covariance type (CovarianceType constants)
+    /// </summary>
+    public byte PositionCovarianceType { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public NavSatFix()
+    {
+        Header = new Header();
+        Status = StatusNoFix;
+        Service = 0;
+        Latitude = 0.0;
+        Longitude = 0.0;
+        Altitude = 0.0;
+        PositionCovariance = new double[PositionCovarianceSize];
+        PositionCovarianceType = CovarianceTypeUnknown;
+    }
+}
+
+/// <summary>
+/// NavSatStatus message (sensor_msgs/NavSatStatus)
+/// Navigation Satellite fix status for any Global Navigation Satellite System
+/// </summary>
+public struct NavSatStatus
+{
+    /// <summary>
+    /// Status constants
+    /// </summary>
+    public const sbyte StatusNoFix = -1;
+    public const sbyte StatusFix = 0;
+    public const sbyte StatusSbasFix = 1;
+    public const sbyte StatusGbasFix = 2;
+
+    /// <summary>
+    /// Status (Status constants)
+    /// </summary>
+    public sbyte Status { get; set; }
+
+    /// <summary>
+    /// Service constants
+    /// </summary>
+    public const ushort ServiceGps = 1;
+    public const ushort ServiceGlonass = 2;
+    public const ushort ServiceCompass = 4;
+    public const ushort ServiceGalileo = 8;
+
+    /// <summary>
+    /// Service which is being used (Service constants)
+    /// </summary>
+    public ushort Service { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public NavSatStatus()
+    {
+        Status = StatusNoFix;
+        Service = 0;
+    }
+}
+