.. _program_listing_file__tmp_ws_src_novatel_gps_driver_novatel_gps_driver_include_novatel_gps_driver_novatel_message_extractor.h:

Program Listing for File novatel_message_extractor.h
====================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_novatel_gps_driver_novatel_gps_driver_include_novatel_gps_driver_novatel_message_extractor.h>` (``/tmp/ws/src/novatel_gps_driver/novatel_gps_driver/include/novatel_gps_driver/novatel_message_extractor.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // *****************************************************************************
   //
   // Copyright (c) 2019, Southwest Research Institute® (SwRI®)
   // All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //     * Redistributions of source code must retain the above copyright
   //       notice, this list of conditions and the following disclaimer.
   //     * 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.
   //     * Neither the name of Southwest Research Institute® (SwRI®) 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 SOUTHWEST RESEARCH INSTITUTE 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.
   //
   // *****************************************************************************
   
   #ifndef NOVTEL_OEM628_NOVATEL_MESSAGE_PARSER_H_
   #define NOVTEL_OEM628_NOVATEL_MESSAGE_PARSER_H_
   
   #include <limits>
   #include <sstream>
   #include <string>
   #include <vector>
   
   #include <gps_msgs/msg/gps_fix.hpp>
   #include <novatel_gps_msgs/msg/gpgga.hpp>
   #include <novatel_gps_msgs/msg/gpgsa.hpp>
   #include <novatel_gps_msgs/msg/gpgsv.hpp>
   #include <novatel_gps_msgs/msg/gprmc.hpp>
   #include <novatel_gps_msgs/msg/novatel_corrected_imu_data.hpp>
   #include <novatel_gps_msgs/msg/novatel_position.hpp>
   #include <novatel_gps_msgs/msg/novatel_message_header.hpp>
   #include <novatel_gps_msgs/msg/novatel_receiver_status.hpp>
   #include <novatel_gps_msgs/msg/novatel_velocity.hpp>
   #include <novatel_gps_msgs/msg/range.hpp>
   #include <novatel_gps_msgs/msg/time.hpp>
   #include <novatel_gps_msgs/msg/trackstat.hpp>
   
   #include <novatel_gps_driver/binary_message.h>
   #include <novatel_gps_driver/nmea_sentence.h>
   #include <novatel_gps_driver/novatel_sentence.h>
   
   #include <rclcpp/logger.hpp>
   
   namespace novatel_gps_driver
   {
     class NovatelMessageExtractor
     {
     public:
       explicit NovatelMessageExtractor(rclcpp::Logger logger);
       bool ExtractCompleteMessages(
           const std::string& input,
           std::vector<NmeaSentence>& nmea_sentences,
           std::vector<NovatelSentence>& novatel_sentences,
           std::vector<BinaryMessage>& binary_messages,
           std::string& remaining,
           bool keep_nmea_container = false);
   
       double GetMostRecentUtcTime(const std::vector<NmeaSentence>& sentences);
   
       void GetGpsFixMessage(
           const novatel_gps_msgs::msg::Gprmc& gprmc,
           const novatel_gps_msgs::msg::Gpgga& gpgga,
           const gps_msgs::msg::GPSFix::UniquePtr& gps_fix);
   
     private:
       // Constants for parsing message structures
       static const std::string CHECKSUM_FLAG;
       static const std::string FIELD_SEPARATOR;
       static const std::string HEADER_SEPARATOR;
       static const std::string NMEA_SENTENCE_FLAG;
       static const std::string NOVATEL_SENTENCE_FLAG;
       static const std::string NOVATEL_ASCII_FLAGS;
       static const std::string NOVATEL_BINARY_SYNC_BYTES;
       static const std::string NOVATEL_ENDLINE;
   
       static constexpr uint32_t NOVATEL_CRC32_POLYNOMIAL = 0xEDB88320L;
   
       rclcpp::Logger logger_;
   
       // From Novatel OEMV® Family Firmware Reference Manual
       uint32_t CalculateBlockCRC32(
           uint32_t ulCount,
           const uint8_t* ucBuffer);
   
       uint32_t CRC32Value(int32_t i);
   
   
       void FindAsciiSentence(const std::string& sentence,
                              size_t current_idx,
                              size_t& start_idx,
                              size_t& end_idx,
                              size_t& invalid_char_idx);
   
       int32_t GetBinaryMessage(const std::string& str,
                                size_t start_idx,
                                BinaryMessage& msg);
   
       bool GetNovatelMessageParts(
           const std::string& sentence,
           std::string& message_id,
           std::vector<std::string>& header,
           std::vector<std::string>& body);
   
       int32_t GetNmeaSentence(
           const std::string& str,
           size_t start_idx,
           std::string& sentence,
           bool keep_container = false);
   
       int32_t GetNovatelSentence(
           const std::string& str,
           size_t start_idx,
           std::string& sentence);
   
       size_t GetSentenceChecksumStart(
           const std::string& str,
           size_t start_idx);
   
       uint8_t NmeaChecksum(const std::string& sentence);
   
       bool VectorizeNovatelSentence(
           const std::string& data,
           NovatelSentence& sentence);
   
       void VectorizeNmeaSentence(
           const std::string& sentence,
           NmeaSentence& vectorized_message);
   
       void VectorizeString(
           const std::string& str,
           std::vector<std::string>& vectorized_message,
           const std::string& delimiters);
     };
   }
   
   #endif  // NOVATEL_GPS_DRIVER_NOVATEL_MESSAGE_PARSER_H_