Program Listing for File binary_header.h
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// Copyright (c) 2019, Southwest Research Institute® (SwRI®)
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#ifndef NOVATEL_GPS_DRIVER_BINARY_HEADER_H
#define NOVATEL_GPS_DRIVER_BINARY_HEADER_H
#include <cstdint>
#include <novatel_gps_driver/parsers/parsing_utils.h>
namespace novatel_gps_driver
{
struct BinaryHeader
{
BinaryHeader() :
sync0_(0xAA),
sync1_(0x44),
sync2_(0x12),
header_length_(0),
message_id_(0),
message_type_(0),
port_address_(0),
message_length_(0),
sequence_(0),
idle_time_(0),
time_status_(0),
week_(0),
gps_ms_(0),
receiver_status_(0),
reserved_(0),
receiver_sw_version_(0)
{}
uint8_t sync0_;
uint8_t sync1_;
uint8_t sync2_;
uint8_t header_length_;
uint16_t message_id_;
int8_t message_type_;
uint8_t port_address_;
uint16_t message_length_;
uint16_t sequence_;
uint8_t idle_time_;
uint8_t time_status_;
uint16_t week_;
uint32_t gps_ms_;
uint32_t receiver_status_;
uint16_t reserved_;
uint16_t receiver_sw_version_;
void ParseHeader(const uint8_t* data)
{
sync0_ = data[0];
sync1_ = data[1];
sync2_ = data[2];
header_length_ = data[3];
message_id_ = ParseUInt16(&data[4]);
message_type_ = data[6];
port_address_ = data[7];
message_length_ = ParseUInt16(&data[8]);
sequence_ = ParseUInt16(&data[10]);
idle_time_ = data[12];
time_status_ = data[13];
week_ = ParseUInt16(&data[14]);
gps_ms_ = ParseUInt32(&data[16]);
receiver_status_ = ParseUInt32(&data[20]);
receiver_sw_version_ = ParseUInt16(&data[26]);
}
};
}
#endif //NOVATEL_GPS_DRIVER_BINARY_HEADER_H