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#ifndef NOVATEL_GPS_DRIVER_BASE_PARSER_H
#define NOVATEL_GPS_DRIVER_BASE_PARSER_H
#include <novatel_gps_msgs/msg/novatel_message_header.hpp>
#include <novatel_gps_msgs/msg/novatel_extended_solution_status.hpp>
#include <novatel_gps_msgs/msg/novatel_signal_mask.hpp>
#include <cstdint>
namespace novatel_gps_driver
{
const size_t NOVATEL_MESSAGE_HEADER_LENGTH = 10;
const size_t MAX_SOLUTION_STATUS = 22;
const std::string SOLUTION_STATUSES[] = {
"SOL_COMPUTED", "INSUFFICIENT_OBS", "NO_CONVERGENCE", "SINGULARITY", "COV_TRACE",
"TEST_DIST", "COLD_START", "V_H_LIMIT", "VARIANCE", "RESIDUALS",
"RESERVED", "RESERVED", "RESERVED", "INTEGRITY_WARNING", "RESERVED",
"RESERVED", "RESERVED", "RESERVED", "PENDING", "INVALID_FIX",
"UNAUTHORIZED", "RESERVED", "INVALID_RATE"};
const size_t MAX_POSITION_TYPE = 80;
const std::string POSITION_TYPES[] = {
"NONE", "FIXEDPOS", "FIXEDHEIGHT", "RESERVED", "FLOATCONV",
"WIDELANE", "NARROWLANE", "RESERVED", "DOPPLER_VELOCITY", "RESERVED",
"RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
"RESERVED", "SINGLE", "PSRDIFF", "WAAS", "PROPOGATED",
"RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
"RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
"RESERVED", "RESERVED", "L1_FLOAT", "IONOFREE_FLOAT", "NARROW_FLOAT",
"RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
"RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
"RESERVED", "RESERVED", "RESERVED", "L1_INT", "WIDE_INT",
"NARROW_INT", "RTK_DIRECT_INS", "INS_SBAS", "INS_PSRSP", "INS_PSRDIFF",
"INS_RTKFLOAT", "INS_RTKFIXED", "RESERVED", "RESERVED", "RESERVED",
"RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
"RESERVED", "RESERVED", "RESERVED", "PPP_CONVERGING", "PPP",
"OPERATIONAL", "WARNING", "OUT_OF_BOUNDS", "INS_PPP_CONVERGING", "INS_PPP",
"UNKNOWN", "UNKNOWN", "PPP_BASIC_CONVERGING", "PPP_BASIC", "INS_PPP_BASIC",
"INS_PPP_BASIC_CONVERGING"};
const size_t MAX_DATUM = 86;
const std::string DATUMS[] = {
"BLANK",
"ADIND", "ARC50", "ARC60", "AGD66", "AGD84", "BUKIT", "ASTRO", "CHATM", "CARTH", "CAPE",
"DJAKA", "EGYPT", "ED50", "ED79", "GUNSG", "GEO49", "GRB36", "GUAM", "HAWAII", "KAUAI",
"MAUI", "OAHU", "HERAT", "HJORS", "HONGK", "HUTZU", "INDIA", "IRE65", "KERTA", "KANDA",
"LIBER", "LUZON", "MINDA", "MERCH", "NAHR", "NAD83", "CANADA", "ALASKA", "NAD27", "CARIBB",
"MEXICO", "CAMER", "MINNA", "OMAN", "PUERTO", "QORNO", "ROME", "CHUA", "SAM56", "SAM69",
"CAMPO", "SACOR", "YACAR", "TANAN", "TIMBA", "TOKYO", "TRIST", "VITI", "WAK60", "WGS72",
"WGS84", "ZANDE", "USER", "CSRS", "ADIM", "ARSM", "ENW", "HTN", "INDB", "INDI",
"IRL", "LUZA", "LUZB", "NAHC", "NASP", "OGBM", "OHAA", "OHAB", "OHAC", "OHAD",
"OHIA", "OHIB", "OHIC", "OHID", "TIL", "TOYM"};
const std::string PORT_IDENTIFIERS[] = {
"NO_PORTS", "COM1_ALL", "COM2_ALL", "COM3_ALL", "UNUSED", "UNUSED", "THISPORT_ALL", "FILE_ALL", "ALL_PORTS",
"XCOM1_ALL", "XCOM2_ALL", "UNUSED", "UNUSED", "USB1_ALL", "USB2_ALL", "USB3_ALL", "AUX_ALL", "XCOM3_ALL",
"UNUSED", "COM4_ALL", "ETH1_ALL", "IMU_ALL", "UNUSED", "ICOM1_ALL", "ICOM2_ALL", "ICOM3_ALL", "NCOM1_ALL",
"NCOM2_ALL", "NCOM3_ALL", "ICOM4_ALL", "WCOM1_ALL", "UNUSED", "COM1", "COM1_1", "COM1_2", "COM1_3", "COM1_4",
"COM1_5", "COM1_6", "COM1_7", "COM1_8", "COM1_9", "COM1_10", "COM1_11", "COM1_12", "COM1_13", "COM1_14",
"COM1_15", "COM1_16", "COM1_17", "COM1_18", "COM1_19", "COM1_20", "COM1_21", "COM1_22", "COM1_23", "COM1_24",
"COM1_25", "COM1_26", "COM1_27", "COM1_28", "COM1_29", "COM1_30", "COM1_31", "COM2", "COM2_1", "COM2_2", "COM2_3",
"COM2_4", "COM2_5", "COM2_6", "COM2_7", "COM2_8", "COM2_9", "COM2_10", "COM2_11", "COM2_12", "COM2_13", "COM2_14",
"COM2_15", "COM2_16", "COM2_17", "COM2_18", "COM2_19", "COM2_20", "COM2_21", "COM2_22", "COM2_23", "COM2_24",
"COM2_25", "COM2_26", "COM2_27", "COM2_28", "COM2_29", "COM2_30", "COM2_31", "COM3", "COM3_1", "COM3_2", "COM3_3",
"COM3_4", "COM3_5", "COM3_6", "COM3_7", "COM3_8", "COM3_9", "COM3_10", "COM3_11", "COM3_12", "COM3_13", "COM3_14",
"COM3_15", "COM3_16", "COM3_17", "COM3_18", "COM3_19", "COM3_20", "COM3_21", "COM3_22", "COM3_23", "COM3_24",
"COM3_25", "COM3_26", "COM3_27", "COM3_28", "COM3_29", "COM3_30", "COM3_31", "UNUSED", "UNUSED", "UNUSED",
"UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED",
"UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED",
"UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "SPECIAL", "SPECIAL_1", "SPECIAL_2",
"SPECIAL_3", "SPECIAL_4", "SPECIAL_5", "SPECIAL_6", "SPECIAL_7", "SPECIAL_8", "SPECIAL_9", "SPECIAL_10",
"SPECIAL_11", "SPECIAL_12", "SPECIAL_13", "SPECIAL_14", "SPECIAL_15", "SPECIAL_16", "SPECIAL_17", "SPECIAL_18",
"SPECIAL_19", "SPECIAL_20", "SPECIAL_21", "SPECIAL_22", "SPECIAL_23", "SPECIAL_24", "SPECIAL_25", "SPECIAL_26",
"SPECIAL_27", "SPECIAL_28", "SPECIAL_29", "SPECIAL_30", "SPECIAL_31", "THISPORT", "THISPORT_1", "THISPORT_2",
"THISPORT_3", "THISPORT_4", "THISPORT_5", "THISPORT_6", "THISPORT_7", "THISPORT_8", "THISPORT_9", "THISPORT_10",
"THISPORT_11", "THISPORT_12", "THISPORT_13", "THISPORT_14", "THISPORT_15", "THISPORT_16", "THISPORT_17",
"THISPORT_18", "THISPORT_19", "THISPORT_20", "THISPORT_21", "THISPORT_22", "THISPORT_23", "THISPORT_24",
"THISPORT_25", "THISPORT_26", "THISPORT_27", "THISPORT_28", "THISPORT_29", "THISPORT_30", "THISPORT_31", "FILE",
"FILE_1", "FILE_2", "FILE_3", "FILE_4", "FILE_5", "FILE_6", "FILE_7", "FILE_8", "FILE_9", "FILE_10", "FILE_11",
"FILE_12", "FILE_13", "FILE_14", "FILE_15", "FILE_16", "FILE_17", "FILE_18", "FILE_19", "FILE_20", "FILE_21",
"FILE_22", "FILE_23", "FILE_24", "FILE_25", "FILE_26", "FILE_27", "FILE_28", "FILE_29", "FILE_30", "FILE_31"};
double ConvertDmsToDegrees(double dms);
void GetExtendedSolutionStatusMessage(
uint32_t status,
novatel_gps_msgs::msg::NovatelExtendedSolutionStatus& msg);
void GetNovatelReceiverStatusMessage(
uint32_t status,
novatel_gps_msgs::msg::NovatelReceiverStatus& receiver_status_msg);
void GetSignalsUsed(
uint32_t mask,
novatel_gps_msgs::msg::NovatelSignalMask& msg);
double ParseDouble(const uint8_t* buffer);
bool ParseDouble(const std::string& string, double& value);
float ParseFloat(const uint8_t* buffer);
bool ParseFloat(const std::string& string, float& value);
int16_t ParseInt16(const uint8_t* buffer);
bool ParseInt16(const std::string& string, int16_t& value, int32_t base = 10);
int32_t ParseInt32(const uint8_t* buffer);
bool ParseInt32(const std::string& string, int32_t& value, int32_t base = 10);
bool ParseUInt8(const std::string& string, uint8_t& value, int32_t base = 10);
uint16_t ParseUInt16(const uint8_t* buffer);
bool ParseUInt16(const std::string& string, uint16_t& value, int32_t base = 10);
uint32_t ParseUInt32(const uint8_t* buffer);
bool ParseUInt32(const std::string& string, uint32_t& value, int32_t base = 10);
double UtcFloatToSeconds(double utc_float);
}
#endif //NOVATEL_GPS_DRIVER_BASE_PARSER_H