Program Listing for File ubx_nav_clock.hpp
↰ Return to documentation for file (/tmp/ws/src/ublox_dgnss/ublox_dgnss_node/include/ublox_dgnss_node/ubx/nav/ubx_nav_clock.hpp
)
// Copyright 2021 Australian Robotics Supplies & Technology
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_CLOCK_HPP_
#define UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_CLOCK_HPP_
#include <unistd.h>
#include <memory>
#include <tuple>
#include <string>
#include "ublox_dgnss_node/ubx/ubx.hpp"
#include "ublox_dgnss_node/ubx/utils.hpp"
namespace ubx::nav::clock
{
class NavClockPayload : UBXPayload
{
public:
static const msg_class_t MSG_CLASS = UBX_NAV;
static const msg_id_t MSG_ID = UBX_NAV_CLOCK;
u4_t iTOW; // ms - GPS Time of week of the navigation epoch.
i4_t clkB; // ns - Clock bias
i4_t clkD; // ns/s - Clock drift
u4_t tAcc; // ns - Time accuracy estimate
u4_t fAcc; // ps/s - Frequency accuracy estimate
public:
NavClockPayload()
: UBXPayload(MSG_CLASS, MSG_ID)
{
}
NavClockPayload(ch_t * payload_polled, u2_t size)
: UBXPayload(MSG_CLASS, MSG_ID)
{
payload_.clear();
payload_.reserve(size);
payload_.resize(size);
memcpy(payload_.data(), payload_polled, size);
iTOW = buf_offset<u4_t>(&payload_, 0);
clkB = buf_offset<i4_t>(&payload_, 4);
clkD = buf_offset<i4_t>(&payload_, 8);
tAcc = buf_offset<i4_t>(&payload_, 12);
fAcc = buf_offset<u4_t>(&payload_, 16);
}
std::tuple<u1_t *, size_t> make_poll_payload()
{
payload_.clear();
return std::make_tuple(payload_.data(), payload_.size());
}
std::string to_string()
{
std::ostringstream oss;
oss << "iTOW: " << iTOW;
oss << " clkB: " << clkB;
oss << " clkD: " << clkD;
oss << " tAcc: " << tAcc;
oss << " fAcc: " << fAcc;
return oss.str();
}
};
} // namespace ubx::nav::clock
#endif // UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_CLOCK_HPP_