.. _program_listing_file__tmp_ws_src_ublox_ublox_gps_include_ublox_gps_fix_diagnostic.hpp:

Program Listing for File fix_diagnostic.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ublox_ublox_gps_include_ublox_gps_fix_diagnostic.hpp>` (``/tmp/ws/src/ublox/ublox_gps/include/ublox_gps/fix_diagnostic.hpp``)

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

.. code-block:: cpp

   #ifndef UBLOX_GPS_FIX_DIAGNOSTIC_HPP
   #define UBLOX_GPS_FIX_DIAGNOSTIC_HPP
   
   #include <memory>
   #include <string>
   
   #include <diagnostic_updater/diagnostic_updater.hpp>
   #include <diagnostic_updater/publisher.hpp>
   
   namespace ublox_node {
   
   class FixDiagnostic {
   public:
     explicit FixDiagnostic(const std::string & name, double freq_tol, int freq_window,
                            double stamp_min, uint16_t nav_rate, uint16_t meas_rate,
                            std::shared_ptr<diagnostic_updater::Updater> updater) {
       const double target_freq = 1.0 / (meas_rate * 1e-3 * nav_rate); // Hz
       min_freq = target_freq;
       max_freq = target_freq;
       diagnostic_updater::FrequencyStatusParam freq_param(&min_freq, &max_freq,
                                                           freq_tol, freq_window);
       double stamp_max = meas_rate * 1e-3 * (1 + freq_tol);
       diagnostic_updater::TimeStampStatusParam time_param(stamp_min, stamp_max);
       diagnostic = std::make_shared<diagnostic_updater::TopicDiagnostic>(name,
                                                                          *updater,
                                                                          freq_param,
                                                                          time_param);
     }
   
     // Must not copy this struct (would confuse FrequencyStatusParam pointers)
     FixDiagnostic(FixDiagnostic &&c) = delete;
     FixDiagnostic &operator=(FixDiagnostic &&c) = delete;
     FixDiagnostic(const FixDiagnostic &c) = delete;
     FixDiagnostic &operator=(const FixDiagnostic &c) = delete;
   
     ~FixDiagnostic() = default;
   
     std::shared_ptr<diagnostic_updater::TopicDiagnostic> diagnostic;
   
   private:
     double min_freq;
     double max_freq;
   };
   
   }  // namespace ublox_node
   
   #endif