.. _program_listing_file__tmp_ws_src_ublox_ublox_gps_include_ublox_gps_ublox_firmware.hpp:

Program Listing for File ublox_firmware.hpp
===========================================

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

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

.. code-block:: cpp

   #ifndef UBLOX_GPS_UBLOX_FIRMWARE_HPP
   #define UBLOX_GPS_UBLOX_FIRMWARE_HPP
   
   #include <memory>
   
   #include <diagnostic_updater/diagnostic_updater.hpp>
   #include <rclcpp/rclcpp.hpp>
   
   #include <ublox_gps/component_interface.hpp>
   #include <ublox_gps/gnss.hpp>
   
   // This file declares UbloxFirmware is an abstract class which implements
   // ComponentInterface and functions generic to all firmware (such as the
   // initializing the fix diagnostics).
   
   namespace ublox_node {
   
   class UbloxFirmware : public virtual ComponentInterface {
    public:
     constexpr static uint32_t kNavSvInfoSubscribeRate = 20;
   
     explicit UbloxFirmware(std::shared_ptr<diagnostic_updater::Updater> updater, std::shared_ptr<Gnss> gnss, rclcpp::Node* node);
   
     void initializeRosDiagnostics() override;
   
    protected:
     virtual void fixDiagnostic(
         diagnostic_updater::DiagnosticStatusWrapper& stat) = 0;
   
     std::shared_ptr<diagnostic_updater::Updater> updater_;
     std::shared_ptr<Gnss> gnss_;
     int fix_status_service_{0};
     rclcpp::Node* node_;
   };
   
   }  // namespace ublox_node
   
   #endif  // UBLOX_GPS_UBLOX_FIRMWARE_HPP