Program Listing for File hpg_ref_product.hpp

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#ifndef UBLOX_GPS_HPG_REF_PRODUCT_HPP
#define UBLOX_GPS_HPG_REF_PRODUCT_HPP

#include <memory>
#include <vector>

#include <diagnostic_updater/diagnostic_updater.hpp>
#include <rclcpp/rclcpp.hpp>

#include <ublox_msgs/msg/nav_svin.hpp>

#include <ublox_gps/component_interface.hpp>
#include <ublox_gps/gps.hpp>
#include <ublox_gps/rtcm.hpp>

namespace ublox_node {

class HpgRefProduct: public virtual ComponentInterface {
 public:
  constexpr static uint16_t kDefaultMeasPeriod = 250;

  explicit HpgRefProduct(uint16_t nav_rate, uint16_t meas_rate, std::shared_ptr<diagnostic_updater::Updater> updater, std::vector<ublox_gps::Rtcm> rtcms, rclcpp::Node* node);

  void getRosParams() override;

  bool configureUblox(std::shared_ptr<ublox_gps::Gps> gps) override;

  void initializeRosDiagnostics() override;

  void subscribe(std::shared_ptr<ublox_gps::Gps> gps) override;

  void callbackNavSvIn(const ublox_msgs::msg::NavSVIN& m);

 protected:
  void tmode3Diagnostics(diagnostic_updater::DiagnosticStatusWrapper& stat);

  bool setTimeMode(std::shared_ptr<ublox_gps::Gps> gps);

  ublox_msgs::msg::NavSVIN last_nav_svin_;

  uint8_t tmode3_;

  // TMODE3 = Fixed mode settings

  bool lla_flag_;

  std::vector<double> arp_position_;

  std::vector<int8_t> arp_position_hp_;

  float fixed_pos_acc_;

  // Settings for TMODE3 = Survey-in

  bool svin_reset_;

  uint32_t sv_in_min_dur_;

  float sv_in_acc_lim_;

  enum {
    INIT,
    FIXED,
    DISABLED,
    SURVEY_IN,
    TIME
  } mode_{INIT};

  rclcpp::Publisher<ublox_msgs::msg::NavSVIN>::SharedPtr navsvin_pub_;

  uint16_t nav_rate_;
  uint16_t meas_rate_;
  std::shared_ptr<diagnostic_updater::Updater> updater_;

  std::vector<ublox_gps::Rtcm> rtcms_;
  std::shared_ptr<ublox_gps::Gps> gps_;
  rclcpp::Node* node_;
};

}  // namespace ublox_node

#endif  // UBLOX_GPS_HPG_REF_PRODUCT_HPP