Program Listing for File ublox_firmware8.hpp

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#ifndef UBLOX_GPS_UBLOX_FIRMWARE8_HPP
#define UBLOX_GPS_UBLOX_FIRMWARE8_HPP

#include <memory>
#include <string>

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

#include <ublox_msgs/msg/cfg_nmea.hpp>
#include <ublox_msgs/msg/mon_hw.hpp>
#include <ublox_msgs/msg/nav_pvt.hpp>
#include <ublox_msgs/msg/nav_sat.hpp>
#include <ublox_msgs/msg/rxm_rtcm.hpp>

#include <ublox_gps/gps.hpp>
#include <ublox_gps/ublox_firmware7plus.hpp>

namespace ublox_node {

class UbloxFirmware8 : public UbloxFirmware7Plus<ublox_msgs::msg::NavPVT> {
 public:
  explicit UbloxFirmware8(const std::string & frame_id, std::shared_ptr<diagnostic_updater::Updater> updater, std::shared_ptr<FixDiagnostic> freq_diag, std::shared_ptr<Gnss> gnss, rclcpp::Node* node)
    : UbloxFirmware7Plus<ublox_msgs::msg::NavPVT>(frame_id, updater, freq_diag, gnss, node) {
    if (getRosBoolean(node_, "publish.nav.sat")) {
      nav_sat_pub_ = node->create_publisher<ublox_msgs::msg::NavSAT>("navstate", 1);
    }
    if (getRosBoolean(node_, "publish.mon.hw")) {
      mon_hw_pub_ = node->create_publisher<ublox_msgs::msg::MonHW>("monhw", 1);
    }
    if (getRosBoolean(node_, "publish.rxm.rtcm")) {
      rxm_rtcm_pub_ = node->create_publisher<ublox_msgs::msg::RxmRTCM>("rxmrtcm", 1);
    }
  }

  void getRosParams() override;

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

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

 private:
  // Set from ROS parameters
  bool enable_galileo_{false};
  bool enable_beidou_{false};
  bool enable_imes_{false};
  ublox_msgs::msg::CfgNMEA cfg_nmea_;
  bool clear_bbr_{false};
  bool save_on_shutdown_{false};

  rclcpp::Publisher<ublox_msgs::msg::NavSAT>::SharedPtr nav_sat_pub_;
  rclcpp::Publisher<ublox_msgs::msg::MonHW>::SharedPtr mon_hw_pub_;
  rclcpp::Publisher<ublox_msgs::msg::RxmRTCM>::SharedPtr rxm_rtcm_pub_;
};

}  // namespace ublox_node

#endif  // UBLOX_GPS_UBLOX_FIRMWARE8_HPP