clocksteering.cpp

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#include <novatel_gps_driver/parsers/clocksteering.h>
#include <boost/make_shared.hpp>

const std::string novatel_gps_driver::ClockSteeringParser::MESSAGE_NAME = "CLOCKSTEERING";

uint32_t novatel_gps_driver::ClockSteeringParser::GetMessageId() const
{
  return 0;
}

const std::string novatel_gps_driver::ClockSteeringParser::GetMessageName() const
{
  return MESSAGE_NAME;
}

novatel_gps_msgs::ClockSteeringPtr novatel_gps_driver::ClockSteeringParser::ParseAscii(const novatel_gps_driver::NovatelSentence& sentence) noexcept(false)
{
  const size_t MIN_LENGTH = 8;
  // Check that the message is at least as long as a a ClockSteering with no satellites
  if (sentence.body.size() != MIN_LENGTH)
  {
    std::stringstream error;
    error << "Expected ClockSteering length >= " << MIN_LENGTH
          << ", actual length = " << sentence.body.size();
    throw ParseException(error.str());
  }
  novatel_gps_msgs::ClockSteeringPtr msg = boost::make_shared<novatel_gps_msgs::ClockSteering>();

  msg->source = sentence.body[0];
  msg->steering_state = sentence.body[1];

  if (!ParseUInt32(sentence.body[2], msg->period))
  {
    throw ParseException("Error parsing period in ClockSteering.");
  }

  if (!ParseDouble(sentence.body[3], msg->pulse_width))
  {
    throw ParseException("Error parsing pulse_width in ClockSteering.");
  }

  if (!ParseDouble(sentence.body[4], msg->bandwidth))
  {
    throw ParseException("Error parsing bandwidth in ClockSteering.");
  }

  if (!ParseFloat(sentence.body[5], msg->slope))
  {
    throw ParseException("Error parsing slope in ClockSteering.");
  }

  if (!ParseDouble(sentence.body[6], msg->offset))
  {
    throw ParseException("Error parsing offset in ClockSteering.");
  }

  if (!ParseDouble(sentence.body[7], msg->drift_rate))
  {
    throw ParseException("Error parsing drift_rate in ClockSteering.");
  }

  return msg;
}