gprmc.h

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#ifndef NOVATEL_GPS_DRIVER_GPRMC_H
#define NOVATEL_GPS_DRIVER_GPRMC_H

#include <novatel_gps_driver/parsers/message_parser.h>
#include <novatel_gps_msgs/Gprmc.h>

namespace novatel_gps_driver
{
  class GprmcParser : public MessageParser<novatel_gps_msgs::GprmcPtr>
  {
  public:
    GprmcParser() : MessageParser<novatel_gps_msgs::GprmcPtr>(),
                    was_last_gps_valid_(false)
    {}

    uint32_t GetMessageId() const override;

    const std::string GetMessageName() const override;

    novatel_gps_msgs::GprmcPtr ParseAscii(const NmeaSentence& sentence) noexcept(false) override;

    bool WasLastGpsValid() const;

    static const std::string MESSAGE_NAME;
    static constexpr double KNOTS_TO_MPS = 0.5144444;

  private:
    bool was_last_gps_valid_;
  };
}

#endif //NOVATEL_GPS_DRIVER_GPRMC_H