oem7_driver_util.hpp

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//
// Copyright (c) 2020 NovAtel Inc.
//
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// furnished to do so, subject to the following conditions:
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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#include <stdint.h>
#include "novatel_oem7_msgs/Oem7Header.h"


namespace novatel_oem7_driver
{
  /*** Converts GSP time to Milliseconds
   *  @return milliseconds
   */
  static inline int64_t GPSTimeToMsec(uint32_t gps_week_no, uint32_t week_msec)
  {
    static const int64_t GPS_MSEC_IN_WEEK = 7 * 24 * 60 * 60 * 1000;
    return GPS_MSEC_IN_WEEK * gps_week_no + week_msec;
  }

  /***
   * Covers GPSTime obtained from header to milliseconds.
   * @return milliseconds
   */
  static inline int64_t GPSTimeToMsec(const novatel_oem7_msgs::Oem7Header& hdr)
  {
    return GPSTimeToMsec(hdr.gps_week_number, hdr.gps_week_milliseconds);
  }
}