oem7_message_util.hpp

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//
// Copyright (c) 2020 NovAtel Inc.
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#ifndef __OEM7_MESSAGE_UTIL_HPP__
#define __OEM7_MESSAGE_UTIL_HPP__

#include "novatel_oem7_msgs/Oem7Header.h"
#include "novatel_oem7_msgs/Oem7RawMsg.h"

#include "novatel_oem7_driver/oem7_message_ids.h"

#include "oem7_raw_message_if.hpp"
using novatel_oem7::Oem7RawMessageIf;

#include "oem7_messages.h"

#include <ros/ros.h>

namespace novatel_oem7_driver
{

  static const std::vector<int> OEM7_NMEA_MSGIDS(
    {
     GLMLA_OEM7_MSGID,
     GPALM_OEM7_MSGID,
     GPGGA_OEM7_MSGID,
     GPGGALONG_OEM7_MSGID,
     GPGLL_OEM7_MSGID,
     GPGRS_OEM7_MSGID,
     GPGSA_OEM7_MSGID,
     GPGST_OEM7_MSGID,
     GPGSV_OEM7_MSGID,
     GPHDT_OEM7_MSGID,
     GPHDTDUALANTENNA_MSGID,
     GPRMB_OEM7_MSGID,
     GPRMC_OEM7_MSGID,
     GPVTG_OEM7_MSGID,
     GPZDA_OEM7_MSGID
    }
  );


  void initializeOem7MessageUtil(ros::NodeHandle& nh);
  int getOem7MessageId(const std::string& msg_name);
  const std::string& getOem7MessageName(int msg_id);

  void getOem7Header(
      const Oem7RawMessageIf::ConstPtr& raw_msg, 
      novatel_oem7_msgs::Oem7Header::Type& hdr   
      );

  void getOem7ShortHeader(
      const Oem7RawMessageIf::ConstPtr& raw_msg, 
      novatel_oem7_msgs::Oem7Header::Type& hdr   
      );

  bool isNMEAMessage(const Oem7RawMessageIf::ConstPtr& raw_msg);

  size_t Get_INSCONFIG_NumTranslations(const INSCONFIG_FixedMem* insconfig);

  const INSCONFIG_TranslationMem* Get_INSCONFIG_Translation(const INSCONFIG_FixedMem* insconfig, size_t idx);

  size_t Get_INSCONFIG_NumRotations(const INSCONFIG_FixedMem* insconfig);

  const INSCONFIG_RotationMem* Get_INSCONFIG_Rotation(const INSCONFIG_FixedMem* insconfig, size_t idx);


  size_t Get_PSRDOP2_NumSystems(const PSRDOP2_FixedMem* psrdop2);
  const PSRDOP2_SystemMem* Get_PSRDOP2_System(const PSRDOP2_FixedMem* psrdop2, size_t idx);
}


#endif