bestvel.cpp
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29 
30 
33 #include <boost/make_shared.hpp>
34 
35 const std::string novatel_gps_driver::BestvelParser::MESSAGE_NAME = "BESTVEL";
36 
38 {
39  return MESSAGE_ID;
40 }
41 
43 {
44  return MESSAGE_NAME;
45 }
46 
47 novatel_gps_msgs::NovatelVelocityPtr novatel_gps_driver::BestvelParser::ParseBinary(const BinaryMessage& bin_msg) throw(ParseException)
48 {
49  if (bin_msg.data_.size() != BINARY_LENGTH)
50  {
51  std::stringstream error;
52  error << "Unexpected velocity message size: " << bin_msg.data_.size();
53  throw ParseException(error.str());
54  }
55  novatel_gps_msgs::NovatelVelocityPtr ros_msg = boost::make_shared<novatel_gps_msgs::NovatelVelocity>();
56  HeaderParser h_parser;
57  ros_msg->novatel_msg_header = h_parser.ParseBinary(bin_msg);
58  ros_msg->novatel_msg_header.message_name = MESSAGE_NAME;
59 
60  uint16_t solution_status = ParseUInt16(&bin_msg.data_[0]);
61  if (solution_status > MAX_SOLUTION_STATUS)
62  {
63  std::stringstream error;
64  error << "Unknown solution status: " << solution_status;
65  throw ParseException(error.str());
66  }
67  ros_msg->solution_status = SOLUTION_STATUSES[solution_status];
68  uint16_t pos_type = ParseUInt16(&bin_msg.data_[4]);
69  if (pos_type > MAX_POSITION_TYPE)
70  {
71  std::stringstream error;
72  error << "Unknown position type: " << pos_type;
73  throw ParseException(error.str());
74  }
75  ros_msg->velocity_type = POSITION_TYPES[pos_type];
76  ros_msg->latency = ParseFloat(&bin_msg.data_[8]);
77  ros_msg->age = ParseFloat(&bin_msg.data_[12]);
78  ros_msg->horizontal_speed = ParseDouble(&bin_msg.data_[16]);
79  ros_msg->track_ground = ParseDouble(&bin_msg.data_[24]);
80  ros_msg->vertical_speed = ParseDouble(&bin_msg.data_[32]);
81 
82  return ros_msg;
83 }
84 
85 novatel_gps_msgs::NovatelVelocityPtr novatel_gps_driver::BestvelParser::ParseAscii(const NovatelSentence& sentence) throw(ParseException)
86 {
87  novatel_gps_msgs::NovatelVelocityPtr msg = boost::make_shared<novatel_gps_msgs::NovatelVelocity>();
88  HeaderParser h_parser;
89  msg->novatel_msg_header = h_parser.ParseAscii(sentence);
90 
91  if (sentence.body.size() != ASCII_LENGTH)
92  {
93  std::stringstream error;
94  error << "Unexpected number of BESTVEL message fields: " << sentence.body.size();
95  throw ParseException(error.str());
96  }
97  bool valid = true;
98  msg->solution_status = sentence.body[0];
99  msg->velocity_type = sentence.body[1];
100  valid = valid && ParseFloat(sentence.body[2], msg->latency);
101  valid = valid && ParseFloat(sentence.body[3], msg->age);
102  valid = valid && ParseDouble(sentence.body[4], msg->horizontal_speed);
103  valid = valid && ParseDouble(sentence.body[5], msg->track_ground);
104  valid = valid && ParseDouble(sentence.body[6], msg->vertical_speed);
105 
106  if (!valid)
107  {
108  throw ParseException("Invalid field in BESTVEL message");
109  }
110 
111  return msg;
112 }
msg
static constexpr size_t ASCII_LENGTH
Definition: bestvel.h:51
uint16_t ParseUInt16(const uint8_t *buffer)
Converts a buffer containing 2 bytes into an unsigned 16-bit int.
uint32_t GetMessageId() const override
Definition: bestvel.cpp:37
const std::string GetMessageName() const override
Definition: bestvel.cpp:42
novatel_gps_msgs::NovatelVelocityPtr ParseAscii(const NovatelSentence &sentence) override
Converts sentence into a ROS message pointer and returns it.
Definition: bestvel.cpp:85
const size_t MAX_POSITION_TYPE
Definition: parsing_utils.h:56
novatel_gps_msgs::NovatelMessageHeader ParseAscii(const NovatelSentence &sentence) override
Converts sentence into a ROS message pointer and returns it.
Definition: header.cpp:103
double ParseDouble(const uint8_t *buffer)
Converts a buffer containing 8 bytes into a double.
novatel_gps_msgs::NovatelVelocityPtr ParseBinary(const BinaryMessage &bin_msg) override
Converts bin_msg into a ROS message pointer and returns it.
Definition: bestvel.cpp:47
const std::string POSITION_TYPES[]
Definition: parsing_utils.h:57
static constexpr size_t BINARY_LENGTH
Definition: bestvel.h:52
float ParseFloat(const uint8_t *buffer)
Converts a buffer containing 4 bytes into a float.
const std::string SOLUTION_STATUSES[]
Definition: parsing_utils.h:50
const size_t MAX_SOLUTION_STATUS
Definition: parsing_utils.h:49
novatel_gps_msgs::NovatelMessageHeader ParseBinary(const BinaryMessage &bin_msg) override
Converts bin_msg into a ROS message pointer and returns it.
Definition: header.cpp:44
static const std::string MESSAGE_NAME
Definition: bestvel.h:53
static constexpr uint16_t MESSAGE_ID
Definition: bestvel.h:50


novatel_gps_driver
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autogenerated on Wed Jul 3 2019 19:36:46