gpgga.cpp
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29 
31 #include <boost/make_shared.hpp>
32 
34 
35 const std::string novatel_gps_driver::GpggaParser::MESSAGE_NAME = "GPGGA";
36 
38 {
39  return 0;
40 }
41 
43 {
44  return MESSAGE_NAME;
45 }
46 
48 {
49  // Check the length first -- should be 15 elements long
50  const size_t MAX_LEN = 15;
51  const size_t MIN_LEN = 14;
52  if (sentence.body.size() > MAX_LEN || sentence.body.size() < MIN_LEN)
53  {
54  std::stringstream error;
55  error << "Expected GPGGA length " << MIN_LEN << " <= length <= "
56  << MAX_LEN << ", actual length = " << sentence.body.size();
57  throw ParseException(error.str());
58  }
59 
60  novatel_gps_msgs::GpggaPtr msg = boost::make_shared<novatel_gps_msgs::Gpgga>();
61 
62  msg->message_id = sentence.body[0];
63 
64  if (sentence.body[1].empty() || sentence.body[1] == "0")
65  {
66  msg->utc_seconds = 0;
67  }
68  else
69  {
70  double utc_float;
71  if (swri_string_util::ToDouble(sentence.body[1], utc_float))
72  {
73  msg->utc_seconds = UtcFloatToSeconds(utc_float);
74  }
75  else
76  {
77  throw ParseException("Error parsing UTC seconds in GPGGA");
78  }
79  }
80 
81  bool valid = true;
82 
83  double latitude = 0.0;
84  valid = valid && ParseDouble(sentence.body[2], latitude);
85  msg->lat = ConvertDmsToDegrees(latitude);
86 
87  double longitude = 0.0;
88  valid = valid && ParseDouble(sentence.body[4], longitude);
89  msg->lon = ConvertDmsToDegrees(longitude);
90 
91  msg->lat_dir = sentence.body[3];
92  msg->lon_dir = sentence.body[5];
93  valid = valid && ParseUInt32(sentence.body[6], msg->gps_qual);
94  valid = valid && ParseUInt32(sentence.body[7], msg->num_sats);
95 
96  valid = valid && ParseFloat(sentence.body[8], msg->hdop);
97  valid = valid && ParseFloat(sentence.body[9], msg->alt);
98  msg->altitude_units = sentence.body[10];
99  valid = valid && ParseFloat(sentence.body[11], msg->undulation);
100  msg->undulation_units = sentence.body[12];
101  valid = valid && ParseUInt32(sentence.body[13], msg->diff_age);
102  if (sentence.body.size() == MAX_LEN)
103  {
104  msg->station_id = sentence.body[14];
105  }
106  else
107  {
108  msg->station_id = "";
109  }
110 
111  if (!valid)
112  {
113  throw ParseException("GPGGA log was invalid.");
114  }
115 
116  // Check for actual lat and lon data
117  if (sentence.body[2].empty() || sentence.body[4].empty())
118  {
119  // No Lat or Lon data, return false;
120  was_last_gps_valid_ = false;
121  }
122 
123  was_last_gps_valid_ = true;
124 
125  return msg;
126 }
127 
129 {
130  return was_last_gps_valid_;
131 }
msg
const std::string GetMessageName() const override
Definition: gpgga.cpp:42
static const std::string MESSAGE_NAME
Definition: gpgga.h:52
bool WasLastGpsValid() const
Definition: gpgga.cpp:128
double ParseDouble(const uint8_t *buffer)
Converts a buffer containing 8 bytes into a double.
novatel_gps_msgs::GpggaPtr ParseAscii(const NmeaSentence &sentence) override
Converts sentence into a ROS message pointer and returns it.
Definition: gpgga.cpp:47
uint32_t ParseUInt32(const uint8_t *buffer)
Converts a buffer containing 4 bytes into an unsigned 32-bit int.
float ParseFloat(const uint8_t *buffer)
Converts a buffer containing 4 bytes into a float.
double UtcFloatToSeconds(double utc_float)
double ConvertDmsToDegrees(double dms)
uint32_t GetMessageId() const override
Definition: gpgga.cpp:37
bool ToDouble(const std::string &string, double &value)


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