inscov.cpp
Go to the documentation of this file.
1 // *****************************************************************************
2 //
3 // Copyright (c) 2017, Southwest Research Institute® (SwRI®)
4 // All rights reserved.
5 //
6 // Redistribution and use in source and binary forms, with or without
7 // modification, are permitted provided that the following conditions are met:
8 // * Redistributions of source code must retain the above copyright
9 // notice, this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright
11 // notice, this list of conditions and the following disclaimer in the
12 // documentation and/or other materials provided with the distribution.
13 // * Neither the name of Southwest Research Institute® (SwRI®) nor the
14 // names of its contributors may be used to endorse or promote products
15 // derived from this software without specific prior written permission.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 // ARE DISCLAIMED. IN NO EVENT SHALL SOUTHWEST RESEARCH INSTITUTE BE LIABLE FOR ANY
21 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
22 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
23 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
24 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
26 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
27 //
28 // *****************************************************************************
29 
32 #include <boost/make_shared.hpp>
33 
34 const std::string novatel_gps_driver::InscovParser::MESSAGE_NAME = "INSCOV";
35 
37 {
38  return MESSAGE_ID;
39 }
40 
42 {
43  return MESSAGE_NAME;
44 }
45 
46 novatel_gps_msgs::InscovPtr
48 {
49  if (bin_msg.data_.size() != BINARY_LENGTH)
50  {
51  std::stringstream error;
52  error << "Unexpected inscov message size: " << bin_msg.data_.size();
53  throw ParseException(error.str());
54  }
55  novatel_gps_msgs::InscovPtr ros_msg = boost::make_shared<novatel_gps_msgs::Inscov>();
56  HeaderParser h_parser;
57  ros_msg->novatel_msg_header = h_parser.ParseBinary(bin_msg);
58  ros_msg->novatel_msg_header.message_name = GetMessageName();
59 
60  ros_msg->week = ParseUInt32(&bin_msg.data_[0]);
61  ros_msg->seconds = ParseDouble(&bin_msg.data_[4]);
62  int offset = 12;
63  for (int i = 0; i < 9; i++, offset += 8)
64  {
65  ros_msg->position_covariance[i] = ParseDouble(&bin_msg.data_[offset]);
66  }
67  for (int i = 0; i < 9; i++, offset += 8)
68  {
69  ros_msg->attitude_covariance[i] = ParseDouble(&bin_msg.data_[offset]);
70  }
71  for (int i = 0; i < 9; i++, offset += 8)
72  {
73  ros_msg->velocity_covariance[i] = ParseDouble(&bin_msg.data_[offset]);
74  }
75  return ros_msg;
76 }
77 
78 novatel_gps_msgs::InscovPtr
80 {
81  if (sentence.body.size() != ASCII_FIELDS)
82  {
83  std::stringstream error;
84  error << "Unexpected number of fields in INSCOV log: " << sentence.body.size();
85  throw ParseException(error.str());
86  }
87  novatel_gps_msgs::InscovPtr ros_msg = boost::make_shared<novatel_gps_msgs::Inscov>();
88  HeaderParser h_parser;
89  ros_msg->novatel_msg_header = h_parser.ParseAscii(sentence);
90 
91  bool valid = true;
92 
93  valid &= ParseUInt32(sentence.body[0], ros_msg->week);
94  valid &= ParseDouble(sentence.body[1], ros_msg->seconds);
95 
96  int offset = 2;
97  for (int i = 0; i < 9; i++, offset++)
98  {
99  valid &= ParseDouble(sentence.body[offset], ros_msg->position_covariance[i]);
100  }
101  for (int i = 0; i < 9; i++, offset++)
102  {
103  valid &= ParseDouble(sentence.body[offset], ros_msg->attitude_covariance[i]);
104  }
105  for (int i = 0; i < 9; i++, offset++)
106  {
107  valid &= ParseDouble(sentence.body[offset], ros_msg->velocity_covariance[i]);
108  }
109 
110  if (!valid)
111  {
112  throw ParseException("Error parsing INSCOV log.");
113  }
114 
115  return ros_msg;
116 }
static constexpr size_t BINARY_LENGTH
Definition: inscov.h:51
const std::string GetMessageName() const override
Definition: inscov.cpp:41
uint32_t GetMessageId() const override
Definition: inscov.cpp:36
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.
static const std::string MESSAGE_NAME
Definition: inscov.h:50
uint32_t ParseUInt32(const uint8_t *buffer)
Converts a buffer containing 4 bytes into an unsigned 32-bit int.
novatel_gps_msgs::InscovPtr ParseAscii(const NovatelSentence &sentence) override
Converts sentence into a ROS message pointer and returns it.
Definition: inscov.cpp:79
static constexpr size_t ASCII_FIELDS
Definition: inscov.h:52
static constexpr uint32_t MESSAGE_ID
Definition: inscov.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
novatel_gps_msgs::InscovPtr ParseBinary(const BinaryMessage &bin_msg) override
Converts bin_msg into a ROS message pointer and returns it.
Definition: inscov.cpp:47


novatel_gps_driver
Author(s):
autogenerated on Wed Jul 3 2019 19:36:46