parsing_utils.h
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29 
30 #ifndef NOVATEL_GPS_DRIVER_BASE_PARSER_H
31 #define NOVATEL_GPS_DRIVER_BASE_PARSER_H
32 
33 #include <novatel_gps_msgs/NovatelMessageHeader.h>
34 
35 #include <novatel_gps_msgs/NovatelExtendedSolutionStatus.h>
36 
37 #include <novatel_gps_msgs/NovatelSignalMask.h>
38 
39 #include <stdint.h>
40 
45 namespace novatel_gps_driver
46 {
47  const size_t NOVATEL_MESSAGE_HEADER_LENGTH = 10;
48 
49  const size_t MAX_SOLUTION_STATUS = 22;
50  const std::string SOLUTION_STATUSES[] = {
51  "SOL_COMPUTED", "INSUFFICIENT_OBS", "NO_CONVERGENCE", "SINGULARITY", "COV_TRACE",
52  "TEST_DIST", "COLD_START", "V_H_LIMIT", "VARIANCE", "RESIDUALS",
53  "RESERVED", "RESERVED", "RESERVED", "INTEGRITY_WARNING", "RESERVED",
54  "RESERVED", "RESERVED", "RESERVED", "PENDING", "INVALID_FIX",
55  "UNAUTHORIZED", "RESERVED", "INVALID_RATE"};
56  const size_t MAX_POSITION_TYPE = 80;
57  const std::string POSITION_TYPES[] = {
58  "NONE", "FIXEDPOS", "FIXEDHEIGHT", "RESERVED", "FLOATCONV",
59  "WIDELANE", "NARROWLANE", "RESERVED", "DOPPLER_VELOCITY", "RESERVED",
60  "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
61  "RESERVED", "SINGLE", "PSRDIFF", "WAAS", "PROPOGATED",
62  "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
63  "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
64  "RESERVED", "RESERVED", "L1_FLOAT", "IONOFREE_FLOAT", "NARROW_FLOAT",
65  "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
66  "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
67  "RESERVED", "RESERVED", "RESERVED", "L1_INT", "WIDE_INT",
68  "NARROW_INT", "RTK_DIRECT_INS", "INS_SBAS", "INS_PSRSP", "INS_PSRDIFF",
69  "INS_RTKFLOAT", "INS_RTKFIXED", "RESERVED", "RESERVED", "RESERVED",
70  "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
71  "RESERVED", "RESERVED", "RESERVED", "PPP_CONVERGING", "PPP",
72  "OPERATIONAL", "WARNING", "OUT_OF_BOUNDS", "INS_PPP_CONVERGING", "INS_PPP",
73  "UNKNOWN", "UNKNOWN", "PPP_BASIC_CONVERGING", "PPP_BASIC", "INS_PPP_BASIC",
74  "INS_PPP_BASIC_CONVERGING"};
75  const size_t MAX_DATUM = 86;
76  const std::string DATUMS[] = {
77  "BLANK",
78  "ADIND", "ARC50", "ARC60", "AGD66", "AGD84", "BUKIT", "ASTRO", "CHATM", "CARTH", "CAPE",
79  "DJAKA", "EGYPT", "ED50", "ED79", "GUNSG", "GEO49", "GRB36", "GUAM", "HAWAII", "KAUAI",
80  "MAUI", "OAHU", "HERAT", "HJORS", "HONGK", "HUTZU", "INDIA", "IRE65", "KERTA", "KANDA",
81  "LIBER", "LUZON", "MINDA", "MERCH", "NAHR", "NAD83", "CANADA", "ALASKA", "NAD27", "CARIBB",
82  "MEXICO", "CAMER", "MINNA", "OMAN", "PUERTO", "QORNO", "ROME", "CHUA", "SAM56", "SAM69",
83  "CAMPO", "SACOR", "YACAR", "TANAN", "TIMBA", "TOKYO", "TRIST", "VITI", "WAK60", "WGS72",
84  "WGS84", "ZANDE", "USER", "CSRS", "ADIM", "ARSM", "ENW", "HTN", "INDB", "INDI",
85  "IRL", "LUZA", "LUZB", "NAHC", "NASP", "OGBM", "OHAA", "OHAB", "OHAC", "OHAD",
86  "OHIA", "OHIB", "OHIC", "OHID", "TIL", "TOYM"};
87  const std::string PORT_IDENTIFIERS[] = {
88  "NO_PORTS", "COM1_ALL", "COM2_ALL", "COM3_ALL", "UNUSED", "UNUSED", "THISPORT_ALL", "FILE_ALL", "ALL_PORTS",
89  "XCOM1_ALL", "XCOM2_ALL", "UNUSED", "UNUSED", "USB1_ALL", "USB2_ALL", "USB3_ALL", "AUX_ALL", "XCOM3_ALL",
90  "UNUSED", "COM4_ALL", "ETH1_ALL", "IMU_ALL", "UNUSED", "ICOM1_ALL", "ICOM2_ALL", "ICOM3_ALL", "NCOM1_ALL",
91  "NCOM2_ALL", "NCOM3_ALL", "ICOM4_ALL", "WCOM1_ALL", "UNUSED", "COM1", "COM1_1", "COM1_2", "COM1_3", "COM1_4",
92  "COM1_5", "COM1_6", "COM1_7", "COM1_8", "COM1_9", "COM1_10", "COM1_11", "COM1_12", "COM1_13", "COM1_14",
93  "COM1_15", "COM1_16", "COM1_17", "COM1_18", "COM1_19", "COM1_20", "COM1_21", "COM1_22", "COM1_23", "COM1_24",
94  "COM1_25", "COM1_26", "COM1_27", "COM1_28", "COM1_29", "COM1_30", "COM1_31", "COM2", "COM2_1", "COM2_2", "COM2_3",
95  "COM2_4", "COM2_5", "COM2_6", "COM2_7", "COM2_8", "COM2_9", "COM2_10", "COM2_11", "COM2_12", "COM2_13", "COM2_14",
96  "COM2_15", "COM2_16", "COM2_17", "COM2_18", "COM2_19", "COM2_20", "COM2_21", "COM2_22", "COM2_23", "COM2_24",
97  "COM2_25", "COM2_26", "COM2_27", "COM2_28", "COM2_29", "COM2_30", "COM2_31", "COM3", "COM3_1", "COM3_2", "COM3_3",
98  "COM3_4", "COM3_5", "COM3_6", "COM3_7", "COM3_8", "COM3_9", "COM3_10", "COM3_11", "COM3_12", "COM3_13", "COM3_14",
99  "COM3_15", "COM3_16", "COM3_17", "COM3_18", "COM3_19", "COM3_20", "COM3_21", "COM3_22", "COM3_23", "COM3_24",
100  "COM3_25", "COM3_26", "COM3_27", "COM3_28", "COM3_29", "COM3_30", "COM3_31", "UNUSED", "UNUSED", "UNUSED",
101  "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED",
102  "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED",
103  "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "SPECIAL", "SPECIAL_1", "SPECIAL_2",
104  "SPECIAL_3", "SPECIAL_4", "SPECIAL_5", "SPECIAL_6", "SPECIAL_7", "SPECIAL_8", "SPECIAL_9", "SPECIAL_10",
105  "SPECIAL_11", "SPECIAL_12", "SPECIAL_13", "SPECIAL_14", "SPECIAL_15", "SPECIAL_16", "SPECIAL_17", "SPECIAL_18",
106  "SPECIAL_19", "SPECIAL_20", "SPECIAL_21", "SPECIAL_22", "SPECIAL_23", "SPECIAL_24", "SPECIAL_25", "SPECIAL_26",
107  "SPECIAL_27", "SPECIAL_28", "SPECIAL_29", "SPECIAL_30", "SPECIAL_31", "THISPORT", "THISPORT_1", "THISPORT_2",
108  "THISPORT_3", "THISPORT_4", "THISPORT_5", "THISPORT_6", "THISPORT_7", "THISPORT_8", "THISPORT_9", "THISPORT_10",
109  "THISPORT_11", "THISPORT_12", "THISPORT_13", "THISPORT_14", "THISPORT_15", "THISPORT_16", "THISPORT_17",
110  "THISPORT_18", "THISPORT_19", "THISPORT_20", "THISPORT_21", "THISPORT_22", "THISPORT_23", "THISPORT_24",
111  "THISPORT_25", "THISPORT_26", "THISPORT_27", "THISPORT_28", "THISPORT_29", "THISPORT_30", "THISPORT_31", "FILE",
112  "FILE_1", "FILE_2", "FILE_3", "FILE_4", "FILE_5", "FILE_6", "FILE_7", "FILE_8", "FILE_9", "FILE_10", "FILE_11",
113  "FILE_12", "FILE_13", "FILE_14", "FILE_15", "FILE_16", "FILE_17", "FILE_18", "FILE_19", "FILE_20", "FILE_21",
114  "FILE_22", "FILE_23", "FILE_24", "FILE_25", "FILE_26", "FILE_27", "FILE_28", "FILE_29", "FILE_30", "FILE_31"};
115 
116  double ConvertDmsToDegrees(double dms);
117 
118  void GetExtendedSolutionStatusMessage(
119  uint32_t status,
120  novatel_gps_msgs::NovatelExtendedSolutionStatus& msg);
121 
122 
123  void GetNovatelReceiverStatusMessage(
124  uint32_t status,
125  novatel_gps_msgs::NovatelReceiverStatus& receiver_status_msg);
126 
127  void GetSignalsUsed(
128  uint32_t mask,
129  novatel_gps_msgs::NovatelSignalMask& msg);
130 
140  double ParseDouble(const uint8_t* buffer);
141 
149  bool ParseDouble(const std::string& string, double& value);
150 
160  float ParseFloat(const uint8_t* buffer);
161 
169  bool ParseFloat(const std::string& string, float& value);
170 
180  int16_t ParseInt16(const uint8_t* buffer);
181 
190  bool ParseInt16(const std::string& string, int16_t& value, int32_t base = 10);
191 
201  int32_t ParseInt32(const uint8_t* buffer);
202 
211  bool ParseInt32(const std::string& string, int32_t& value, int32_t base = 10);
212 
221  bool ParseUInt8(const std::string& string, uint8_t& value, int32_t base = 10);
222 
232  uint16_t ParseUInt16(const uint8_t* buffer);
233 
242  bool ParseUInt16(const std::string& string, uint16_t& value, int32_t base = 10);
243 
253  uint32_t ParseUInt32(const uint8_t* buffer);
254 
263  bool ParseUInt32(const std::string& string, uint32_t& value, int32_t base = 10);
264 
265  double UtcFloatToSeconds(double utc_float);
266 }
267 
268 #endif //NOVATEL_GPS_DRIVER_BASE_PARSER_H
novatel_gps_driver::GetNovatelReceiverStatusMessage
void GetNovatelReceiverStatusMessage(uint32_t status, novatel_gps_msgs::NovatelReceiverStatus &receiver_status_msg)
Definition: parsing_utils.cpp:40
msg
msg
novatel_gps_driver::ParseUInt16
uint16_t ParseUInt16(const uint8_t *buffer)
Converts a buffer containing 2 bytes into an unsigned 16-bit int.
Definition: parsing_utils.cpp:206
novatel_gps_driver::PORT_IDENTIFIERS
const std::string PORT_IDENTIFIERS[]
Definition: parsing_utils.h:87
novatel_gps_driver::ParseUInt8
bool ParseUInt8(const std::string &string, uint8_t &value, int32_t base=10)
Parses a string containing an integer number into a uint16_t.
Definition: parsing_utils.cpp:188
novatel_gps_driver::MAX_POSITION_TYPE
const size_t MAX_POSITION_TYPE
Definition: parsing_utils.h:56
novatel_gps_driver::DATUMS
const std::string DATUMS[]
Definition: parsing_utils.h:76
novatel_gps_driver::NOVATEL_MESSAGE_HEADER_LENGTH
const size_t NOVATEL_MESSAGE_HEADER_LENGTH
Definition: parsing_utils.h:47
novatel_gps_driver::ParseDouble
double ParseDouble(const uint8_t *buffer)
Converts a buffer containing 8 bytes into a double.
Definition: parsing_utils.cpp:113
novatel_gps_driver::POSITION_TYPES
const std::string POSITION_TYPES[]
Definition: parsing_utils.h:57
novatel_gps_driver
Definition: binary_header.h:37
novatel_gps_driver::ParseUInt32
uint32_t ParseUInt32(const uint8_t *buffer)
Converts a buffer containing 4 bytes into an unsigned 32-bit int.
Definition: parsing_utils.cpp:176
novatel_gps_driver::ParseFloat
float ParseFloat(const uint8_t *buffer)
Converts a buffer containing 4 bytes into a float.
Definition: parsing_utils.cpp:125
novatel_gps_driver::SOLUTION_STATUSES
const std::string SOLUTION_STATUSES[]
Definition: parsing_utils.h:50
novatel_gps_driver::GetExtendedSolutionStatusMessage
void GetExtendedSolutionStatusMessage(uint32_t status, novatel_gps_msgs::NovatelExtendedSolutionStatus &msg)
Definition: parsing_utils.cpp:70
novatel_gps_driver::ParseInt32
int32_t ParseInt32(const uint8_t *buffer)
Converts a buffer containing 4 bytes into a signed 32-bit int.
Definition: parsing_utils.cpp:164
novatel_gps_driver::GetSignalsUsed
void GetSignalsUsed(uint32_t mask, novatel_gps_msgs::NovatelSignalMask &msg)
Definition: parsing_utils.cpp:103
novatel_gps_driver::MAX_SOLUTION_STATUS
const size_t MAX_SOLUTION_STATUS
Definition: parsing_utils.h:49
novatel_gps_driver::UtcFloatToSeconds
double UtcFloatToSeconds(double utc_float)
Definition: parsing_utils.cpp:231
novatel_gps_driver::ConvertDmsToDegrees
double ConvertDmsToDegrees(double dms)
Definition: parsing_utils.cpp:241
novatel_gps_driver::MAX_DATUM
const size_t MAX_DATUM
Definition: parsing_utils.h:75
novatel_gps_driver::ParseInt16
int16_t ParseInt16(const uint8_t *buffer)
Converts a buffer containing 2 bytes into a signed 16-bit int.
Definition: parsing_utils.cpp:137

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