gprmc.hpp

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#ifndef GPRMC_HPP
#define GPRMC_HPP

// ROSaic includes
#include <rosaic/parsers/parser_base_class.hpp>
#include <rosaic/parsers/string_utilities.h>
// Boost and ROS includes
#include <rosaic/Gprmc.h>
#include <boost/make_shared.hpp>

extern std::string g_frame_id;
extern bool g_use_gnss_time;

class GprmcParser : public BaseParser<rosaic::GprmcPtr>
{
        public:
                
                GprmcParser(): BaseParser<rosaic::GprmcPtr>(), was_last_gprmc_valid_(false) {}

                const std::string getMessageID() const override; 
                
                rosaic::GprmcPtr parseASCII(const NMEASentence& sentence) noexcept(false) override;

                bool wasLastGPRMCValid() const;

                static const std::string MESSAGE_ID;
                
                static constexpr double KNOTS_TO_MPS = 0.5144444;
                
        private:
                bool was_last_gprmc_valid_;
};


#endif //GPRMC_HPP