Derived class for parsing RMC messages. More...

#include <gprmc.hpp>

Inheritance diagram for GprmcParser:

Public Member Functions
const std::string	getMessageID () const override
	Returns the ASCII message ID, here "$GPRMC". More...

	GprmcParser ()
	Constructor of the class GprmcParser. More...

GprmcMsg	parseASCII (const NMEASentence &sentence, const std::string &frame_id, bool use_gnss_time, Timestamp time_obj) noexcept(false) override
	Parses one RMC message. More...

bool	wasLastGPRMCValid () const
	Tells us whether the last RMC message was valid/usable or not. More...

Public Member Functions inherited from BaseParser< GprmcMsg >
	BaseParser ()=default
	Default constructor of the class BaseParser. More...

GprmcMsg	parseBinary (const SBFStructT &bin_msg) noexcept(false)
	Converts bin_msg into a ROS message pointer (e.g. nmea_msgs::GpggaPtr) and returns it. More...

virtual	~BaseParser ()=default
	Default destructor of the class BaseParser. More...

Static Public Attributes
static constexpr double	KNOTS_TO_MPS = 0.5144444

static const std::string	MESSAGE_ID = "$GPRMC"
	Declares the string MESSAGE_ID. More...

Private Attributes
bool	was_last_gprmc_valid_
	Declares a boolean representing whether or not the last GPRMC message was valid. More...

Detailed Description

Derived class for parsing RMC messages.

Date: 28/09/20

Definition at line 79 of file gprmc.hpp.

Constructor & Destructor Documentation

◆ GprmcParser()

GprmcParser::GprmcParser ( )

inline

Constructor of the class GprmcParser.

Definition at line 85 of file gprmc.hpp.

Member Function Documentation

◆ getMessageID()

const std::string GprmcParser::getMessageID ( ) const

overridevirtual

Returns the ASCII message ID, here "$GPRMC".

Returns: The message ID

Implements BaseParser< GprmcMsg >.

Definition at line 41 of file gprmc.cpp.

◆ parseASCII()

GprmcMsg GprmcParser::parseASCII	(	const NMEASentence &	sentence,
		const std::string &	frame_id,
		bool	use_gnss_time,
		Timestamp	time_obj
	)

overridevirtualnoexcept

Parses one RMC message.

Parameters

[in] sentence The RMC message to be parsed

Returns: A ROS message pointer of ROS type GprmcMsg

Caution: Due to the occurrence of the throw keyword, this method ParseASCII should be called within a try / catch framework... Note: This method is called from within the read() method of the RxMessage class by including the checksum part in the argument "sentence" here, though the checksum is never parsed: It would be sentence.get_body()[13] if anybody ever needs it. The status character can be 'A' (for Active) or 'V' (for Void), signaling whether the GPS was active when the positioning was made. If it is void, the GPS could not make a good positioning and you should thus ignore it. This usually occurs when the GPS is still searching for satellites. WasLastGPRMCValid() will return false in this case.

Reimplemented from BaseParser< GprmcMsg >.

Definition at line 57 of file gprmc.cpp.

◆ wasLastGPRMCValid()

bool GprmcParser::wasLastGPRMCValid ( ) const

Tells us whether the last RMC message was valid/usable or not.

Returns: True if last RMC message was valid, false if not

E.g. if the status is V=Void, then this function will also return false.

Definition at line 168 of file gprmc.cpp.

Member Data Documentation

◆ KNOTS_TO_MPS

constexpr double GprmcParser::KNOTS_TO_MPS = 0.5144444

static

1 kt = 0.51444444444 mps (meters per second) Note that constexpr is needed for in-class initialization of static data members.

Definition at line 118 of file gprmc.hpp.

◆ MESSAGE_ID

const std::string GprmcParser::MESSAGE_ID = "$GPRMC"

static

Declares the string MESSAGE_ID.

Definition at line 113 of file gprmc.hpp.

◆ was_last_gprmc_valid_

bool GprmcParser::was_last_gprmc_valid_

private

Declares a boolean representing whether or not the last GPRMC message was valid.

Definition at line 125 of file gprmc.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Attributes

Private Attributes