gpgsa.cpp
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30 
32 
39 const std::string GpgsaParser::MESSAGE_ID = "$GPGSA";
40 
41 const std::string GpgsaParser::getMessageID() const
42 {
44 }
45 
54 GpgsaParser::parseASCII(const NMEASentence& sentence, const std::string& frame_id, bool /*use_gnss_time*/, Timestamp /*time_obj*/) noexcept(false)
55 {
56 
57  // Checking the length first, it should be 19 elements
58  const size_t LENGTH = 19;
59  if (sentence.get_body().size() != LENGTH)
60  {
61  std::stringstream error;
62  error << "Expected GPGSA length is " << LENGTH << ". The actual length is "
63  << sentence.get_body().size();
64  throw ParseException(error.str());
65  }
66 
67  GpgsaMsg msg;
68  msg.header.frame_id = frame_id;
69  msg.message_id = sentence.get_body()[0];
70  msg.auto_manual_mode = sentence.get_body()[1];
71  parsing_utilities::parseUInt8(sentence.get_body()[2], msg.fix_mode);
72  // Words 3-14 of the sentence are SV PRNs. Copying only the non-null strings..
73  // 0 is the character needed to fill the new character space, in case 12 (first
74  // argument) is larger than sv_ids.
75  msg.sv_ids.resize(12, 0);
76  size_t n_svs = 0;
77  for (std::vector<std::string>::const_iterator id =
78  sentence.get_body().begin() + 3;
79  id < sentence.get_body().begin() + 15; ++id)
80  {
81  if (!id->empty())
82  {
83  parsing_utilities::parseUInt8(*id, msg.sv_ids[n_svs]);
84  ++n_svs;
85  }
86  }
87  msg.sv_ids.resize(n_svs);
88 
89  parsing_utilities::parseFloat(sentence.get_body()[15], msg.pdop);
90  parsing_utilities::parseFloat(sentence.get_body()[16], msg.hdop);
91  parsing_utilities::parseFloat(sentence.get_body()[17], msg.vdop);
92  return msg;
93 }
nmea_msgs::Gpgsa GpgsaMsg
Definition: typedefs.hpp:111
Derived class for parsing GSA messages.
Struct to split an NMEA sentence into its ID and its body, the latter tokenized into a vector of stri...
float parseFloat(const uint8_t *buffer)
Converts a 4-byte-buffer into a float.
uint64_t Timestamp
Definition: typedefs.hpp:77
Class to declare error message format when parsing, derived from the public class "std::runtime_error...
std::string frame_id
const std::string getMessageID() const override
Returns the ASCII message ID, here "$GPGSA".
Definition: gpgsa.cpp:41
GpgsaMsg parseASCII(const NMEASentence &sentence, const std::string &frame_id, bool use_gnss_time, Timestamp time_obj) noexcept(false) override
Parses one GSA message.
Definition: gpgsa.cpp:54
bool parseUInt8(const std::string &string, uint8_t &value, int32_t base=10)
Interprets the contents of "string" as a unsigned integer number of type uint8_t. ...
static const std::string MESSAGE_ID
Declares the string MESSAGE_ID.
Definition: gpgsa.hpp:104


septentrio_gnss_driver
Author(s): Tibor Dome
autogenerated on Thu Jun 23 2022 02:11:38