gprmc.hpp

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#ifndef GPRMC_HPP
#define GPRMC_HPP

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

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

    const std::string getMessageID() const override;

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