parser_base_class.hpp
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30 
31 #ifndef PARSER_BASE_CLASS_HPP
32 #define PARSER_BASE_CLASS_HPP
33 
34 // ROSaic includes
35 #include "nmea_sentence.hpp"
36 #include "parse_exception.hpp"
37 #include "parsing_utilities.hpp"
38 
61 template <typename T>
63 {
64 public:
78  BaseParser() = default;
79 
85  virtual ~BaseParser() = default;
86 
98  virtual const std::string getMessageID() const = 0;
99 
110  template <typename SBFStructT>
111  T parseBinary(const SBFStructT& bin_msg) noexcept(false)
112  {
113  throw ParseException("ParseBinary not implemented.");
114  };
115 
126  virtual T parseASCII(const NMEASentence& sentence, const std::string& frame_id, bool use_gnss_time, Timestamp time_obj) noexcept(false)
127  {
128  throw ParseException("ParseASCII not implemented.");
129  };
130 };
131 
132 #endif // PARSER_BASE_CLASS_HPP
Struct to split an NMEA sentence into its ID and its body, the latter tokenized into a vector of stri...
T parseBinary(const SBFStructT &bin_msg) noexcept(false)
Converts bin_msg into a ROS message pointer (e.g. nmea_msgs::GpggaPtr) and returns it...
virtual const std::string getMessageID() const =0
Returns the ASCII message name.
virtual ~BaseParser()=default
Default destructor of the class BaseParser.
uint64_t Timestamp
Definition: typedefs.hpp:77
Declares a derived class of the class "std::runtime_error" for throwing error messages when parsing N...
BaseParser()=default
Default constructor of the class BaseParser.
Class to declare error message format when parsing, derived from the public class "std::runtime_error...
Declares utility functions used when parsing messages.
virtual T parseASCII(const NMEASentence &sentence, const std::string &frame_id, bool use_gnss_time, Timestamp time_obj) noexcept(false)
Converts an NMEA sentence - both standardized and proprietary ones - into a ROS message pointer (e...
Base class for parsing NMEA messages and SBF blocks.
Defines a struct NMEASentence, into which NMEA sentences - both standardized and proprietary ones - s...


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