gprmc.hpp

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// ROSaic includes
#include <septentrio_gnss_driver/parsers/parser_base_class.hpp>
#include <septentrio_gnss_driver/parsers/string_utilities.hpp>
// 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_;
};