.. _program_listing_file__tmp_ws_src_novatel_gps_driver_novatel_gps_driver_include_novatel_gps_driver_binary_header.h:

Program Listing for File binary_header.h
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_novatel_gps_driver_novatel_gps_driver_include_novatel_gps_driver_binary_header.h>` (``/tmp/ws/src/novatel_gps_driver/novatel_gps_driver/include/novatel_gps_driver/binary_header.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // *****************************************************************************
   //
   // Copyright (c) 2019, Southwest Research Institute® (SwRI®)
   // All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //     * Redistributions of source code must retain the above copyright
   //       notice, this list of conditions and the following disclaimer.
   //     * Redistributions in binary form must reproduce the above copyright
   //       notice, this list of conditions and the following disclaimer in the
   //       documentation and/or other materials provided with the distribution.
   //     * Neither the name of Southwest Research Institute® (SwRI®) nor the
   //       names of its contributors may be used to endorse or promote products
   //       derived from this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL SOUTHWEST RESEARCH INSTITUTE BE LIABLE FOR ANY
   // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
   // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
   // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
   // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
   // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   //
   // *****************************************************************************
   
   #ifndef NOVATEL_GPS_DRIVER_BINARY_HEADER_H
   #define NOVATEL_GPS_DRIVER_BINARY_HEADER_H
   
   #include <cstdint>
   
   #include <novatel_gps_driver/parsers/parsing_utils.h>
   
   namespace novatel_gps_driver
   {
     struct BinaryHeader
     {
       BinaryHeader() :
           sync0_(0xAA),
           sync1_(0x44),
           sync2_(0x12),
           header_length_(0),
           message_id_(0),
           message_type_(0),
           port_address_(0),
           message_length_(0),
           sequence_(0),
           idle_time_(0),
           time_status_(0),
           week_(0),
           gps_ms_(0),
           receiver_status_(0),
           reserved_(0),
           receiver_sw_version_(0)
       {}
   
       uint8_t sync0_;
       uint8_t sync1_;
       uint8_t sync2_;
       uint8_t header_length_;
       uint16_t message_id_;
       int8_t message_type_;
       uint8_t port_address_;
       uint16_t message_length_;
       uint16_t sequence_;
       uint8_t idle_time_;
       uint8_t time_status_;
       uint16_t week_;
       uint32_t gps_ms_;
       uint32_t receiver_status_;
       uint16_t reserved_;
       uint16_t receiver_sw_version_;
   
       void ParseHeader(const uint8_t* data)
       {
         sync0_ = data[0];
         sync1_ = data[1];
         sync2_ = data[2];
         header_length_ = data[3];
         message_id_ = ParseUInt16(&data[4]);
         message_type_ = data[6];
         port_address_ = data[7];
         message_length_ = ParseUInt16(&data[8]);
         sequence_ = ParseUInt16(&data[10]);
         idle_time_ = data[12];
         time_status_ = data[13];
         week_ = ParseUInt16(&data[14]);
         gps_ms_ = ParseUInt32(&data[16]);
         receiver_status_ = ParseUInt32(&data[20]);
         receiver_sw_version_ = ParseUInt16(&data[26]);
       }
     };
   }
   #endif //NOVATEL_GPS_DRIVER_BINARY_HEADER_H