.. _program_listing_file__tmp_ws_src_septentrio_gnss_driver_include_septentrio_gnss_driver_communication_message_handler.hpp:

Program Listing for File message_handler.hpp
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|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_septentrio_gnss_driver_include_septentrio_gnss_driver_communication_message_handler.hpp>` (``/tmp/ws/src/septentrio_gnss_driver/include/septentrio_gnss_driver/communication/message_handler.hpp``)

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.. code-block:: cpp

   // *****************************************************************************
   //
   // © Copyright 2020, Septentrio NV/SA.
   // All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //    1. Redistributions of source code must retain the above copyright
   //       notice, this list of conditions and the following disclaimer.
   //    2. 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.
   //    3. Neither the name of the copyright holder 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 THE COPYRIGHT HOLDER OR CONTRIBUTORS 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.
   //
   // *****************************************************************************
   
   // *****************************************************************************
   //
   // Boost Software License - Version 1.0 - August 17th, 2003
   //
   // Permission is hereby granted, free of charge, to any person or organization
   // obtaining a copy of the software and accompanying documentation covered by
   // this license (the "Software") to use, reproduce, display, distribute,
   // execute, and transmit the Software, and to prepare derivative works of the
   // Software, and to permit third-parties to whom the Software is furnished to
   // do so, all subject to the following:
   
   // The copyright notices in the Software and this entire statement, including
   // the above license grant, this restriction and the following disclaimer,
   // must be included in all copies of the Software, in whole or in part, and
   // all derivative works of the Software, unless such copies or derivative
   // works are solely in the form of machine-executable object code generated by
   // a source language processor.
   //
   // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
   // FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
   // SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
   // FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
   // ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
   // DEALINGS IN THE SOFTWARE.
   //
   // *****************************************************************************
   
   #pragma once
   
   // C++ libraries
   #include <cassert> // for assert
   #include <cstddef>
   #include <map>
   #include <sstream>
   // Boost includes
   #include <boost/call_traits.hpp>
   #include <boost/format.hpp>
   #include <boost/math/constants/constants.hpp>
   #include <boost/tokenizer.hpp>
   // ROSaic includes
   #include <septentrio_gnss_driver/abstraction/typedefs.hpp>
   #include <septentrio_gnss_driver/communication/telegram.hpp>
   #include <septentrio_gnss_driver/crc/crc.hpp>
   #include <septentrio_gnss_driver/parsers/nmea_parsers/gpgga.hpp>
   #include <septentrio_gnss_driver/parsers/nmea_parsers/gpgsa.hpp>
   #include <septentrio_gnss_driver/parsers/nmea_parsers/gpgsv.hpp>
   #include <septentrio_gnss_driver/parsers/nmea_parsers/gprmc.hpp>
   #include <septentrio_gnss_driver/parsers/string_utilities.hpp>
   
   enum TypeOfPVT_Enum
   {
       evNoPVT,
       evStandAlone,
       evDGPS,
       evFixed,
       evRTKFixed,
       evRTKFloat,
       evSBAS,
       evMovingBaseRTKFixed,
       evMovingBaseRTKFloat,
       evPPP
   };
   
   enum SbfId
   {
       PVT_CARTESIAN = 4006,
       PVT_GEODETIC = 4007,
       BASE_VECTOR_CART = 4043,
       BASE_VECTOR_GEOD = 4028,
       POS_COV_CARTESIAN = 5905,
       POS_COV_GEODETIC = 5906,
       ATT_EULER = 5938,
       ATT_COV_EULER = 5939,
       CHANNEL_STATUS = 4013,
       MEAS_EPOCH = 4027,
       DOP = 4001,
       VEL_COV_CARTESIAN = 5907,
       VEL_COV_GEODETIC = 5908,
       RECEIVER_STATUS = 4014,
       QUALITY_IND = 4082,
       RECEIVER_SETUP = 5902,
       INS_NAV_CART = 4225,
       INS_NAV_GEOD = 4226,
       EXT_EVENT_INS_NAV_GEOD = 4230,
       EXT_EVENT_INS_NAV_CART = 4229,
       IMU_SETUP = 4224,
       VEL_SENSOR_SETUP = 4244,
       EXT_SENSOR_MEAS = 4050,
       RECEIVER_TIME = 5914,
       GAL_AUTH_STATUS = 4245,
       RF_STATUS = 4092
   };
   
   namespace io {
   
       class MessageHandler
       {
       public:
           MessageHandler(ROSaicNodeBase* node) :
               node_(node), settings_(node->settings()), unix_time_(0)
           {
           }
   
           void setLeapSeconds()
           {
               // set leap seconds to paramter if reading from file
               if (settings_->read_from_sbf_log || settings_->read_from_pcap)
                   current_leap_seconds_ = settings_->leap_seconds;
           }
   
           void parseSbf(const std::shared_ptr<Telegram>& telegram);
   
           void parseNmea(const std::shared_ptr<Telegram>& telegram);
   
       private:
           template <typename T>
           void assembleHeader(const std::string& frameId,
                               const std::shared_ptr<Telegram>& telegram, T& msg) const;
           template <typename M>
           void publish(const std::string& topic, const M& msg);
   
           void publishTf(const LocalizationMsg& msg);
   
           ROSaicNodeBase* node_;
   
           const Settings* settings_;
   
           std::unordered_map<std::string, uint8_t> nmeaMap_{
               {"$GPGGA", 0}, {"$INGGA", 0}, {"$GPRMC", 1}, {"$INRMC", 1},
               {"$GPGSA", 2}, {"$INGSA", 2}, {"$GAGSV", 3}, {"$INGSV", 3}};
   
           PVTGeodeticMsg last_pvtgeodetic_;
   
           PosCovGeodeticMsg last_poscovgeodetic_;
   
           AttEulerMsg last_atteuler_;
   
           AttCovEulerMsg last_attcoveuler_;
   
           INSNavGeodMsg last_insnavgeod_;
   
           INSNavCartMsg last_insnavcart_;
   
           ExtSensorMeasMsg last_extsensmeas_;
   
           ChannelStatus last_channelstatus_;
   
           MeasEpochMsg last_measepoch_;
   
           Dop last_dop_;
   
           VelCovGeodeticMsg last_velcovgeodetic_;
   
           ReceiverStatus last_receiverstatus_;
   
           QualityInd last_qualityind_;
   
           ReceiverSetup last_receiversetup_;
   
           GalAuthStatusMsg last_gal_auth_status_;
   
           bool osnma_info_available_ = false;
   
           RfStatusMsg last_rf_status_;
   
           Timestamp unix_time_;
   
           mutable uint64_t last_pvt_latency_ = 0;
   
           int32_t current_leap_seconds_ = -128;
   
           void assembleNavSatFix();
   
           void assembleGpsFix();
   
           void assemblePoseWithCovarianceStamped();
   
           void assembleDiagnosticArray(const std::shared_ptr<Telegram>& telegram);
   
           void assembleOsnmaDiagnosticArray();
   
           void assembleAimAndDiagnosticArray();
   
           void assembleImu();
   
           void assembleLocalizationUtm();
   
           void assembleLocalizationEcef();
   
           void assembleLocalizationMsgTwist(double roll, double pitch, double yaw,
                                             LocalizationMsg& msg) const;
   
           void assembleTwist(bool fromIns = false);
   
           void assembleTimeReference(const std::shared_ptr<Telegram>& telegram);
   
           void wait(Timestamp time_obj);
   
           std::shared_ptr<std::string> fixedUtmZone_;
   
           Timestamp timestampSBF(const std::vector<uint8_t>& message) const;
   
           Timestamp timestampSBF(uint32_t tow, uint16_t wnc) const;
       };
   } // namespace io