Program Listing for File message_handler.hpp

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#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