.. _program_listing_file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_esf_ubx_esf_meas.hpp:

Program Listing for File ubx_esf_meas.hpp
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_esf_ubx_esf_meas.hpp>` (``/tmp/ws/src/ublox_dgnss/ublox_dgnss_node/include/ublox_dgnss_node/ubx/esf/ubx_esf_meas.hpp``)

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

.. code-block:: cpp

   // Copyright 2023 Australian Robotics Supplies & Technology
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef UBLOX_DGNSS_NODE__UBX__ESF__UBX_ESF_MEAS_HPP_
   #define UBLOX_DGNSS_NODE__UBX__ESF__UBX_ESF_MEAS_HPP_
   
   #include <unistd.h>
   #include <memory>
   #include <tuple>
   #include <string>
   #include <vector>
   #include "ublox_dgnss_node/ubx/ubx.hpp"
   #include "ublox_dgnss_node/ubx/utils.hpp"
   #include "ublox_ubx_msgs/msg/ubx_esf_meas.hpp"
   
   namespace ubx::esf::meas
   {
   struct flags_t
   {
     union {
       x2_t all;
       struct
       {
         u8_t timeMarkSent : 2;
         bool timeMarkEdge : 1;
         bool calibTtagValid : 1;
         u8_t numMeas : 5;
       } bits;
     };
   };
   
   struct data_t
   {
     union {
       x4_t all;
       struct
       {
         u4_t dataField : 24;
         u8_t dataType : 6;
       } bits;
     };
   };
   
   
   class ESFMeasPayload : UBXPayload
   {
   public:
     static const msg_class_t MSG_CLASS = UBX_ESF;
     static const msg_id_t MSG_ID = UBX_ESF_MEAS;
   
     u4_t timeTag;        // ms - GPS Time of week of the navigation epoch.
     flags_t flags;
     u2_t id;
     std::vector<data_t> datum;
     u4_t calibTtags;    // number of sensors
   
   public:
     ESFMeasPayload()
     : UBXPayload(MSG_CLASS, MSG_ID)
     {
     }
     ESFMeasPayload(ch_t * payload_polled, u2_t size)
     : UBXPayload(MSG_CLASS, MSG_ID)
     {
       payload_.clear();
       payload_.reserve(size);
       payload_.resize(size);
       memcpy(payload_.data(), payload_polled, size);
       timeTag = buf_offset<u4_t>(&payload_, 0);
       flags = buf_offset<flags_t>(&payload_, 4);
       id = buf_offset<u2_t>(&payload_, 6);
   
       // data fields numMeas times
       uint numMeas = static_cast<uint>(flags.bits.numMeas);
       datum.clear();
       for (uint i = 0; i < numMeas; i++) {
         datum.push_back(buf_offset<data_t>(&payload_, 8 + (i * 4)));
       }
   
       // make sure the calibTTags are there
       if (flags.bits.calibTtagValid) {
         uint calibTtags_start = 8 + (numMeas * 4);
         calibTtags = buf_offset<u4_t>(&payload_, calibTtags_start);
       }
     }
   
     // this payload is used to poll for output from device
     std::tuple<u1_t *, size_t> make_poll_payload()
     {
       payload_.clear();
       return std::make_tuple(payload_.data(), payload_.size());
     }
   
     std::string to_string()
     {
       std::ostringstream oss;
       oss << "timeTag: " << +timeTag;
       oss << " timeMarkSent: " << +flags.bits.timeMarkSent;
       oss << " timeMarkEdge: " << +flags.bits.timeMarkEdge;
       oss << " calibTragValid: " << +flags.bits.calibTtagValid;
       oss << " numMeas: " << +flags.bits.numMeas;
       oss << " data: [";
   
       uint numMeas = static_cast<uint>(flags.bits.numMeas);
   
       for (uint i = 0; i < numMeas; i++) {
         if (i > 0) {oss << " |";}
         data_t & data = datum[i];
         oss << " field: " << +data.bits.dataField;
         oss << " type: " << +data.bits.dataType;
       }
       oss << " ]";
       oss << +calibTtags;
       if (flags.bits.calibTtagValid) {
         oss << " " << +calibTtags;
       }
   
       return oss.str();
     }
   };
   
   // this is the full payload - ubx_esf_meas has input & output
   // it is an exception to UBX where other cfg items are set via val set
   // it uses the local values to create the full payload
   class ESFMeasFullPayload : UBXPayload
   {
   public:
     static const msg_class_t MSG_CLASS = UBX_ESF;
     static const msg_id_t MSG_ID = UBX_ESF_MEAS;
   
     u4_t timeTag;        // ms - GPS Time of week of the navigation epoch.
     flags_t flags;
     u2_t id;
     std::vector<data_t> datum;
     u4_t calibTtag;    // number of sensors
   
   public:
     ESFMeasFullPayload()
     : UBXPayload(MSG_CLASS, MSG_ID)
     {
     }
   
     void load_from_msg(const ublox_ubx_msgs::msg::UBXEsfMeas & msg)
     {
       // assign number of measurements if 0 use data array size
       u8_t num_meas = msg.num_meas;
       if (num_meas == 0) {
         num_meas = msg.data.size();
       }
       timeTag = msg.time_tag;
       flags.bits.timeMarkSent = msg.time_mark_sent;
       flags.bits.timeMarkEdge = msg.time_mark_edge;
       flags.bits.calibTtagValid = msg.calib_ttag_valid;
       flags.bits.numMeas = num_meas;
       id = msg.id;
   
       data_t data;
       datum.clear();
       for (uint i = 0; i < msg.data.size(); i++) {
         data.bits.dataField = msg.data[i].data_field;
         data.bits.dataType = msg.data[i].data_type;
         datum.push_back(data);
       }
   
       if (msg.calib_ttag_valid) {
         calibTtag = msg.calib_ttag;
       } else {
         calibTtag = 0;
       }
     }
     // this payload is used as input to the device
     std::tuple<u1_t *, size_t> make_poll_payload()
     {
       payload_.clear();
   
       buf_append_u4(&payload_, timeTag);
       buf_append_x2(&payload_, flags.all);
       buf_append_u2(&payload_, id);
   
       auto numMeas = flags.bits.numMeas;
       for (uint i = 0; i < numMeas; i++) {
         buf_append_x4(&payload_, datum[i].all);
       }
   
       if (flags.bits.calibTtagValid) {
         buf_append_u4(&payload_, calibTtag);
       }
   
       return std::make_tuple(payload_.data(), payload_.size());
     }
   
     std::string to_string()
     {
       std::ostringstream oss;
       oss << "timeTag: " << +timeTag;
       oss << " timeMarkSent: " << +flags.bits.timeMarkSent;
       oss << " timeMarkEdge: " << +flags.bits.timeMarkEdge;
       oss << " calibTragValid: " << +flags.bits.calibTtagValid;
       oss << " numMeas: " << +flags.bits.numMeas;
       oss << " data: [";
   
       uint numMeas = static_cast<uint>(flags.bits.numMeas);
   
       for (uint i = 0; i < numMeas; i++) {
         if (i > 0) {oss << " |";}
         data_t & data = datum[i];
         oss << " field: " << +data.bits.dataField;
         oss << " type: " << +data.bits.dataType;
       }
       oss << " ]";
   
       if (flags.bits.calibTtagValid) {
         oss << " calibTtag: " << +calibTtag;
       }
   
       return oss.str();
     }
   };
   
   }  // namespace ubx::esf::meas
   #endif  // UBLOX_DGNSS_NODE__UBX__ESF__UBX_ESF_MEAS_HPP_