.. _program_listing_file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_nav_ubx_nav_clock.hpp:

Program Listing for File ubx_nav_clock.hpp
==========================================

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

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

.. code-block:: cpp

   // Copyright 2021 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__NAV__UBX_NAV_CLOCK_HPP_
   #define UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_CLOCK_HPP_
   
   #include <unistd.h>
   #include <memory>
   #include <tuple>
   #include <string>
   #include "ublox_dgnss_node/ubx/ubx.hpp"
   #include "ublox_dgnss_node/ubx/utils.hpp"
   
   namespace ubx::nav::clock
   {
   class NavClockPayload : UBXPayload
   {
   public:
     static const msg_class_t MSG_CLASS = UBX_NAV;
     static const msg_id_t MSG_ID = UBX_NAV_CLOCK;
   
     u4_t iTOW;      // ms - GPS Time of week of the navigation epoch.
     i4_t clkB;      // ns - Clock bias
     i4_t clkD;      // ns/s - Clock drift
     u4_t tAcc;      // ns - Time accuracy estimate
     u4_t fAcc;      // ps/s - Frequency accuracy estimate
   
   public:
     NavClockPayload()
     : UBXPayload(MSG_CLASS, MSG_ID)
     {
     }
     NavClockPayload(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);
       iTOW = buf_offset<u4_t>(&payload_, 0);
       clkB = buf_offset<i4_t>(&payload_, 4);
       clkD = buf_offset<i4_t>(&payload_, 8);
       tAcc = buf_offset<i4_t>(&payload_, 12);
       fAcc = buf_offset<u4_t>(&payload_, 16);
     }
     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 << "iTOW: " << iTOW;
       oss << " clkB: " << clkB;
       oss << " clkD: " << clkD;
       oss << " tAcc: " << tAcc;
       oss << " fAcc: " << fAcc;
       return oss.str();
     }
   };
   }  // namespace ubx::nav::clock
   #endif  // UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_CLOCK_HPP_