.. _program_listing_file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_nav_ubx_nav_pvt.hpp:

Program Listing for File ubx_nav_pvt.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_pvt.hpp>` (``/tmp/ws/src/ublox_dgnss/ublox_dgnss_node/include/ublox_dgnss_node/ubx/nav/ubx_nav_pvt.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_PVT_HPP_
   #define UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_PVT_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::pvt
   {
   
   struct validity_flags_t
   {
     union {
       x1_t all;
       struct
       {
         l_t validDate : 1;                  // 1 = valid UTC date
         l_t validTime : 1;                  // 1 = valid UTC time of day
         l_t fullyResolved : 1;              // 1 = UTC Time of day has been fully resolved
                                             // (no seconds uncertainty)
         l_t validMag : 1;                   // 1 = valid magnetic declination
       } bits;
     };
   };
   
   enum gnss_fix_t : u1_t {gnss_no_fix = 0, gnss_dead_reackoning_only = 1, gnss_fix_2d = 2,
     gnss_fix_3d = 3,
     gnss_plus_dead_reackoning = 4, gnss_time_only = 5};
   
   
   enum psm_state_pvt_t : u1_t {not_active = 0, enabled = 1, acquisition = 2, tracking = 3,
     power_optimized_tracking = 4, inactive = 5};
   
   
   enum pvt_carrier_solution_status_t : u1_t {no_carrier_range_solution = 0,
     carrier_phase_solution_with_floating_ambiguities = 1,
     carrier_phase_solution_with_fixed_ambiguities = 2 };
   
   struct gnss_fix_status_flags_t
   {
     union {
       x1_t all;
       struct
       {
         l_t gnssFixOK : 1;                  // 1 = valid fix (ie within DOP & accruacy masks)
         l_t diffSoln : 1;                   // 1 = differential corrections were applied
         psm_state_pvt_t psmState : 3;       // power save mode state
         l_t headVehValid : 1;               // 1 = heading of vehicle is valid,
                                             // only set if the receiver is in sensor fusion mode
         pvt_carrier_solution_status_t carrSoln : 2;  // carrier phase range solution status
       } bits;
     };
   };
   
   struct additional_flags_1_t
   {
     union {
       x1_t all;
       struct
       {
         l_t confirmedAvailable : 1;          // 1 = information about UTC date and time of day
                                              //     validity confirmation is available
         l_t confirmedDate : 1;               // 1 = UTC Date validity could be confirmed
         l_t confirmedTime : 1;               // 1 = UTC Time of Day validity could be confirmed
       } bits;
     };
   };
   
   struct additional_flags_2_t
   {
     union {
       x1_t all;
       struct
       {
         l_t invalidLLH : 1;                   // 1 = invalid lon, lat, height, hMSL
       } bits;
     };
   };
   
   class NavPvtPayload : UBXPayload
   {
   public:
     static const msg_class_t MSG_CLASS = UBX_NAV;
     static const msg_id_t MSG_ID = UBX_NAV_PVT;
   
     u4_t iTOW;      // ms - GPS Time of week of the navigation epoch.
     u2_t year;     // y - year utc
     u1_t month;     // month - month utc
     u1_t day;     // d -day utc
     u1_t hour;     // h - hour utc
     u1_t min;     // mon - min utc
     u1_t sec;     // s - sec utc
     validity_flags_t valid;     // validity flags
     u4_t tAcc;     // ns - time accuracy estimate (utc)
     i4_t nano;     // ns - fraction of second, range -1e9 to 1e9 (utc)
     gnss_fix_t fixType;     // GNSSFix type
     gnss_fix_status_flags_t flags;     // fix status flags
     additional_flags_1_t flags2;     // additional flags
     u1_t numSV;     // Number of satellites used in Nav Solution
     i4_t lon;     // deg scale ie-7 - longitude
     i4_t lat;     // deg scale ie-7 - latitude
     i4_t height;     // mm - Height above ellipsoid
     i4_t hMSL;     // mm - Height above mean sea level
     u4_t hAcc;     // mm - Horizontal accuracy estimate
     u4_t vAcc;     // mm - Vertical accuracy estimate
     i4_t velN;     // mm/s - NED north velocity
     i4_t velE;     // mm/s - NED east velocity
     i4_t velD;     // mm/s - NED down velocity
     i4_t gSpeed;     // mm/s - ground speed (2-D)
     i4_t headMot;     // deg scale ie-5 - heading of motion (2-D)
     u4_t sAcc;     // mm/s - speed accuracy estimate
     u4_t headAcc;     // deg scale ie-5 - heading accruracy estime (both motion and vehicle)
     u2_t pDOP;     // scale 0.01 - Position DOP
     additional_flags_2_t flags3;     // additional flags
     u1_t reserved0[5];     // reserved
     i4_t headVeh;     // deg scale 1e-5 - Heading of vehicle (2-D),
                       // this is only valid when headVehValid is set,
                       // otherwise the output is set to the heading of motion
     i2_t magDec;     // deg scale 1e-2 - Magnetic declination. Only supported in ADR 4.10 and later
     u2_t magAcc;     // deg scale ie-2 - Mangetic declination accuracy.
                      // Only supported in ADR 4.10 and later
   
   public:
     NavPvtPayload()
     : UBXPayload(MSG_CLASS, MSG_ID)
     {
     }
     NavPvtPayload(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);
       year = buf_offset<u2_t>(&payload_, 4);
       month = buf_offset<u1_t>(&payload_, 6);
       day = buf_offset<u1_t>(&payload_, 7);
       hour = buf_offset<u1_t>(&payload_, 8);
       min = buf_offset<u1_t>(&payload_, 9);
       sec = buf_offset<u1_t>(&payload_, 10);
       valid.all = buf_offset<x1_t>(&payload_, 11);
       tAcc = buf_offset<u4_t>(&payload_, 12);
       nano = buf_offset<i4_t>(&payload_, 16);
       fixType = buf_offset<gnss_fix_t>(&payload_, 20);
       flags = buf_offset<gnss_fix_status_flags_t>(&payload_, 21);
       flags2 = buf_offset<additional_flags_1_t>(&payload_, 22);
       numSV = buf_offset<u1_t>(&payload_, 23);
       lon = buf_offset<i4_t>(&payload_, 24);
       lat = buf_offset<i4_t>(&payload_, 28);
       height = buf_offset<i4_t>(&payload_, 32);
       hMSL = buf_offset<i4_t>(&payload_, 36);
       hAcc = buf_offset<u4_t>(&payload_, 40);
       vAcc = buf_offset<u4_t>(&payload_, 44);
       velN = buf_offset<i4_t>(&payload_, 48);
       velE = buf_offset<i4_t>(&payload_, 52);
       velD = buf_offset<i4_t>(&payload_, 56);
       gSpeed = buf_offset<i4_t>(&payload_, 60);
       headMot = buf_offset<i4_t>(&payload_, 64);
       sAcc = buf_offset<u4_t>(&payload_, 68);
       headAcc = buf_offset<u4_t>(&payload_, 72);
       pDOP = buf_offset<u2_t>(&payload_, 76);
       flags3 = buf_offset<additional_flags_2_t>(&payload_, 78);
       headVeh = buf_offset<i4_t>(&payload_, 84);
       magDec = buf_offset<i2_t>(&payload_, 88);
       magAcc = buf_offset<u2_t>(&payload_, 90);
     }
     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 << std::setfill('0');
       oss << " date time: " << std::setw(2) << +year << "/" << std::setw(2) << +month << "/" <<
         std::setw(2) << +day;
       oss << " " << std::setw(2) << +hour << ":" << std::setw(2) << +min << ":" << std::setw(2) <<
         +sec;
       oss << " validDate: " << +valid.bits.validDate;
       oss << " validTime: " << +valid.bits.validTime;
       oss << " fullyResolved: " << +valid.bits.fullyResolved;
       oss << " validMag: " << +valid.bits.validMag;
       oss << " tAcc: " << +tAcc;
       oss << " nano: " << +nano;
       oss << " fixType: " << +fixType;
       oss << " gnssFixOK:" << +flags.bits.gnssFixOK;
       oss << " diffSoln:" << +flags.bits.diffSoln;
       oss << " psmState:" << +flags.bits.psmState;
       oss << " headVehValid:" << +flags.bits.headVehValid;
       oss << " carrSoln:" << +flags.bits.carrSoln;
       oss << " confirmedAvailable: " << +flags2.bits.confirmedAvailable;
       oss << " confirmedDate: " << +flags2.bits.confirmedDate;
       oss << " confirmedTime: " << +flags2.bits.confirmedTime;
       oss << " numSV: " << +numSV;
       oss << std::fixed;
       oss << std::setprecision(7);
       oss << " lon: " << +lon << " " << lon * 1e-7;
       oss << " lat: " << +lat << " " << lat * 1e-7;
       oss << std::setprecision(0);
       oss << " height: " << +height;
       oss << " hMSL: " << +hMSL;
       oss << " hAcc: " << +hAcc;
       oss << " vAcc: " << +vAcc;
       oss << " velN: " << +velN;
       oss << " velE: " << +velE;
       oss << " velD: " << +velD;
       oss << " gSpeed: " << +gSpeed;
       oss << std::setprecision(5);
       oss << " headMot: " << +headMot * 1e-5;
       oss << std::setprecision(0);
       oss << " sAcc: " << +sAcc;
       oss << std::setprecision(5);
       oss << " headAcc: " << +headAcc * 1e-5;
       oss << std::setprecision(2);
       oss << " pDOP: " << +pDOP * 0.01;
       oss << std::setprecision(0);
       oss << " invalidLlh: " << +flags3.bits.invalidLLH;
       oss << std::setprecision(5);
       oss << " headVeh: " << +headVeh * 1e-5;
       oss << std::setprecision(2);
       oss << " magDec: " << +magDec * 1e-2;
       oss << " magAcc: " << +magAcc * 1e-2;
   
       return oss.str();
     }
   };
   }    // namespace ubx::nav::pvt
   #endif  // UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_PVT_HPP_