.. _program_listing_file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_rxm_ubx_rxm_rtcm.hpp:

Program Listing for File ubx_rxm_rtcm.hpp
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_rxm_ubx_rxm_rtcm.hpp>` (``/tmp/ws/src/ublox_dgnss/ublox_dgnss_node/include/ublox_dgnss_node/ubx/rxm/ubx_rxm_rtcm.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__RXM__UBX_RXM_RTCM_HPP_
   #define UBLOX_DGNSS_NODE__UBX__RXM__UBX_RXM_RTCM_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::rxm::rtcm
   {
   
   enum msg_used_t : u1_t {rtcm_used = 2, rtcm_failed = 1, rtcm_unknown = 0};
   
   struct flags_t
   {
     union {
       x1_t all;
       struct
       {
         l_t crcFailed : 1;
         msg_used_t msgUsed : 2;
       } bits;
     };
   };
   
   class RxmRTCMPayload : UBXPayload
   {
   public:
     static const msg_class_t MSG_CLASS = UBX_RXM;
     static const msg_id_t MSG_ID = UBX_RXM_RTCM;
   
     u1_t version;     // message version (0x02 for this version)
     flags_t flags;    // RTCM input status flags
     u2_t subType;     // only applicable to u-blox proprietary RTCM message 4072
     u2_t refStation;  // reference station id
     u2_t msgType;     // message type
   
   public:
     RxmRTCMPayload()
     : UBXPayload(MSG_CLASS, MSG_ID)
     {
     }
     RxmRTCMPayload(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);
       version = buf_offset<u1_t>(&payload_, 0);
       flags = buf_offset<flags_t>(&payload_, 1);
       subType = buf_offset<u2_t>(&payload_, 2);
       refStation = buf_offset<u2_t>(&payload_, 4);
       msgType = buf_offset<u2_t>(&payload_, 6);
     }
     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 << "version: " << +version;
       oss << " crcFailed: " << +flags.bits.crcFailed;
       oss << " msgUsed: " << +flags.bits.msgUsed;
       oss << " subType: " << +subType;
       oss << " refStation: " << +refStation;
       oss << " msgType: " << +msgType;
       return oss.str();
     }
   };
   }  // namespace ubx::rxm::rtcm
   #endif  // UBLOX_DGNSS_NODE__UBX__RXM__UBX_RXM_RTCM_HPP_