.. _program_listing_file__tmp_ws_src_ublox_ublox_gps_include_ublox_gps_hpg_ref_product.hpp:

Program Listing for File hpg_ref_product.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ublox_ublox_gps_include_ublox_gps_hpg_ref_product.hpp>` (``/tmp/ws/src/ublox/ublox_gps/include/ublox_gps/hpg_ref_product.hpp``)

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

.. code-block:: cpp

   #ifndef UBLOX_GPS_HPG_REF_PRODUCT_HPP
   #define UBLOX_GPS_HPG_REF_PRODUCT_HPP
   
   #include <memory>
   #include <vector>
   
   #include <diagnostic_updater/diagnostic_updater.hpp>
   #include <rclcpp/rclcpp.hpp>
   
   #include <ublox_msgs/msg/nav_svin.hpp>
   
   #include <ublox_gps/component_interface.hpp>
   #include <ublox_gps/gps.hpp>
   #include <ublox_gps/rtcm.hpp>
   
   namespace ublox_node {
   
   class HpgRefProduct: public virtual ComponentInterface {
    public:
     constexpr static uint16_t kDefaultMeasPeriod = 250;
   
     explicit HpgRefProduct(uint16_t nav_rate, uint16_t meas_rate, std::shared_ptr<diagnostic_updater::Updater> updater, std::vector<ublox_gps::Rtcm> rtcms, rclcpp::Node* node);
   
     void getRosParams() override;
   
     bool configureUblox(std::shared_ptr<ublox_gps::Gps> gps) override;
   
     void initializeRosDiagnostics() override;
   
     void subscribe(std::shared_ptr<ublox_gps::Gps> gps) override;
   
     void callbackNavSvIn(const ublox_msgs::msg::NavSVIN& m);
   
    protected:
     void tmode3Diagnostics(diagnostic_updater::DiagnosticStatusWrapper& stat);
   
     bool setTimeMode(std::shared_ptr<ublox_gps::Gps> gps);
   
     ublox_msgs::msg::NavSVIN last_nav_svin_;
   
     uint8_t tmode3_;
   
     // TMODE3 = Fixed mode settings
   
     bool lla_flag_;
   
     std::vector<double> arp_position_;
   
     std::vector<int8_t> arp_position_hp_;
   
     float fixed_pos_acc_;
   
     // Settings for TMODE3 = Survey-in
   
     bool svin_reset_;
   
     uint32_t sv_in_min_dur_;
   
     float sv_in_acc_lim_;
   
     enum {
       INIT, 
       FIXED, 
       DISABLED, 
       SURVEY_IN, 
       TIME 
     } mode_{INIT};
   
     rclcpp::Publisher<ublox_msgs::msg::NavSVIN>::SharedPtr navsvin_pub_;
   
     uint16_t nav_rate_;
     uint16_t meas_rate_;
     std::shared_ptr<diagnostic_updater::Updater> updater_;
   
     std::vector<ublox_gps::Rtcm> rtcms_;
     std::shared_ptr<ublox_gps::Gps> gps_;
     rclcpp::Node* node_;
   };
   
   }  // namespace ublox_node
   
   #endif  // UBLOX_GPS_HPG_REF_PRODUCT_HPP