.. _program_listing_file__tmp_ws_src_ublox_ublox_gps_include_ublox_gps_raw_data_pa.hpp:

Program Listing for File raw_data_pa.hpp
========================================

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

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

.. code-block:: cpp

   //==============================================================================
   // Copyright (c) 2019, Peter Weissig, TU Chemnitz
   // All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //     * Redistributions of source code must retain the above copyright
   //       notice, this list of conditions and the following disclaimer.
   //     * Redistributions in binary form must reproduce the above copyright
   //       notice, this list of conditions and the following disclaimer in the
   //       documentation and/or other materials provided with the distribution.
   //     * Neither the name of the Flight Systems and Automatic Control group,
   //       TU Darmstadt, nor the names of its contributors may be used to
   //       endorse or promote products derived from this software without
   //       specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND
   // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
   // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
   // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
   // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
   // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
   // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
   // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   //==============================================================================
   
   // This file is an addon from TUC-ProAut (https://github.com/TUC-ProAut/).
   // It was created to log all data from the ublox to a logfile and to publish
   // the data as ros messages. This is used by our group to also evaluate the
   // measured data with the rtklib.
   
   
   #ifndef UBLOX_GPS_RAW_DATA_PA_HPP
   #define UBLOX_GPS_RAW_DATA_PA_HPP
   
   // STL
   #include <fstream>
   #include <string>
   
   // ROS includes
   #include <rclcpp/rclcpp.hpp>
   
   // ROS messages
   #include <std_msgs/msg/u_int8_multi_array.hpp>
   
   namespace ublox_node {
   
   class RawDataStreamPa final : public rclcpp::Node {
    public:
   
     explicit RawDataStreamPa(bool is_ros_subscriber = false);
   
     void getRosParams();
   
     bool isEnabled();
   
     void initialize();
   
     void ubloxCallback(const unsigned char* data,
                        std::size_t size);
   
    private:
     void msgCallback(const std_msgs::msg::UInt8MultiArray::SharedPtr msg);
   
     std_msgs::msg::UInt8MultiArray str2uint8(const std::string & str);
   
     void publishMsg(const std::string & str);
   
     void saveToFile(const std::string & str);
   
     std::string file_dir_;
     std::string file_name_;
     std::ofstream file_handle_;
   
     bool flag_publish_;
   
     bool is_ros_subscriber_;
   
     rclcpp::Publisher<std_msgs::msg::UInt8MultiArray>::SharedPtr raw_pub_;
     rclcpp::Subscription<std_msgs::msg::UInt8MultiArray>::SharedPtr raw_data_stream_sub_;
   };
   
   }  // namespace ublox_node
   
   #endif