Program Listing for File raw_data_product.hpp

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#ifndef UBLOX_GPS_RAW_DATA_PRODUCT_HPP
#define UBLOX_GPS_RAW_DATA_PRODUCT_HPP

#include <memory>
#include <vector>

#include <diagnostic_updater/diagnostic_updater.hpp>
#include <rclcpp/rclcpp.hpp>

#include <ublox_msgs/msg/rxm_alm.hpp>
#include <ublox_msgs/msg/rxm_eph.hpp>
#include <ublox_msgs/msg/rxm_raw.hpp>
#include <ublox_msgs/msg/rxm_sfrb.hpp>

#include <ublox_gps/component_interface.hpp>
#include <ublox_gps/gps.hpp>
#include <ublox_gps/ublox_topic_diagnostic.hpp>

namespace ublox_node {

class RawDataProduct final : public virtual ComponentInterface {
 public:
  const double kRtcmFreqTol = 0.15;
  const int kRtcmFreqWindow = 25;

  explicit RawDataProduct(uint16_t nav_rate, uint16_t meas_rate, std::shared_ptr<diagnostic_updater::Updater> updater, rclcpp::Node* node);

  void getRosParams() override {}

  bool configureUblox(std::shared_ptr<ublox_gps::Gps> gps) override {
    (void)gps;
    return true;
  }

  void initializeRosDiagnostics() override;

  void subscribe(std::shared_ptr<ublox_gps::Gps> gps) override;

 private:
  std::vector<std::shared_ptr<UbloxTopicDiagnostic> > freq_diagnostics_;

  rclcpp::Publisher<ublox_msgs::msg::RxmRAW>::SharedPtr rxm_raw_pub_;
  rclcpp::Publisher<ublox_msgs::msg::RxmSFRB>::SharedPtr rxm_sfrb_pub_;
  rclcpp::Publisher<ublox_msgs::msg::RxmEPH>::SharedPtr rxm_eph_pub_;
  rclcpp::Publisher<ublox_msgs::msg::RxmALM>::SharedPtr rxm_alm_pub_;

  uint16_t nav_rate_;
  uint16_t meas_rate_;
  std::shared_ptr<diagnostic_updater::Updater> updater_;
  rclcpp::Node* node_;
};

}  // namespace ublox_node

#endif  // UBLOX_GPS_RAW_DATA_PRODUCT_HPP