Program Listing for File ublox_firmware.hpp

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#ifndef UBLOX_GPS_UBLOX_FIRMWARE_HPP
#define UBLOX_GPS_UBLOX_FIRMWARE_HPP

#include <memory>

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

#include <ublox_gps/component_interface.hpp>
#include <ublox_gps/gnss.hpp>

// This file declares UbloxFirmware is an abstract class which implements
// ComponentInterface and functions generic to all firmware (such as the
// initializing the fix diagnostics).

namespace ublox_node {

class UbloxFirmware : public virtual ComponentInterface {
 public:
  constexpr static uint32_t kNavSvInfoSubscribeRate = 20;

  explicit UbloxFirmware(std::shared_ptr<diagnostic_updater::Updater> updater, std::shared_ptr<Gnss> gnss, rclcpp::Node* node);

  void initializeRosDiagnostics() override;

 protected:
  virtual void fixDiagnostic(
      diagnostic_updater::DiagnosticStatusWrapper& stat) = 0;

  std::shared_ptr<diagnostic_updater::Updater> updater_;
  std::shared_ptr<Gnss> gnss_;
  int fix_status_service_{0};
  rclcpp::Node* node_;
};

}  // namespace ublox_node

#endif  // UBLOX_GPS_UBLOX_FIRMWARE_HPP