inspva.cpp

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#include <novatel_gps_driver/parsers/inspva.h>
#include <boost/make_shared.hpp>
#include <novatel_gps_driver/parsers/header.h>

const std::string novatel_gps_driver::InspvaParser::MESSAGE_NAME = "INSPVA";

uint32_t novatel_gps_driver::InspvaParser::GetMessageId() const
{
  return MESSAGE_ID;
}

const std::string novatel_gps_driver::InspvaParser::GetMessageName() const
{
  return MESSAGE_NAME;
}

novatel_gps_msgs::InspvaPtr
novatel_gps_driver::InspvaParser::ParseBinary(const novatel_gps_driver::BinaryMessage& bin_msg) noexcept(false)
{
  if (bin_msg.data_.size() != BINARY_LENGTH)
  {
    std::stringstream error;
    error << "Unexpected inspva message size: " << bin_msg.data_.size();
    throw ParseException(error.str());
  }
  novatel_gps_msgs::InspvaPtr ros_msg = boost::make_shared<novatel_gps_msgs::Inspva>();
  HeaderParser h_parser;
  ros_msg->novatel_msg_header = h_parser.ParseBinary(bin_msg);
  ros_msg->novatel_msg_header.message_name = GetMessageName();

  ros_msg->week = ParseUInt32(&bin_msg.data_[0]);
  ros_msg->seconds = ParseDouble(&bin_msg.data_[4]);
  ros_msg->latitude = ParseDouble(&bin_msg.data_[12]);
  ros_msg->longitude = ParseDouble(&bin_msg.data_[20]);
  ros_msg->height = ParseDouble(&bin_msg.data_[28]);
  ros_msg->north_velocity = ParseDouble(&bin_msg.data_[36]);
  ros_msg->east_velocity = ParseDouble(&bin_msg.data_[44]);
  ros_msg->up_velocity = ParseDouble(&bin_msg.data_[52]);
  ros_msg->roll = ParseDouble(&bin_msg.data_[60]);
  ros_msg->pitch = ParseDouble(&bin_msg.data_[68]);
  ros_msg->azimuth = ParseDouble(&bin_msg.data_[76]);
  uint32_t status = ParseUInt32(&bin_msg.data_[84]);

  switch (status)
  {
    case 0:
      ros_msg->status = "INS_INACTIVE";
      break;
    case 1:
      ros_msg->status = "INS_ALIGNING";
      break;
    case 2:
      ros_msg->status = "INS_HIGH_VARIANCE";
      break;
    case 3:
      ros_msg->status = "INS_SOLUTION_GOOD";
      break;
    case 6:
      ros_msg->status = "INS_SOLUTION_FREE";
      break;
    case 7:
      ros_msg->status = "INS_ALIGNMENT_COMPLETE";
      break;
    case 8:
      ros_msg->status = "DETERMINING_ORIENTATION";
      break;
    case 9:
      ros_msg->status = "WAITING_INITIALPOS";
      break;
    case 10:
      ros_msg->status = "WAITING_AZIMUTH";
      break;
    case 11:
      ros_msg->status = "INITIALIZING_BASES";
      break;
    case 12:
      ros_msg->status = "MOTION_DETECT";
      break;
    default:
    {
      std::stringstream error;
      error << "Unexpected inertial solution status: " << status;
      throw ParseException(error.str());
    }
  }

  return ros_msg;
}

novatel_gps_msgs::InspvaPtr
novatel_gps_driver::InspvaParser::ParseAscii(const novatel_gps_driver::NovatelSentence& sentence) noexcept(false)
{
  if (sentence.body.size() != ASCII_FIELDS)
  {
    std::stringstream error;
    error << "Unexpected number of fields in INSPVA log: " << sentence.body.size();
    throw ParseException(error.str());
  }
  novatel_gps_msgs::InspvaPtr msg = boost::make_shared<novatel_gps_msgs::Inspva>();
  HeaderParser h_parser;
  msg->novatel_msg_header = h_parser.ParseAscii(sentence);

  bool valid = true;

  valid &= ParseUInt32(sentence.body[0], msg->week);
  valid &= ParseDouble(sentence.body[1], msg->seconds);
  valid &= ParseDouble(sentence.body[2], msg->latitude);
  valid &= ParseDouble(sentence.body[3], msg->longitude);
  valid &= ParseDouble(sentence.body[4], msg->height);
  valid &= ParseDouble(sentence.body[5], msg->north_velocity);
  valid &= ParseDouble(sentence.body[6], msg->east_velocity);
  valid &= ParseDouble(sentence.body[7], msg->up_velocity);
  valid &= ParseDouble(sentence.body[8], msg->roll);
  valid &= ParseDouble(sentence.body[9], msg->pitch);
  valid &= ParseDouble(sentence.body[10], msg->azimuth);
  msg->status = sentence.body[11];

  if (!valid)
  {
    throw ParseException("Error parsing INSPVA log.");
  }

  return msg;
}