insstdev.cpp
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29 
32 #include <boost/make_shared.hpp>
33 
34 const std::string novatel_gps_driver::InsstdevParser::MESSAGE_NAME = "INSSTDEV";
35 
37 {
38  return MESSAGE_ID;
39 }
40 
42 {
43  return MESSAGE_NAME;
44 }
45 
46 novatel_gps_msgs::InsstdevPtr
48 {
49  if (bin_msg.data_.size() != BINARY_LENGTH)
50  {
51  std::stringstream error;
52  error << "Unexpected INSSTDEV message size: " << bin_msg.data_.size();
53  throw ParseException(error.str());
54  }
55  novatel_gps_msgs::InsstdevPtr ros_msg = boost::make_shared<novatel_gps_msgs::Insstdev>();
56  HeaderParser h_parser;
57  ros_msg->novatel_msg_header = h_parser.ParseBinary(bin_msg);
58  ros_msg->novatel_msg_header.message_name = GetMessageName();
59  ros_msg->latitude_dev = ParseFloat(&bin_msg.data_[0]);
60  ros_msg->latitude_dev = ParseFloat(&bin_msg.data_[4]);
61  ros_msg->height_dev = ParseFloat(&bin_msg.data_[8]);
62  ros_msg->north_velocity_dev = ParseFloat(&bin_msg.data_[12]);
63  ros_msg->east_velocity_dev = ParseFloat(&bin_msg.data_[16]);
64  ros_msg->up_velocity_dev = ParseFloat(&bin_msg.data_[20]);
65  ros_msg->roll_dev = ParseFloat(&bin_msg.data_[24]);
66  ros_msg->pitch_dev = ParseFloat(&bin_msg.data_[28]);
67  ros_msg->azimuth_dev = ParseFloat(&bin_msg.data_[32]);
68  uint32_t status = ParseUInt32(&bin_msg.data_[36]);
69  GetExtendedSolutionStatusMessage(status, ros_msg->extended_solution_status);
70  ros_msg->time_since_update = ParseUInt16(&bin_msg.data_[40]);
71 
72  return ros_msg;
73 }
74 
75 novatel_gps_msgs::InsstdevPtr
77 {
78  if (sentence.body.size() != ASCII_FIELDS)
79  {
80  std::stringstream error;
81  error << "Unexpected number of fields in INSSTDEV log: " << sentence.body.size();
82  throw ParseException(error.str());
83  }
84  novatel_gps_msgs::InsstdevPtr msg = boost::make_shared<novatel_gps_msgs::Insstdev>();
85  HeaderParser h_parser;
86  msg->novatel_msg_header = h_parser.ParseAscii(sentence);
87 
88  bool valid = true;
89 
90  valid &= ParseFloat(sentence.body[0], msg->latitude_dev);
91  valid &= ParseFloat(sentence.body[1], msg->longitude_dev);
92  valid &= ParseFloat(sentence.body[2], msg->height_dev);
93  valid &= ParseFloat(sentence.body[3], msg->north_velocity_dev);
94  valid &= ParseFloat(sentence.body[4], msg->east_velocity_dev);
95  valid &= ParseFloat(sentence.body[5], msg->up_velocity_dev);
96  valid &= ParseFloat(sentence.body[6], msg->roll_dev);
97  valid &= ParseFloat(sentence.body[7], msg->pitch_dev);
98  valid &= ParseFloat(sentence.body[8], msg->azimuth_dev);
99  uint32_t status;
100  valid &= ParseUInt32(sentence.body[9], status);
101  GetExtendedSolutionStatusMessage(status, msg->extended_solution_status);
102 
103  if (!valid)
104  {
105  throw ParseException("Error parsing INSSTDEV log.");
106  }
107 
108  return msg;
109 }
msg
static constexpr size_t ASCII_FIELDS
Definition: insstdev.h:52
uint16_t ParseUInt16(const uint8_t *buffer)
Converts a buffer containing 2 bytes into an unsigned 16-bit int.
uint32_t GetMessageId() const override
Definition: insstdev.cpp:36
novatel_gps_msgs::InsstdevPtr ParseBinary(const BinaryMessage &bin_msg) noexcept(false) override
Converts bin_msg into a ROS message pointer and returns it.
Definition: insstdev.cpp:47
static constexpr uint32_t MESSAGE_ID
Definition: insstdev.h:49
novatel_gps_msgs::NovatelMessageHeader ParseAscii(const NovatelSentence &sentence) noexcept(false) override
Converts sentence into a ROS message pointer and returns it.
Definition: header.cpp:103
novatel_gps_msgs::InsstdevPtr ParseAscii(const NovatelSentence &sentence) noexcept(false) override
Converts sentence into a ROS message pointer and returns it.
Definition: insstdev.cpp:76
uint32_t ParseUInt32(const uint8_t *buffer)
Converts a buffer containing 4 bytes into an unsigned 32-bit int.
const std::string GetMessageName() const override
Definition: insstdev.cpp:41
float ParseFloat(const uint8_t *buffer)
Converts a buffer containing 4 bytes into a float.
void GetExtendedSolutionStatusMessage(uint32_t status, novatel_gps_msgs::NovatelExtendedSolutionStatus &msg)
novatel_gps_msgs::NovatelMessageHeader ParseBinary(const BinaryMessage &bin_msg) noexcept(false) override
Converts bin_msg into a ROS message pointer and returns it.
Definition: header.cpp:44
static constexpr size_t BINARY_LENGTH
Definition: insstdev.h:51
static const std::string MESSAGE_NAME
Definition: insstdev.h:50


novatel_gps_driver
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autogenerated on Thu Jul 16 2020 03:17:30