.. _program_listing_file__tmp_ws_src_novatel_oem7_driver_src_novatel_oem7_driver_include_novatel_oem7_driver_oem7_message_util.hpp:

Program Listing for File oem7_message_util.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_novatel_oem7_driver_src_novatel_oem7_driver_include_novatel_oem7_driver_oem7_message_util.hpp>` (``/tmp/ws/src/novatel_oem7_driver/src/novatel_oem7_driver/include/novatel_oem7_driver/oem7_message_util.hpp``)

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.. code-block:: cpp

   //
   // Copyright (c) 2020 NovAtel Inc.
   //
   // Permission is hereby granted, free of charge, to any person obtaining a copy
   // of this software and associated documentation files (the "Software"), to deal
   // in the Software without restriction, including without limitation the rights
   // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
   // copies of the Software, and to permit persons to whom the Software is
   // furnished to do so, subject to the following conditions:
   //
   // The above copyright notice and this permission notice shall be included in all
   // copies or substantial portions of the Software.
   //
   // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
   // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
   // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
   // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
   // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
   // SOFTWARE.
   //
   
   #ifndef __OEM7_MESSAGE_UTIL_HPP__
   #define __OEM7_MESSAGE_UTIL_HPP__
   
   #include "novatel_oem7_msgs/msg/oem7_header.hpp"
   #include "novatel_oem7_msgs/msg/oem7_raw_msg.hpp"
   
   #include "novatel_oem7_driver/oem7_message_ids.h"
   
   #include "oem7_raw_message_if.hpp"
   using novatel_oem7::Oem7RawMessageIf;
   
   #include "oem7_messages.h"
   
   #include <rclcpp/rclcpp.hpp>
   
   namespace novatel_oem7_driver
   {
   
     static const std::vector<int> OEM7_NMEA_MSGIDS(
       {
        GLMLA_OEM7_MSGID,
        GPALM_OEM7_MSGID,
        GPGGA_OEM7_MSGID,
        GPGGALONG_OEM7_MSGID,
        GPGLL_OEM7_MSGID,
        GPGRS_OEM7_MSGID,
        GPGSA_OEM7_MSGID,
        GPGST_OEM7_MSGID,
        GPGSV_OEM7_MSGID,
        GPHDT_OEM7_MSGID,
        GPHDTDUALANTENNA_MSGID,
        GPRMB_OEM7_MSGID,
        GPRMC_OEM7_MSGID,
        GPVTG_OEM7_MSGID,
        GPZDA_OEM7_MSGID
       }
     );
   
   
     void initializeOem7MessageUtil(rclcpp::Node& nh);
     int getOem7MessageId(const std::string& msg_name);
     const std::string& getOem7MessageName(int msg_id);
   
     void getOem7Header(
         const Oem7RawMessageIf::ConstPtr& raw_msg, 
         novatel_oem7_msgs::msg::Oem7Header& hdr   
         );
   
     void getOem7ShortHeader(
         const Oem7RawMessageIf::ConstPtr& raw_msg, 
         novatel_oem7_msgs::msg::Oem7Header& hdr   
         );
   
     bool isNMEAMessage(const Oem7RawMessageIf::ConstPtr& raw_msg);
   
     size_t Get_INSCONFIG_NumTranslations(const INSCONFIG_FixedMem* insconfig);
   
     const INSCONFIG_TranslationMem* Get_INSCONFIG_Translation(const INSCONFIG_FixedMem* insconfig, size_t idx);
   
     size_t Get_INSCONFIG_NumRotations(const INSCONFIG_FixedMem* insconfig);
   
     const INSCONFIG_RotationMem* Get_INSCONFIG_Rotation(const INSCONFIG_FixedMem* insconfig, size_t idx);
   
   
     size_t Get_PSRDOP2_NumSystems(const PSRDOP2_FixedMem* psrdop2);
     const PSRDOP2_SystemMem* Get_PSRDOP2_System(const PSRDOP2_FixedMem* psrdop2, size_t idx);
   }
   
   
   #endif