dual_antenna_heading.h

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#ifndef NOVATEL_GPS_DRIVER_DUAL_ANTENNA_HEADING_H
#define NOVATEL_GPS_DRIVER_DUAL_ANTENNA_HEADING_H

#include <novatel_gps_msgs/NovatelDualAntennaHeading.h>

#include <novatel_gps_driver/parsers/parsing_utils.h>
#include <novatel_gps_driver/parsers/message_parser.h>

namespace novatel_gps_driver
{
  class DualAntennaHeadingParser : public MessageParser<novatel_gps_msgs::NovatelDualAntennaHeadingPtr>
  {
  public:
    uint32_t GetMessageId() const override;

    const std::string GetMessageName() const override;

    novatel_gps_msgs::NovatelDualAntennaHeadingPtr ParseBinary(const BinaryMessage& bin_msg) throw(ParseException) override;

    novatel_gps_msgs::NovatelDualAntennaHeadingPtr ParseAscii(const NovatelSentence& sentence) throw(ParseException) override;

    static constexpr uint16_t MESSAGE_ID = 2042;
    static constexpr size_t BINARY_LENGTH = 44;
    static constexpr size_t ASCII_LENGTH = 17;
    static const std::string MESSAGE_NAME;

  private:
    /*
     * @brief Converts a Solution Source byte mask to the format used in the NovatelDualAntennaHeading ros message
     *
     * ParseException thrown if source_mask cannot be parsed
     * @param[in] source_mask The byte to parse
     * @return NovatelDualAntennaHeading.solution_source enum value
     */
    uint8_t SolutionSourceToMsgEnum(uint8_t source_mask) throw(ParseException);
  };
}

#endif //NOVATEL_GPS_DRIVER_DUAL_ANTENNA_HEADING_H