.. _program_listing_file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_nav_ubx_nav_hpposecef.hpp:

Program Listing for File ubx_nav_hpposecef.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_nav_ubx_nav_hpposecef.hpp>` (``/tmp/ws/src/ublox_dgnss/ublox_dgnss_node/include/ublox_dgnss_node/ubx/nav/ubx_nav_hpposecef.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 Australian Robotics Supplies & Technology
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_HPPOSECEF_HPP_
   #define UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_HPPOSECEF_HPP_
   
   #include <unistd.h>
   #include <memory>
   #include <tuple>
   #include <string>
   #include "ublox_dgnss_node/ubx/ubx.hpp"
   #include "ublox_dgnss_node/ubx/utils.hpp"
   
   namespace ubx::nav::hpposecef
   {
   
   struct invalid_ecef_t
   {
     union {
       x1_t all;
       struct
       {
         l_t invalid_ecefX : 1;
         l_t invalid_ecefY : 1;
         l_t invalid_ecefZ : 1;
         l_t invalid_ecefXHp : 1;
         l_t invalid_ecefYHp : 1;
         l_t invalid_ecefZHp : 1;
       } bits;
     };
   };
   
   class NavHPPosECEFPayload : UBXPayload
   {
   public:
     static const msg_class_t MSG_CLASS = UBX_NAV;
     static const msg_id_t MSG_ID = UBX_NAV_HPPOSECEF;
   
     u1_t version;     // message version (0x00 for this version)
     u1_t reserved0[3];     // reserved
     u4_t iTOW;      // ms - GPS Time of week of the navigation epoch.
     i4_t ecefX;     // cm - ECEF X coordinate
     i4_t ecefY;     // cm - ECEF Y coordinate
     i4_t ecefZ;     // cm - ECEF Z coordinate
   //  Must be in the range of -99..+99. Precise coordinate in cm = ecefX + (ecefXHp * 1e-2)
     i1_t ecefXHp;     // mm scale 0.1 - High Precision ECEF X coordinate
     i1_t ecefYHp;     // mm scale 0.1 - High Precision ECEF Y coordinate
     i1_t ecefZHp;     // mm scale 0.1 - High Precision ECEF Z coordinate
     invalid_ecef_t flags;     // 1 = Invalid ecefX, ecefY, ecefZ, ecefXHp, ecefYHp and ecefZHp
     u4_t pAcc;      // mm scale 0.1 - position accuracy estimate
   
   public:
     NavHPPosECEFPayload()
     : UBXPayload(MSG_CLASS, MSG_ID)
     {
     }
     NavHPPosECEFPayload(ch_t * payload_polled, u2_t size)
     : UBXPayload(MSG_CLASS, MSG_ID)
     {
       payload_.clear();
       payload_.reserve(size);
       payload_.resize(size);
       memcpy(payload_.data(), payload_polled, size);
       version = payload_[0];
       iTOW = buf_offset<u4_t>(&payload_, 4);
       ecefX = buf_offset<i4_t>(&payload_, 8);
       ecefY = buf_offset<i4_t>(&payload_, 12);
       ecefZ = buf_offset<i4_t>(&payload_, 16);
       ecefXHp = buf_offset<i1_t>(&payload_, 20);
       ecefYHp = buf_offset<i1_t>(&payload_, 21);
       ecefZHp = buf_offset<i1_t>(&payload_, 22);
       flags.all = buf_offset<x1_t>(&payload_, 23);
       pAcc = buf_offset<u4_t>(&payload_, 24);
     }
     std::tuple<u1_t *, size_t> make_poll_payload()
     {
       payload_.clear();
       return std::make_tuple(payload_.data(), payload_.size());
     }
     std::string to_string()
     {
       std::ostringstream oss;
       oss << "ver: " << +version;
       oss << " iTOW: " << +iTOW;
       oss << std::fixed;
       oss << " ecefX: " << +ecefX;
       oss << " ecefY: " << +ecefY;
       oss << " ecefZ: " << +ecefZ;
       oss << " ecefXHp: " << +ecefXHp;
       oss << " ecefYHp: " << +ecefYHp;
       oss << " ecefZHp: " << +ecefZHp;
       oss << " - flags invalid ecefX: " << +flags.bits.invalid_ecefX;
       oss << " ecefY: " << +flags.bits.invalid_ecefY;
       oss << " ecefZ: " << +flags.bits.invalid_ecefZ;
       oss << " ecefXHp: " << +flags.bits.invalid_ecefXHp;
       oss << " ecefYHp: " << +flags.bits.invalid_ecefYHp;
       oss << " ecefZHp: " << +flags.bits.invalid_ecefZHp;
       oss << "  - precise";
       oss << " ecefX: " << std::setprecision(3) << +(ecefX + (ecefXHp * 1e-2));
       oss << " ecefY: " << std::setprecision(3) << +(ecefY + (ecefYHp * 1e-2));
       oss << " ecefZ: " << std::setprecision(3) << +(ecefZ + (ecefZHp * 1e-2));
       oss << " pAcc: " << +pAcc * 0.1;
   
       return oss.str();
     }
   };
   }  // namespace ubx::nav::hpposecef
   #endif  // UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_HPPOSECEF_HPP_