.. _program_listing_file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_nav_ubx_nav_hpposllh.hpp:

Program Listing for File ubx_nav_hpposllh.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_hpposllh.hpp>` (``/tmp/ws/src/ublox_dgnss/ublox_dgnss_node/include/ublox_dgnss_node/ubx/nav/ubx_nav_hpposllh.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_HPPOSLLH_HPP_
   #define UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_HPPOSLLH_HPP_
   
   #include <unistd.h>
   #include <memory>
   #include <tuple>
   #include <string>
   #include "ublox_dgnss_node/ubx/utils.hpp"
   #include "ublox_dgnss_node/ubx/ubx.hpp"
   
   namespace ubx::nav::hpposllh
   {
   
   struct invalid_llh_t
   {
     union {
       x1_t all;
       struct
       {
         l_t invalid_lon : 1;
         l_t invalid_lat : 1;
         l_t invalid_height : 1;
         l_t invalid_hMSL : 1;
         l_t invalid_lonHp : 1;
         l_t invalid_latHp : 1;
         l_t invalid_heightHp : 1;
         l_t invalid_hMSLHp : 1;
       } bits;
     };
   };
   
   class NavHPPosLLHPayload : UBXPayload
   {
   public:
     static const msg_class_t MSG_CLASS = UBX_NAV;
     static const msg_id_t MSG_ID = UBX_NAV_HPPOSLLH;
   
     u1_t version;     // message version (0x00 for this version)
     u1_t reserved0[2];     // reserved
     invalid_llh_t flags;     // 1 = Invalid lon, lat, height, hMSL, lonHp, latHp, heightHp and hMSLHp
     u4_t iTOW;      // ms - GPS Time of week of the navigation epoch.
     i4_t lon;     // deg scale 1e-7 - longitude
     i4_t lat;     // deg scale 1e-7 - latitude
     i4_t height;     // mm - Height above ellipsoid
     i4_t hMSL;     // mm - Height above mean sea level
     i1_t lonHp;     // deg scale 1e-9 - Precision longitude in deg * 1e-7 = lon +(lonHp * 1e-2)
     i1_t latHp;     // deg scale 1e-9 - Precise latitude in deg  *  1e-7  =  lat  +(latHp * 1e-2)
     i1_t heightHp;     // mm scale 0.1 - Precise height in mm = height + (heightHp * 0.1)
     i1_t hMSLHp;     // mm scale 0.1 - Precise height in mm =hMSL + (hMSLHp * 0.1)
     u4_t hAcc;      // mm scale 0.1 - horizontal accuracy estimate
     u4_t vAcc;      // mm scale 0.1 - vertical accuracy estimate
   
   public:
     NavHPPosLLHPayload()
     : UBXPayload(MSG_CLASS, MSG_ID)
     {
     }
     NavHPPosLLHPayload(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];
       flags.all = buf_offset<x1_t>(&payload_, 3);
       iTOW = buf_offset<u4_t>(&payload_, 4);
       lon = buf_offset<i4_t>(&payload_, 8);
       lat = buf_offset<i4_t>(&payload_, 12);
       height = buf_offset<i4_t>(&payload_, 16);
       hMSL = buf_offset<i4_t>(&payload_, 20);
       lonHp = buf_offset<i1_t>(&payload_, 24);
       latHp = buf_offset<i1_t>(&payload_, 25);
       heightHp = buf_offset<i1_t>(&payload_, 26);
       hMSLHp = buf_offset<i1_t>(&payload_, 27);
       hAcc = buf_offset<u4_t>(&payload_, 28);
       vAcc = buf_offset<u4_t>(&payload_, 32);
     }
     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 << " lon: " << +lon;
       oss << " lat: " << +lat;
       oss << " height: " << +height;
       oss << " hMSL: " << +hMSL;
       oss << "  - Hp";
       oss << std::setprecision(9);
       double lonHp_deg = lonHp * 1e-9;
       double latHp_deg = latHp * 1e-9;
       oss << " lonHp(deg): " << +lonHp_deg;
       oss << " latHp(deg): " << +latHp_deg;
       oss << std::setprecision(9);
       oss << " lon: " << +((lon * 1e-7) + (lonHp_deg));
       oss << " lat: " << +((lat * 1e-7) + (latHp_deg));
       oss << std::setprecision(1);
       oss << " height: " << +((height * 0.1) + (heightHp * 0.1));
       oss << " hMSL: " << +((hMSL * 0.1) + (hMSLHp * 0.1));
       oss << " hAcc: " << +hAcc * 0.1;
       oss << " vAcc: " << +vAcc * 0.1;
       oss << " - flags invalid lon: " << +flags.bits.invalid_lon;
       oss << " lat: " << +flags.bits.invalid_lat;
       oss << " height: " << +flags.bits.invalid_height;
       oss << " hMSL: " << +flags.bits.invalid_hMSL;
       oss << " lonHp: " << +flags.bits.invalid_lonHp;
       oss << " lonHp: " << +flags.bits.invalid_latHp;
       oss << " heightHp: " << +flags.bits.invalid_heightHp;
       oss << " hMSLHp: " << +flags.bits.invalid_hMSLHp;
   
       return oss.str();
     }
   };
   }  // namespace ubx::nav::hpposllh
   #endif  // UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_HPPOSLLH_HPP_