.. _program_listing_file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_ubx_esf.hpp:

Program Listing for File ubx_esf.hpp
====================================

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

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

.. code-block:: cpp

   // Copyright 2023 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__UBX_ESF_HPP_
   #define UBLOX_DGNSS_NODE__UBX__UBX_ESF_HPP_
   
   #include <unistd.h>
   #include <memory>
   #include <tuple>
   #include <string>
   #include <vector>
   #include "ublox_dgnss_node/ubx/ubx.hpp"
   #include "ublox_dgnss_node/ubx/utils.hpp"
   #include "ublox_dgnss_node/ubx/esf/ubx_esf_status.hpp"
   #include "ublox_dgnss_node/ubx/esf/ubx_esf_meas.hpp"
   
   namespace ubx::esf
   {
   
   typedef UBXFrameComms<esf::status::ESFStatusPayload, usb::Connection> UbxESFStatusFrameComms;
   typedef UBXFrameComms<esf::meas::ESFMeasPayload, usb::Connection> UbxESFMeasFrameComms;
   typedef UBXFrameComms<esf::meas::ESFMeasFullPayload, usb::Connection> UbxESFMeasFullFrameComms;
   
   class UbxEsf
   {
   private:
     std::shared_ptr<usb::Connection> usbc_;
     std::shared_ptr<UbxESFStatusFrameComms> status_;
     std::shared_ptr<UbxESFMeasFrameComms> meas_;
     std::shared_ptr<UbxESFMeasFullFrameComms> meas_full_;
   
   public:
     explicit UbxEsf(std::shared_ptr<usb::Connection> usbc)
     {
       usbc_ = usbc;
       status_ = std::make_shared<UbxESFStatusFrameComms>(usbc_);
       meas_ = std::make_shared<UbxESFMeasFrameComms>(usbc_);
       meas_full_ = std::make_shared<UbxESFMeasFullFrameComms>(usbc_);
     }
     std::shared_ptr<usb::Connection> usbc()
     {
       return usbc_;
     }
     std::shared_ptr<UbxESFStatusFrameComms> status()
     {
       return status_;
     }
     std::shared_ptr<UbxESFMeasFrameComms> meas()
     {
       return meas_;
     }
     std::shared_ptr<UbxESFMeasFullFrameComms> meas_full()
     {
       return meas_full_;
     }
   };
   }  // namespace ubx::esf
   #endif  // UBLOX_DGNSS_NODE__UBX__UBX_ESF_HPP_