.. _program_listing_file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_esf_ubx_esf_status.hpp:

Program Listing for File ubx_esf_status.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_esf_ubx_esf_status.hpp>` (``/tmp/ws/src/ublox_dgnss/ublox_dgnss_node/include/ublox_dgnss_node/ubx/esf/ubx_esf_status.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__ESF__UBX_ESF_STATUS_HPP_
   #define UBLOX_DGNSS_NODE__UBX__ESF__UBX_ESF_STATUS_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"
   
   namespace ubx::esf::status
   {
   
   enum msg_used_t : u1_t {rtcm_used = 2, rtcm_failed = 1, rtcm_unknown = 0};
   
   struct flags_t
   {
     union {
       x1_t all;
       struct
       {
         l_t crcFailed : 1;
         msg_used_t msgUsed : 2;
       } bits;
     };
   };
   
   enum wt_init_status_t : u1_t {wt_off = 0, wt_initializing = 1, wt_initialized = 2};
   enum mnt_alg_status_t : u1_t {ma_off = 0, ma_initializing = 1, ma_initialized0 = 2,
     ma_initialized1 = 3};
   enum ins_init_status_t : u1_t {ins_off = 0, ins_initializing = 1, ins_initialized = 2};
   
   struct init_status1_t
   {
     union {
       x1_t all;
       struct
       {
         wt_init_status_t wtInitStatus : 2;
         mnt_alg_status_t mntAlgStatus : 3;
         ins_init_status_t insInitStatus : 2;
       } bits;
     };
   };
   
   enum imu_init_status_t : u1_t {imu_off = 0, imu_initializing = 1, imu_initialized = 2};
   
   struct init_status2_t
   {
     union {
       x1_t all;
       struct
       {
         imu_init_status_t imuInitStatus : 2;
       } bits;
     };
   };
   
   enum  fusion_mode_t : u1_t {fusion_initialization = 0, fusion_working = 1,
     fusion_suspended = 2, fusion_disabled = 3};
   
   struct sens_status1_t
   {
     union {
       x1_t all;
       struct
       {
         u1_t type : 6;
         bool used : 1;
         bool ready : 1;
       } bits;
     };
   };
   
   enum calib_status_t : u1_t {not_calibrated = 0b00, calibrating = 0b01, calibrated0 = 0b01,
     calibrated1 = 0b11};
   enum time_status_t : u1_t {ts_no_data = 0b00, ts_first_byte_used = 0b01, ts_ttag_provided = 0b11};
   
   struct sens_status2_t
   {
     union {
       x1_t all;
       struct
       {
         calib_status_t calibStatus : 2;
         time_status_t timeStatus : 2;
       } bits;
     };
   };
   
   struct faults_t
   {
     union {
       x1_t all;
       struct
       {
         bool badMeas : 1;
         bool badTtag : 1;
         bool missingMeas : 1;
         bool noisyMeas : 1;
       } bits;
     };
   };
   
   struct sensor_t
   {
     union {
       x4_t all;
       struct
       {
         sens_status1_t sensStatus1;
         sens_status2_t sensStatus2;
         u1_t freq;
         faults_t faults;
       } bits;
     };
   };
   
   class ESFStatusPayload : UBXPayload
   {
   public:
     static const msg_class_t MSG_CLASS = UBX_ESF;
     static const msg_id_t MSG_ID = UBX_ESF_STATUS;
   
     u4_t iTOW;        // ms - GPS Time of week of the navigation epoch.
     u1_t version;     // message version (0x02 for this version)
     init_status1_t initStatus1;
     init_status2_t initStatus2;
     fusion_mode_t fusionMode;
     u1_t numSens;    // number of sensors
   
     std::vector<sensor_t> sensorStatuses;
   
   public:
     ESFStatusPayload()
     : UBXPayload(MSG_CLASS, MSG_ID)
     {
     }
     ESFStatusPayload(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);
       iTOW = buf_offset<u4_t>(&payload_, 0);
       version = buf_offset<u1_t>(&payload_, 4);
       initStatus1 = buf_offset<init_status1_t>(&payload_, 5);
       initStatus2 = buf_offset<init_status2_t>(&payload_, 6);
       fusionMode = buf_offset<fusion_mode_t>(&payload_, 12);
       numSens = buf_offset<u1_t>(&payload_, 15);
   
       // extract num_sens sensor status
       sensorStatuses.clear();
       for (int i = 0; i < numSens; i++) {
         sensorStatuses.push_back(buf_offset<sensor_t>(&payload_, 16 + (i * 4)));
       }
     }
     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 << "iTOW: " << iTOW;
       oss << " version: " << +version;
       oss << " wtInit: " << +initStatus1.bits.wtInitStatus;
       oss << " mntAlg: " << +initStatus1.bits.mntAlgStatus;
       oss << " insInit: " << +initStatus1.bits.insInitStatus;
       oss << " imuInit: " << +initStatus2.bits.imuInitStatus;
       oss << " fusionMode: " << +fusionMode;
       oss << " numSens: " << +numSens;
       oss << " [";
   
       for (int i = 0; i < numSens; i++) {
         if (i > 0) {oss << " |";}
         sensor_t & sensor = sensorStatuses[i];
         oss << " type: " << +sensor.bits.sensStatus1.bits.type;
         oss << " used: " << +sensor.bits.sensStatus1.bits.used;
         oss << " ready: " << +sensor.bits.sensStatus1.bits.ready;
         oss << " calib: " << +sensor.bits.sensStatus2.bits.calibStatus;
         oss << " time: " << +sensor.bits.sensStatus2.bits.timeStatus;
         oss << " Hz: " << +sensor.bits.freq;
         oss << " badMeas: " << +sensor.bits.faults.bits.badMeas;
         oss << " badTtag: " << +sensor.bits.faults.bits.badMeas;
         oss << " missing: " << +sensor.bits.faults.bits.missingMeas;
         oss << " noisy: " << +sensor.bits.faults.bits.noisyMeas;
       }
   
       oss << " ]";
       return oss.str();
     }
   };
   }  // namespace ubx::esf::status
   #endif  // UBLOX_DGNSS_NODE__UBX__ESF__UBX_ESF_STATUS_HPP_