.. _program_listing_file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_nav_ubx_nav_status.hpp:

Program Listing for File ubx_nav_status.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_status.hpp>` (``/tmp/ws/src/ublox_dgnss/ublox_dgnss_node/include/ublox_dgnss_node/ubx/nav/ubx_nav_status.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_STATUS_HPP_
   #define UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_STATUS_HPP_
   
   #include <unistd.h>
   #include <memory>
   #include <tuple>
   #include <string>
   #include <bitset>
   #include "ublox_dgnss_node/ubx/ubx.hpp"
   #include "ublox_dgnss_node/ubx/utils.hpp"
   
   namespace ubx::nav::status
   {
   
   enum gps_fix_t : u1_t {gps_no_fix = 0, gps_dead_reckoning_only = 1, gps_fix_2d = 2, gps_fix_3d = 3,
     gps_plus_dead_reackoning = 4, gps_time_only = 5};
   
   enum map_matching_status_t : u1_t {none = 0,
     valid_not_used = 0b01,  // valid but not used, ie map matching data was received, but was too old
     valid_and_used = 0b10,  // valid and used, map matching data was applied
     valid_dead_reckoning = 0b11  // valid and used, map matching data was applied.
       // In case of sensor unavailability mapmatching data enables dead reckoning.
       // This requires map matched latitude/longitude orheading data.
   };
   
   
   enum psm_state_status_t : u1_t {acquisition = 0, tracking = 1,
     power_optimized_tracking = 2, inactive = 3};
   
   enum spoof_det_state_t : u1_t {unknown_or_deactivated = 0, no_spoofing = 1, spoofing = 2,
     multiple_spoofing = 3};
   
   enum carrier_solution_status_t : u1_t {no_carrier_range_solution = 0,
     carrier_phase_solution_with_floating_ambiguities = 1,
     carrier_phase_solution_with_fixed_ambiguities = 2 };
   
   struct navigation_status_flags_t
   {
     union {
       x1_t all;
       struct
       {
         l_t gpsFixOK : 1;     // 1 = position and velocity valid and within DOP and ACCMasks.
         l_t diffSoln : 1;     // 1 = differential corrections were applied
         l_t wknSet : 1;       // 1 = Week Number valid
         l_t towSet : 1;       // 1 = Time of Week valid
       } bits;
     };
   };
   
   struct navigation_fix_flags_t
   {
     union {
       x1_t all;
       struct
       {
         l_t diffCorr : 1;                       // 1 = differential corrections available
         l_t carrSolnValid : 1;                  // 1 = valid carrSoln
         map_matching_status_t mapMatching : 2;  // map matching status
       } bits;
     };
   };
   
   struct navigation_status_flags2_t
   {
     union {
       x1_t all;
       struct
       {
         psm_state_status_t psmState : 2;          // power save mode state
         spoof_det_state_t spoofDetState : 2;      // spoofing detection state
         carrier_solution_status_t carrSoln : 2;   // carrier phase range solution status
       } bits;
     };
   };
   
   class NavStatusPayload : UBXPayload
   {
   public:
     static const msg_class_t MSG_CLASS = UBX_NAV;
     static const msg_id_t MSG_ID = UBX_NAV_STATUS;
   
     u4_t iTOW;      // ms - GPS Time of week of the navigation epoch.
     gps_fix_t gpsFix;     // GPS Fix Type
     navigation_status_flags_t flags;     // navigation status flags
     navigation_fix_flags_t fixStat;     // fix status information
     navigation_status_flags2_t flags2;     // further information about navigation output
     u4_t ttff;     // ms - time to first fix (millisecond time tag)
     u4_t msss;     // ms  - milliseconds since statup/reset
   
   public:
     NavStatusPayload()
     : UBXPayload(MSG_CLASS, MSG_ID)
     {
     }
     NavStatusPayload(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);
       gpsFix = buf_offset<gps_fix_t>(&payload_, 4);
       flags = buf_offset<navigation_status_flags_t>(&payload_, 5);
       fixStat = buf_offset<navigation_fix_flags_t>(&payload_, 6);
       flags2 = buf_offset<navigation_status_flags2_t>(&payload_, 7);
       ttff = buf_offset<u4_t>(&payload_, 8);
       msss = buf_offset<u4_t>(&payload_, 12);
     }
     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 << " gpsFix: " << +gpsFix;
       oss << " gpsFixOk: " << +flags.bits.gpsFixOK;
       oss << " diffSoln: " << +flags.bits.diffSoln;
       oss << " wknSet: " << +flags.bits.wknSet;
       oss << " towSet: " << +flags.bits.towSet;
       oss << " diffCorr: " << +fixStat.bits.diffCorr;
       oss << " carrSolnValid: " << +fixStat.bits.carrSolnValid;
       oss << " mapMatching: " << std::bitset<2>(fixStat.bits.mapMatching);
       oss << " psmState: " << +flags2.bits.psmState;
       oss << " spoofDetState: " << +flags2.bits.spoofDetState;
       oss << " carrSoln: " << +flags2.bits.carrSoln;
       oss << " ttff: " << +ttff;
       oss << " msss: " << +msss;
   
       return oss.str();
     }
   };
   }  // namespace ubx::nav::status
   #endif  // UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_STATUS_HPP_