Program Listing for File ubx_nav_posecef.hpp
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// 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_POSECEF_HPP_
#define UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_POSECEF_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::posecef
{
class NavPosECEFPayload : UBXPayload
{
public:
static const msg_class_t MSG_CLASS = UBX_NAV;
static const msg_id_t MSG_ID = UBX_NAV_POSECEF;
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
u4_t pAcc; // cm - position accuracy estimate
public:
NavPosECEFPayload()
: UBXPayload(MSG_CLASS, MSG_ID)
{
}
NavPosECEFPayload(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);
ecefX = buf_offset<i4_t>(&payload_, 4);
ecefY = buf_offset<i4_t>(&payload_, 8);
ecefZ = buf_offset<i4_t>(&payload_, 12);
pAcc = buf_offset<u4_t>(&payload_, 16);
}
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 << " ecefX: " << ecefX;
oss << " ecefY: " << ecefY;
oss << " ecefZ: " << ecefZ;
oss << " pAcc: " << pAcc;
return oss.str();
}
};
} // namespace ubx::nav::posecef
#endif // UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_POSECEF_HPP_