ROSaic
gpgsa.cpp
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30 
32 
39 const std::string GpgsaParser::MESSAGE_ID = "$GPGSA";
40 
41 const std::string GpgsaParser::getMessageID() const
42 {
44 }
45 
51 rosaic::GpgsaPtr GpgsaParser::parseASCII(const NMEASentence& sentence) noexcept(false)
52 {
53 
54  // Checking the length first, it should be 19 elements
55  const size_t LENGTH = 19;
56  if (sentence.get_body().size() != LENGTH)
57  {
58  std::stringstream error;
59  error << "Expected GPGSA length is " << LENGTH
60  << ". The actual length is " << sentence.get_body().size();
61  throw ParseException(error.str());
62  }
63 
64  rosaic::GpgsaPtr msg = boost::make_shared<rosaic::Gpgsa>();
65  msg->header.frame_id = g_frame_id;
66  msg->message_id = sentence.get_body()[0];
67  msg->auto_manual_mode = sentence.get_body()[1];
68  parsing_utilities::parseUInt8(sentence.get_body()[2], msg->fix_mode);
69  // Words 3-14 of the sentence are SV PRNs. Copying only the non-null strings..
70  // 0 is the character needed to fill the new character space, in case 12 (first argument) is larger than sv_ids.
71  msg->sv_ids.resize(12, 0);
72  size_t n_svs = 0;
73  for (std::vector<std::string>::const_iterator id = sentence.get_body().begin()+3; id < sentence.get_body().begin()+15; ++id)
74  {
75  if (! id->empty())
76  {
77  parsing_utilities::parseUInt8(*id, msg->sv_ids[n_svs]);
78  ++n_svs;
79  }
80  }
81  msg->sv_ids.resize(n_svs);
82 
83  parsing_utilities::parseFloat(sentence.get_body()[15], msg->pdop);
84  parsing_utilities::parseFloat(sentence.get_body()[16], msg->hdop);
85  parsing_utilities::parseFloat(sentence.get_body()[17], msg->vdop);
86  return msg;
87 }
Derived class for parsing GSA messages.
std::string g_frame_id
The frame ID used in the header of every published ROS message.
float parseFloat(const uint8_t *buffer)
Converts a 4-byte-buffer into a float.
const std::string getMessageID() const override
Returns the ASCII message ID, here "$GPGSA".
Definition: gpgsa.cpp:41
rosaic::GpgsaPtr parseASCII(const NMEASentence &sentence) noexcept(false) override
Parses one GSA message.
Definition: gpgsa.cpp:51
Struct to split an NMEA sentence into its ID and its body, the latter tokenized into a vector of stri...
Class to declare error message format when parsing, derived from the public class "std::runtime_error...
static const std::string MESSAGE_ID
Declares the string MESSAGE_ID.
Definition: gpgsa.hpp:107
bool parseUInt8(const std::string &string, uint8_t &value, int32_t base)
Interprets the contents of "string" as a unsigned integer number of type uint8_t. ...