ROSaic
Functions
parsing_utilities Namespace Reference

Functions

double parseDouble (const uint8_t *buffer)
 Converts an 8-byte-buffer into a double. More...
 
bool parseDouble (const std::string &string, double &value)
 Interprets the contents of "string" as a floating point number of type double. More...
 
float parseFloat (const uint8_t *buffer)
 Converts a 4-byte-buffer into a float. More...
 
bool parseFloat (const std::string &string, float &value)
 Interprets the contents of "string" as a floating point number of type float. More...
 
int16_t parseInt16 (const uint8_t *buffer)
 Converts a 2-byte-buffer into a signed 16-bit integer. More...
 
bool parseInt16 (const std::string &string, int16_t &value, int32_t base=10)
 Interprets the contents of "string" as a integer number of type int16_t. More...
 
int32_t parseInt32 (const uint8_t *buffer)
 Converts a 4-byte-buffer into a signed 32-bit integer. More...
 
bool parseInt32 (const std::string &string, int32_t &value, int32_t base=10)
 Interprets the contents of "string" as a integer number of type int32_t. More...
 
bool parseUInt8 (const std::string &string, uint8_t &value, int32_t base=10)
 Interprets the contents of "string" as a unsigned integer number of type uint8_t. More...
 
uint16_t parseUInt16 (const uint8_t *buffer)
 Converts a 2-byte-buffer into an unsigned 16-bit integer. More...
 
bool parseUInt16 (const std::string &string, uint16_t &value, int32_t base=10)
 Interprets the contents of "string" as a unsigned integer number of type uint16_t. More...
 
uint32_t parseUInt32 (const uint8_t *buffer)
 Converts a 4-byte-buffer into an unsigned 32-bit integer. More...
 
bool parseUInt32 (const std::string &string, uint32_t &value, int32_t base=10)
 Interprets the contents of "string" as a unsigned integer number of type uint32_t. More...
 
double convertUTCDoubleToSeconds (double utc_double)
 Converts UTC time from the without-colon-delimiter format to the number-of-seconds-since-midnight format. More...
 
double convertDMSToDegrees (double dms)
 Converts latitude or longitude from the DMS notation (in the without-colon-delimiter format), to the pure degree notation. More...
 
time_t convertUTCtoUnix (double utc_double)
 Converts UTC time from the without-colon-delimiter format to Unix Epoch time (a number-of-seconds-since-1970/01/01 format) More...
 
geometry_msgs::Quaternion convertEulerToQuaternion (double yaw, double pitch, double roll)
 Transforms Euler angles to a quaternion. More...
 
uint32_t convertUserPeriodToRxCommand (uint32_t period_user)
 Transforms the input polling period [milliseconds] into a uint32_t number that can be appended to either sec or msec for Rx commands. More...
 

Function Documentation

◆ convertDMSToDegrees()

double parsing_utilities::convertDMSToDegrees ( double  dms)

Converts latitude or longitude from the DMS notation (in the without-colon-delimiter format), to the pure degree notation.

Recall: One degree is divided into 60 minutes (of arc), and in turn one minute into 60 seconds (of arc). Use of the degrees-minutes-seconds system is also called DMS notation.

Note that DMS stands for "Degrees, Minutes, Seconds".

Parameters
[in]dmsRepresents latitude or longitude in the DMS notation (in the without-colon-delimiter format)
Returns
Represents latitude or longitude in the pure degree notation

Definition at line 239 of file parsing_utilities.cpp.

Referenced by GpggaParser::parseASCII(), and GprmcParser::parseASCII().

240  {
241  uint32_t whole_degrees = static_cast<uint32_t>(dms) / 100;
242  double minutes = dms - static_cast<double>(whole_degrees * 100);
243  double degrees = static_cast<double>(whole_degrees) + minutes / 60.0;
244  return degrees;
245  }
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◆ convertEulerToQuaternion()

geometry_msgs::Quaternion parsing_utilities::convertEulerToQuaternion ( double  yaw,
double  pitch,
double  roll 
)

Transforms Euler angles to a quaternion.

The rotational sequence convention we adopt here (and Septentrio receivers' pitch, roll, yaw definition too) is the yaw-pitch-roll sequence, i.e. the 3-2-1 sequence: The body first does yaw around the Z=Down-axis, then pitches around the new Y=East=right-axis and finally rolls around the new X=North=forward-axis.

Parameters
[in]yawYaw, i.e. heading, about the Up-axis
[in]pitchPitch about the new North-axis
[in]rollRoll about the new East-axis
Returns
ROS message representing a quaternion

Definition at line 296 of file parsing_utilities.cpp.

Referenced by io_comm_rx::RxMessage::PoseWithCovarianceStampedCallback().

297  {
298  // Abbreviations for the angular functions
299  double cy = cos(yaw * 0.5);
300  double sy = sin(yaw * 0.5);
301  double cp = cos(pitch * 0.5);
302  double sp = sin(pitch * 0.5);
303  double cr = cos(roll * 0.5);
304  double sr = sin(roll * 0.5);
305 
306  geometry_msgs::Quaternion q;
307  q.w = cr * cp * cy + sr * sp * sy;
308  q.x = sr * cp * cy - cr * sp * sy;
309  q.y = cr * sp * cy + sr * cp * sy;
310  q.z = cr * cp * sy - sr * sp * cy;
311 
312  return q;
313  }
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◆ convertUserPeriodToRxCommand()

uint32_t parsing_utilities::convertUserPeriodToRxCommand ( uint32_t  period_user)

Transforms the input polling period [milliseconds] into a uint32_t number that can be appended to either sec or msec for Rx commands.

Parameters
[in]period_userPolling period in milliseconds as specified by the ROSaic user
Returns
Number to be appended to either sec or msec when sending commands to the Rx

Definition at line 315 of file parsing_utilities.cpp.

Referenced by rosaic_node::ROSaicNode::configureRx().

316  {
317  if (period_user <= 500 && period_user >= 10) return period_user;
318  else
319  {
320  return period_user/1000;
321  }
322  }
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◆ convertUTCDoubleToSeconds()

double parsing_utilities::convertUTCDoubleToSeconds ( double  utc_double)

Converts UTC time from the without-colon-delimiter format to the number-of-seconds-since-midnight format.

The UTC precision in NMEA messages is down to a tenth of a second, naturally in both the without-colon-delimiter and the number-of-seconds-since-midnight formats.

Parameters
[in]utc_doubleRrepresents UTC time in the without-colon-delimiter format
Returns
Represents UTC time in the number-of-seconds-since-midnight format

Definition at line 226 of file parsing_utilities.cpp.

Referenced by GpggaParser::parseASCII(), and GprmcParser::parseASCII().

227  {
228  uint32_t hours = static_cast<uint32_t>(utc_double) / 10000;
229  uint32_t minutes = (static_cast<uint32_t>(utc_double) - hours * 10000) / 100;
230  double seconds = utc_double - static_cast<double>(hours * 10000 + minutes * 100);
231  seconds += static_cast<double> (hours * 3600 + minutes * 60);
232  return seconds;
233  }
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◆ convertUTCtoUnix()

std::time_t parsing_utilities::convertUTCtoUnix ( double  utc_double)

Converts UTC time from the without-colon-delimiter format to Unix Epoch time (a number-of-seconds-since-1970/01/01 format)

Time information (hours, minutes, seconds) is extracted from the given double and augmented with the date, which is taken from the current system time on the host computer (i.e. current UTC+some_shift time via time(0)). The date ambiguity is resolved by adding/subtracting a day to the current date if the host time is more than 12 hours behind/ahead the NMEA time (i.e. UTC time). Recall time(0), time(NULL): If argument is a null pointer, the parameter is not used (the function still returns the current calendar time of type time_t). Otherwise, the return value is the same as the one stored in the location pointed by the argument. Note that the function assumes that utc_double has two significant digits after the decimal point, i.e. hhmmss.ss, yet it does not round the number of seconds to the nearest unsigned integer, but instead disregards ss. This is since we use this function for the "header.stamp.sec" field of ROS messages, while "header.stamp.nsec" is taken care of separately.

Note that the type "std::time_t" is usually 32 bits, which also leads to the "Year 2038 Problem".

Parameters
[in]utc_doubleRepresents UTC time in the without-colon-delimiter format
Returns
The time_t variable representing Unix Epoch time

Definition at line 259 of file parsing_utilities.cpp.

Referenced by GpggaParser::parseASCII(), GprmcParser::parseASCII(), and io_comm_rx::timestampSBF().

260  {
261  time_t time_now = time(0);
262  struct tm * timeinfo;
263 
264  // The function gmtime uses the value at &time_now to fill a tm structure with the values that represent the
265  // corresponding time, expressed as a UTC time.
266  timeinfo = gmtime(&time_now);
267 
268  uint32_t hours = static_cast<uint32_t>(utc_double) / 10000;
269  uint32_t minutes = (static_cast<uint32_t>(utc_double) - hours * 10000) / 100;
270  uint32_t seconds = (static_cast<uint32_t>(utc_double) - hours * 10000 - minutes * 100);
271 
272  // Overwriting timeinfo with UTC time as extracted from utc_double..
273  timeinfo->tm_hour = hours; // hours since midnight - [0,23]
274  timeinfo->tm_min = minutes; // minutes after the hour - [0,59]
275  timeinfo->tm_sec = seconds; // seconds after the minute - [0,59]
276 
277  /* // If you are doing a simulation, add year, month and day here:
278  uint32_t year; // year, starting from 1900
279  uint32_t month; // months since January - [0,11]
280  uint32_t day; //day of the month - [1,31]
281  timeinfo->tm_year = year;
282  timeinfo->tm_mon = month;
283  timeinfo->tm_mday = day;
284  */
285 
286  // Inverse of gmtime, the latter converts time_t (Unix time) to tm (UTC time)
287  time_t date = timegm(timeinfo);
288 
289  //ROS_DEBUG("Since 1970/01/01 %jd seconds have passed.\n", (intmax_t) date);
290  return date;
291  }
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◆ parseDouble() [1/2]

double parsing_utilities::parseDouble ( const uint8_t *  buffer)

Converts an 8-byte-buffer into a double.

The function assumes that the bytes in the buffer are already arranged with the same endianness as the local platform. It copies the elements in the range [buffer,buffer + sizeof(double)) into the range beginning at reinterpret_cast<uint8_t*>(&x). Recall: data_type *var_name = reinterpret_cast <data_type *>(pointer_variable) converts the pointer type, no return type

Parameters
[in]bufferA pointer to a buffer containing 8 bytes of data
Returns
The double extracted from the data in the buffer

Definition at line 51 of file parsing_utilities.cpp.

Referenced by GpggaParser::parseASCII(), and GprmcParser::parseASCII().

52  {
53  double diff_loc;
54  std::copy(buffer, buffer + sizeof(double), reinterpret_cast<uint8_t*>(&diff_loc));
55  return diff_loc;
56  }
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◆ parseDouble() [2/2]

bool parsing_utilities::parseDouble ( const std::string &  string,
double &  value 
)

Interprets the contents of "string" as a floating point number of type double.

It checks whether an error occurred (via errno) and whether junk characters exist within "string", and returns true if the latter two tests are negative or when the string is empty, false otherwise.

It stores the "string"'s value in "value" and returns whether or not all went well.

Parameters
[in]stringThe string whose content should be interpreted as a floating point number
[out]valueThe double variable that should be overwritten by the floating point number found in "string"
Returns
True if all went fine, false if not

Definition at line 62 of file parsing_utilities.cpp.

References string_utilities::toDouble().

63  {
64  return string_utilities::toDouble(string, value) || string.empty();
65  }
bool toDouble(const std::string &string, double &value)
Interprets the contents of "string" as a floating point number of type double It stores the "string"&#39;...
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◆ parseFloat() [1/2]

float parsing_utilities::parseFloat ( const uint8_t *  buffer)

Converts a 4-byte-buffer into a float.

The function assumes that the bytes in the buffer are already arranged with the same endianness as the local platform. It copies the elements in the range [buffer,buffer + sizeof(double)) into the range beginning at reinterpret_cast<uint8_t*>(&x). Recall: data_type *var_name = reinterpret_cast <data_type *>(pointer_variable) converts the pointer type, no return type

Parameters
[in]bufferA pointer to a buffer containing 4 bytes of data
Returns
The float extracted from the data in the buffer

Definition at line 72 of file parsing_utilities.cpp.

Referenced by GpgsaParser::parseASCII(), GpgsvParser::parseASCII(), GprmcParser::parseASCII(), and GpggaParser::parseASCII().

73  {
74  float diff_loc;
75  std::copy(buffer, buffer + sizeof(float), reinterpret_cast<uint8_t*>(&diff_loc));
76  return diff_loc;
77  }
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◆ parseFloat() [2/2]

bool parsing_utilities::parseFloat ( const std::string &  string,
float &  value 
)

Interprets the contents of "string" as a floating point number of type float.

It checks whether an error occurred (via errno) and whether junk characters exist within "string", and returns true if the latter two tests are negative or when the string is empty, false otherwise.

It stores the "string"'s value in "value" and returns whether or not all went well.

Parameters
[in]stringThe string whose content should be interpreted as a floating point number
[out]valueThe float variable that should be overwritten by the floating point number found in "string"
Returns
True if all went fine, false if not

Definition at line 83 of file parsing_utilities.cpp.

References string_utilities::toFloat().

84  {
85  return string_utilities::toFloat(string, value) || string.empty();
86  }
bool toFloat(const std::string &string, float &value)
Interprets the contents of "string" as a floating point number of type float.
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◆ parseInt16() [1/2]

int16_t parsing_utilities::parseInt16 ( const uint8_t *  buffer)

Converts a 2-byte-buffer into a signed 16-bit integer.

The function assumes that the bytes in the buffer are already arranged with the same endianness as the local platform. It copies the elements in the range [buffer,buffer + 2) into the range beginning at reinterpret_cast<uint8_t*>(&x). Recall: data_type *var_name = reinterpret_cast <data_type *>(pointer_variable) converts the pointer type, no return type

Parameters
[in]bufferA pointer to a buffer containing 2 bytes of data
Returns
The int16_t value extracted from the data in the buffer

Definition at line 93 of file parsing_utilities.cpp.

94  {
95  int16_t diff_loc;
96  std::copy(buffer, buffer+2, reinterpret_cast<uint8_t*>(&diff_loc));
97  return diff_loc;
98  }

◆ parseInt16() [2/2]

bool parsing_utilities::parseInt16 ( const std::string &  string,
int16_t &  value,
int32_t  base 
)

Interprets the contents of "string" as a integer number of type int16_t.

It checks whether an error occurred (via errno) and whether junk characters exist within "string", and returns true if the latter two tests are negative or when the string is empty, false otherwise.

It stores the "string"'s value in "value" and returns whether or not all went well.

Parameters
[in]stringThe string whose content should be interpreted as an integer number
[out]valueThe int16_t variable that should be overwritten by the integer number found in "string"
[in]baseThe numerical base of the integer in the string, default being 10
Returns
True if all went fine, false if not

Definition at line 104 of file parsing_utilities.cpp.

References string_utilities::toInt32().

105  {
106  value = 0;
107  if (string.empty())
108  {
109  return true;
110  }
111 
112  int32_t intermd;
113  if (string_utilities::toInt32(string, intermd, base) &&
114  intermd <= std::numeric_limits<int16_t>::max() &&
115  intermd >= std::numeric_limits<int16_t>::min())
116  {
117  value = static_cast<int16_t>(intermd);
118  return true;
119  }
120 
121  return false;
122  }
bool toInt32(const std::string &string, int32_t &value, int32_t base)
Interprets the contents of "string" as a floating point number of whatever integer type your system h...
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◆ parseInt32() [1/2]

int32_t parsing_utilities::parseInt32 ( const uint8_t *  buffer)

Converts a 4-byte-buffer into a signed 32-bit integer.

The function assumes that the bytes in the buffer are already arranged with the same endianness as the local platform. It copies the elements in the range [buffer,buffer + 4) into the range beginning at reinterpret_cast<uint8_t*>(&x). Recall: data_type *var_name = reinterpret_cast <data_type *>(pointer_variable) converts the pointer type, no return type

Parameters
[in]bufferA pointer to a buffer containing 4 bytes of data
Returns
The int32_t value extracted from the data in the buffer

Definition at line 129 of file parsing_utilities.cpp.

130  {
131  int32_t diff_loc;
132  std::copy(buffer, buffer+4, reinterpret_cast<uint8_t*>(&diff_loc));
133  return diff_loc;
134  }

◆ parseInt32() [2/2]

bool parsing_utilities::parseInt32 ( const std::string &  string,
int32_t &  value,
int32_t  base 
)

Interprets the contents of "string" as a integer number of type int32_t.

It checks whether an error occurred (via errno) and whether junk characters exist within "string", and returns true if the latter two tests are negative or when the string is empty, false otherwise.

It stores the "string"'s value in "value" and returns whether or not all went well.

Parameters
[in]stringThe string whose content should be interpreted as an integer number
[out]valueThe int32_t variable that should be overwritten by the integer number found in "string"
[in]baseThe numerical base of the integer in the string, default being 10
Returns
True if all went fine, false if not

Definition at line 140 of file parsing_utilities.cpp.

References string_utilities::toInt32().

141  {
142  return string_utilities::toInt32(string, value, base) || string.empty();
143  }
bool toInt32(const std::string &string, int32_t &value, int32_t base)
Interprets the contents of "string" as a floating point number of whatever integer type your system h...
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◆ parseUInt16() [1/2]

uint16_t parsing_utilities::parseUInt16 ( const uint8_t *  buffer)

Converts a 2-byte-buffer into an unsigned 16-bit integer.

The function assumes that the bytes in the buffer are already arranged with the same endianness as the local platform. It copies the elements in the range [buffer,buffer + 2) into the range beginning at reinterpret_cast<uint8_t*>(&x). Recall: data_type *var_name = reinterpret_cast <data_type *>(pointer_variable) converts the pointer type, no return type

Parameters
[in]bufferA pointer to a buffer containing 2 bytes of data
Returns
The uint16_t value extracted from the data in the buffer

Definition at line 172 of file parsing_utilities.cpp.

173  {
174  uint16_t number;
175  std::copy(buffer, buffer+2, reinterpret_cast<uint8_t*>(&number));
176  return number;
177  }

◆ parseUInt16() [2/2]

bool parsing_utilities::parseUInt16 ( const std::string &  string,
uint16_t &  value,
int32_t  base 
)

Interprets the contents of "string" as a unsigned integer number of type uint16_t.

It checks whether an error occurred (via errno) and whether junk characters exist within "string", and returns true if the latter two tests are negative or when the string is empty, false otherwise.

It stores the "string"'s value in "value" and returns whether or not all went well.

Parameters
[in]stringThe string whose content should be interpreted as an integer number
[out]valueThe uint16_t variable that should be overwritten by the integer number found in "string"
[in]baseThe numerical base of the integer in the string, default being 10
Returns
True if all went fine, false if not

Definition at line 183 of file parsing_utilities.cpp.

References string_utilities::toUInt32().

184  {
185  value = 0;
186  if (string.empty())
187  {
188  return true;
189  }
190 
191  uint32_t intermd;
192  if (string_utilities::toUInt32(string, intermd, base) && intermd <= std::numeric_limits<uint16_t>::max())
193  {
194  value = static_cast<uint16_t>(intermd);
195  return true;
196  }
197 
198  return false;
199  }
bool toUInt32(const std::string &string, uint32_t &value, int32_t base)
Interprets the contents of "string" as a floating point number of whatever unsigned integer type your...
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◆ parseUInt32() [1/2]

uint32_t parsing_utilities::parseUInt32 ( const uint8_t *  buffer)

Converts a 4-byte-buffer into an unsigned 32-bit integer.

The function assumes that the bytes in the buffer are already arranged with the same endianness as the local platform. It copies the elements in the range [buffer,buffer + 4) into the range beginning at reinterpret_cast<uint8_t*>(&x). Recall: data_type *var_name = reinterpret_cast <data_type *>(pointer_variable) converts the pointer type, no return type

Parameters
[in]bufferA pointer to a buffer containing 4 bytes of data
Returns
The uint32_t value extracted from the data in the buffer

Definition at line 206 of file parsing_utilities.cpp.

Referenced by GpggaParser::parseASCII().

207  {
208  uint32_t diff_loc;
209  std::copy(buffer, buffer+4, reinterpret_cast<uint8_t*>(&diff_loc));
210  return diff_loc;
211  }
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◆ parseUInt32() [2/2]

bool parsing_utilities::parseUInt32 ( const std::string &  string,
uint32_t &  value,
int32_t  base 
)

Interprets the contents of "string" as a unsigned integer number of type uint32_t.

It checks whether an error occurred (via errno) and whether junk characters exist within "string", and returns true if the latter two tests are negative or when the string is empty, false otherwise.

It stores the "string"'s value in "value" and returns whether or not all went well.

Parameters
[in]stringThe string whose content should be interpreted as an integer number
[out]valueThe uint32_t variable that should be overwritten by the integer number found in "string"
[in]baseThe numerical base of the integer in the string, default being 10
Returns
True if all went fine, false if not

Definition at line 217 of file parsing_utilities.cpp.

References string_utilities::toUInt32().

218  {
219  return string_utilities::toUInt32(string, value, base) || string.empty();
220  }
bool toUInt32(const std::string &string, uint32_t &value, int32_t base)
Interprets the contents of "string" as a floating point number of whatever unsigned integer type your...
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◆ parseUInt8()

bool parsing_utilities::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.

It checks whether an error occurred (via errno) and whether junk characters exist within "string", and returns true if the latter two tests are negative or when the string is empty, false otherwise.

It stores the "string"'s value in "value" and returns whether or not all went well.

Parameters
[in]stringThe string whose content should be interpreted as an integer number
[out]valueThe uint8_t variable that should be overwritten by the integer number found in "string"
[in]baseThe numerical base of the integer in the string, default being 10
Returns
True if all went fine, false if not

Definition at line 149 of file parsing_utilities.cpp.

References string_utilities::toUInt32().

Referenced by GpgsaParser::parseASCII(), and GpgsvParser::parseASCII().

150  {
151  value = 0;
152  if (string.empty())
153  {
154  return true;
155  }
156 
157  uint32_t intermd;
158  if (string_utilities::toUInt32(string, intermd, base) && intermd <= std::numeric_limits<uint8_t>::max())
159  {
160  value = static_cast<uint8_t>(intermd);
161  return true;
162  }
163 
164  return false;
165  }
bool toUInt32(const std::string &string, uint32_t &value, int32_t base)
Interprets the contents of "string" as a floating point number of whatever unsigned integer type your...
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