Status.hpp

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#ifndef ADVANCED_NAVIGATION_ANPP_STATUS_HPP
#define ADVANCED_NAVIGATION_ANPP_STATUS_HPP

#include <cstdint>
#include <base/Time.hpp>
#include <imu_advanced_navigation_anpp/Constants.hpp>
#include <imu_advanced_navigation_anpp/NorthSeekingInitializationStatus.hpp>

namespace imu_advanced_navigation_anpp
{
    struct Status
    {
        base::Time time;

        uint16_t system_status;

        uint16_t filter_status;

        GNSS_STATUS gnss_solution_status;

        uint16_t gnss_extra_status;

        NorthSeekingInitializationStatus north_seeking;

        Status()
            : gnss_extra_status(0) {}

        bool isOrientationInitialized() const
        {
            return filter_status & FILTER_ORIENTATION_INITIALIZED;
        }

        bool isHeadingInitialized() const
        {
            return filter_status & FILTER_HEADING_INITIALIZED;
        }

        bool isNavigationInitialized() const
        {
            return filter_status & FILTER_NAVIGATION_INITIALIZED;
        }

        bool isUTCInitialized() const
        {
            return filter_status & FILTER_UTC_INITIALIZED;
        }
    };
}

#endif