velodynePositioningDriver.hpp

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#ifndef _VELODYNE_POSITIONING_DRIVER_HPP_
#define _VELODYNE_POSITIONING_DRIVER_HPP_

#include <iodrivers_base/Driver.hpp>
#include <velodyne_lidar/velodyneProtocolTypes.hpp>
#include <velodyne_lidar/gps_rmc_type.h>
#include <string.h>

namespace velodyne_lidar
{

class VelodynePositioningDriver : public iodrivers_base::Driver 
{
public:
    VelodynePositioningDriver();

    void print_packet(velodyne_positioning_packet_t &);

    virtual int extractPacket(uint8_t const* buffer, size_t buffer_size) const;
    
    void convertMotionValues(const velodyne_orientation_t& velodyne_orientation_data, double& gyro, double& temp, double& accel_x, double& accel_y) const;
    
    void convertNMEASentence(const std::string& nmea_message, GPS_RMC& rmc_data);
    
protected:
    bool checkNMEA_CRC(const std::string& mnea_message);
    
    base::Time getGPSDateTime(const std::string& date, const std::string& time);
    
};

};

#endif