text: // *****************************************************************************
  //
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  #ifndef NOVATEL_GPS_DRIVER_HEADING2_H
  #define NOVATEL_GPS_DRIVER_HEADING2_H
  
  #include <novatel_gps_msgs/msg/novatel_heading2.hpp>
  
  #include <novatel_gps_driver/parsers/parsing_utils.h>
  #include <novatel_gps_driver/parsers/message_parser.h>
  
  namespace novatel_gps_driver
  {
    class Heading2Parser : public MessageParser<novatel_gps_msgs::msg::NovatelHeading2::UniquePtr>
    {
    public:
      uint32_t GetMessageId() const override;
  
      const std::string GetMessageName() const override;
  
      MessageType ParseBinary(const BinaryMessage& bin_msg) noexcept(false) override;
  
      MessageType ParseAscii(const NovatelSentence& sentence) noexcept(false) override;
  
      static constexpr uint16_t MESSAGE_ID = 1335;
      static constexpr size_t BINARY_LENGTH = 48;
      static constexpr size_t ASCII_LENGTH = 18;
      static const std::string MESSAGE_NAME;
  
    private:
      /*
       * @brief Converts a Solution Source byte mask to the format used in the NovatelHeading2 ros message
       *
       * ParseException thrown if source_mask cannot be parsed
       * @param[in] source_mask The byte to parse
       * @return NovatelHeading2.solution_source enum value
       */
      uint8_t SolutionSourceToMsgEnum(uint8_t source_mask) noexcept(false);
    };
  }
  
  #endif //NOVATEL_GPS_DRIVER_HEADING2_H
  