#include <novatel_gps.h>

Public Types
enum	ConnectionType { SERIAL, TCP, UDP, PCAP, INVALID }
enum	ReadResult { READ_SUCCESS = 0, READ_INSUFFICIENT_DATA = 1, READ_TIMEOUT = 2, READ_INTERRUPTED = 3, READ_ERROR = -1, READ_PARSE_FAILED = -2 }
Public Member Functions
bool	Connect (const std::string &device, ConnectionType connection)
bool	Connect (const std::string &device, ConnectionType connection, NovatelMessageOpts const &opts)
void	Disconnect ()
std::string	ErrorMsg () const
void	GetFixMessages (std::vector< gps_common::GPSFixPtr > &fix_messages)
	Provides any GPSFix messages that have been generated since the last time this was called.
void	GetGpggaMessages (std::vector< novatel_gps_msgs::GpggaPtr > &gpgga_messages)
	Provides any GPGGA messages that have been received since the last time this was called.
void	GetGpgsaMessages (std::vector< novatel_gps_msgs::GpgsaPtr > &gpgsa_messages)
	Provides any GPGSA messages that have been received since the last time this was called.
void	GetGpgsvMessages (std::vector< novatel_gps_msgs::GpgsvPtr > &gpgsv_messages)
	Provides any GPGSV messages that have been received since the last time this was called.
void	GetGprmcMessages (std::vector< novatel_gps_msgs::GprmcPtr > &gprmc_messages)
	Provides any GPRMC messages that have been received since the last time this was called.
void	GetImuMessages (std::vector< sensor_msgs::ImuPtr > &imu_messages)
	Provides any Imu messages that have been generated since the last time this was called.
void	GetInscovMessages (std::vector< novatel_gps_msgs::InscovPtr > &inscov_messages)
	Provides any INSCOV messages that have been received since the last time this was called.
void	GetInspvaMessages (std::vector< novatel_gps_msgs::InspvaPtr > &inspva_messages)
	Provides any INSPVA messages that have been received since the last time this was called.
void	GetInsstdevMessages (std::vector< novatel_gps_msgs::InsstdevPtr > &insstdev_messages)
	Provides any INSSTDEV messages that have been received since the last time this was called.
void	GetNovatelCorrectedImuData (std::vector< novatel_gps_msgs::NovatelCorrectedImuDataPtr > &imu_messages)
	Provides any CORRIMUDATA messages that have been received since the last time this was called.
void	GetNovatelPositions (std::vector< novatel_gps_msgs::NovatelPositionPtr > &positions)
	Provides any BESTPOS messages that have been received since the last time this was called.
void	GetNovatelVelocities (std::vector< novatel_gps_msgs::NovatelVelocityPtr > &velocities)
	Provides any BESTVEL messages that have been received since the last time this was called.
void	GetRangeMessages (std::vector< novatel_gps_msgs::RangePtr > &range_messages)
	Provides any RANGE messages that have been received since the last time this was called.
void	GetTimeMessages (std::vector< novatel_gps_msgs::TimePtr > &time_messages)
	Provides any TIME messages that have been received since the last time this was called.
void	GetTrackstatMessages (std::vector< novatel_gps_msgs::TrackstatPtr > &trackstat_msgs)
	Provides any TRACKSTAT messages that have been received since the last time this was called.
bool	IsConnected ()
	NovatelGps ()
ReadResult	ProcessData ()
	Processes any data that has been received from the device since the last time this message was called. May result in any number of messages being placed in the individual message buffers.
void	SetImuRate (double imu_rate)
	Sets the IMU rate; necessary for producing sensor_msgs/Imu messages.
bool	Write (const std::string &command)
	Writes the given string of characters to a connected NovAtel device.
	~NovatelGps ()
Static Public Member Functions
static ConnectionType	ParseConnection (const std::string &connection)
	Converts the strings "udp", "tcp", or "serial" into the corresponding enum values.
Public Attributes
double	gpgga_gprmc_sync_tol_
double	gpgga_position_sync_tol_
bool	wait_for_position_
Private Member Functions
bool	Configure (NovatelMessageOpts const &opts)
	(Re)configure the driver with a set of message options
bool	CreateIpConnection (const std::string &endpoint, NovatelMessageOpts const &opts)
	Establishes an IP connection with a NovAtel device.
bool	CreatePcapConnection (const std::string &device, NovatelMessageOpts const &opts)
	Creates a pcap device for playing back recorded data.
bool	CreateSerialConnection (const std::string &device, NovatelMessageOpts const &opts)
	Establishes a serial port connection with a NovAtel device.
void	GenerateImuMessages ()
	Processes any messages in our corrimudata & inspva queues in order to generate Imu messages from them.
NovatelGps::ReadResult	ParseBinaryMessage (const BinaryMessage &msg, const ros::Time &stamp) throw (ParseException)
	Converts a BinaryMessage object into a ROS message of the appropriate type and places it in the appropriate buffer.
NovatelGps::ReadResult	ParseNmeaSentence (const NmeaSentence &sentence, const ros::Time &stamp, double most_recent_utc_time) throw (ParseException)
	Converts an NMEA sentence into a ROS message of the appropriate type and places it in the appropriate buffer.
NovatelGps::ReadResult	ParseNovatelSentence (const NovatelSentence &sentence, const ros::Time &stamp) throw (ParseException)
	Converts a NovatelSentence object into a ROS message of the appropriate type and places it in the appropriate buffer.
ReadResult	ReadData ()
	Reads data from a connected NovAtel device. Any read data will be appended to data_buffer_.
Private Attributes
BestposParser	bestpos_parser_
BestvelParser	bestvel_parser_
ConnectionType	connection_
boost::circular_buffer < novatel_gps_msgs::NovatelCorrectedImuDataPtr >	corrimudata_msgs_
CorrImuDataParser	corrimudata_parser_
std::queue < novatel_gps_msgs::NovatelCorrectedImuDataPtr >	corrimudata_queue_
std::vector< uint8_t >	data_buffer_
std::string	error_msg_
NovatelMessageExtractor	extractor_
	Used to extract messages from the incoming data stream.
boost::circular_buffer < novatel_gps_msgs::GpggaPtr >	gpgga_msgs_
GpggaParser	gpgga_parser_
boost::circular_buffer < novatel_gps_msgs::Gpgga >	gpgga_sync_buffer_
boost::circular_buffer < novatel_gps_msgs::GpgsaPtr >	gpgsa_msgs_
GpgsaParser	gpgsa_parser_
boost::circular_buffer < novatel_gps_msgs::GpgsvPtr >	gpgsv_msgs_
GpgsvParser	gpgsv_parser_
boost::circular_buffer < novatel_gps_msgs::GprmcPtr >	gprmc_msgs_
GprmcParser	gprmc_parser_
boost::circular_buffer < novatel_gps_msgs::Gprmc >	gprmc_sync_buffer_
boost::circular_buffer < sensor_msgs::ImuPtr >	imu_msgs_
double	imu_rate_
boost::circular_buffer < novatel_gps_msgs::InscovPtr >	inscov_msgs_
InscovParser	inscov_parser_
boost::circular_buffer < novatel_gps_msgs::InspvaPtr >	inspva_msgs_
InspvaParser	inspva_parser_
std::queue < novatel_gps_msgs::InspvaPtr >	inspva_queue_
boost::circular_buffer < novatel_gps_msgs::InsstdevPtr >	insstdev_msgs_
InsstdevParser	insstdev_parser_
boost::asio::io_service	io_service_
bool	is_connected_
std::vector< uint8_t >	last_tcp_packet_
novatel_gps_msgs::InscovPtr	latest_inscov_
novatel_gps_msgs::InsstdevPtr	latest_insstdev_
std::string	nmea_buffer_
	Buffer containing incomplete data from message parsing.
boost::circular_buffer < novatel_gps_msgs::NovatelPositionPtr >	novatel_positions_
boost::circular_buffer < novatel_gps_msgs::NovatelVelocityPtr >	novatel_velocities_
pcap_t *	pcap_
	pcap device for testing
char	pcap_errbuf_ [MAX_BUFFER_SIZE]
bpf_program	pcap_packet_filter_
boost::circular_buffer < novatel_gps_msgs::NovatelPositionPtr >	position_sync_buffer_
boost::circular_buffer < novatel_gps_msgs::RangePtr >	range_msgs_
RangeParser	range_parser_
swri_serial_util::SerialPort	serial_
boost::array< uint8_t, 10000 >	socket_buffer_
	Fixed-size buffer for reading directly from sockets.
boost::asio::ip::tcp::socket	tcp_socket_
boost::circular_buffer < novatel_gps_msgs::TimePtr >	time_msgs_
TimeParser	time_parser_
boost::circular_buffer < novatel_gps_msgs::TrackstatPtr >	trackstat_msgs_
TrackstatParser	trackstat_parser_
boost::shared_ptr < boost::asio::ip::udp::endpoint >	udp_endpoint_
boost::shared_ptr < boost::asio::ip::udp::socket >	udp_socket_
double	utc_offset_
Static Private Attributes
static constexpr uint16_t	DEFAULT_TCP_PORT = 3001
static constexpr uint16_t	DEFAULT_UDP_PORT = 3002
static constexpr double	DEGREES_TO_RADIANS = M_PI / 180.0
static constexpr double	IMU_TOLERANCE_S = 0.0002
static constexpr size_t	MAX_BUFFER_SIZE = 100
static constexpr uint32_t	SECONDS_PER_WEEK = 604800
static constexpr size_t	SYNC_BUFFER_SIZE = 10

Detailed Description

Definition at line 82 of file novatel_gps.h.

Member Enumeration Documentation

enum novatel_gps_driver::NovatelGps::ConnectionType

Enumerator:

SERIAL
TCP
UDP
PCAP
INVALID

Definition at line 85 of file novatel_gps.h.

enum novatel_gps_driver::NovatelGps::ReadResult

Enumerator:

READ_SUCCESS
READ_INSUFFICIENT_DATA
READ_TIMEOUT
READ_INTERRUPTED
READ_ERROR
READ_PARSE_FAILED

Definition at line 87 of file novatel_gps.h.

Constructor & Destructor Documentation

novatel_gps_driver::NovatelGps::NovatelGps ( )

Definition at line 45 of file novatel_gps.cpp.

novatel_gps_driver::NovatelGps::~NovatelGps ( )

Definition at line 75 of file novatel_gps.cpp.

Member Function Documentation

bool novatel_gps_driver::NovatelGps::Configure ( NovatelMessageOpts const & opts ) [private]

(Re)configure the driver with a set of message options

Parameters:

opts	A map from message name to log period (seconds)

Returns:: True on successful configuration

Definition at line 1267 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::Connect	(	const std::string &	device,
		ConnectionType	connection
	)

Connect and configure with default message options.

Parameters:

device	For serial connections, a path to a device file handle, e.g. /dev/TTYUSB0; for IP connections, a host:port specification, e.g. "192.168.1.10:3001"
connection	The type of connection.

Returns:: True on success

Definition at line 80 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::Connect	(	const std::string &	device,
		ConnectionType	connection,
		NovatelMessageOpts const &	opts
	)

Connect and configure with the given message options

Parameters:

device	For serial connections, a path to a device file handle, e.g. /dev/TTYUSB0; for IP connections, a host:port specification, e.g. "192.168.1.10:3001"
connection	The type of connection.
opts	Message options to use

Returns:: True on success

Definition at line 93 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::CreateIpConnection	(	const std::string &	endpoint,
		NovatelMessageOpts const &	opts
	)		`[private]`

Establishes an IP connection with a NovAtel device.

Based on the current value in connection_, this will create either a TCP or UDP socket; then, based on the value in endpoint, it will either create a connection to a NovAtel device on a specific port or wait for a connection from one. In any case, this method will block until a connection is either established or failed.

After it has been called, Configure() will be called on the device and provided opts in order to configure which logs it will produce. After that, ReadData() and Write() may be used to communicate with the device.

Parameters:

endpoint	A host and port specification; e. g., "192.168.1.10:1000". If the host host is omitted, it will listen for a connection the specified port. If the port is omitted, DEFAULT_TCP_PORT will be used for TCP connections and DEFAULT_UDP_PORT for UDP connections.
opts	A map of logs and periods the device should produce.

Returns:: false if it failed to create a connection, true otherwise.

Definition at line 562 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::CreatePcapConnection	(	const std::string &	device,
		NovatelMessageOpts const &	opts
	)		`[private]`

Creates a pcap device for playing back recorded data.

Parameters:

device
opts

Returns:

Definition at line 512 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::CreateSerialConnection	(	const std::string &	device,
		NovatelMessageOpts const &	opts
	)		`[private]`

Establishes a serial port connection with a NovAtel device.

It will create a connection set at 115200 baud, no parity, no flow control, and 8N1 bits, then it will call Configure() on that connection. After this method has succeeded, RedData() and Write() can be used to communicate with the device.

Parameters:

device	The device node to connect to; e. g., "/dev/ttyUSB0"
opts	A map of logs and periods the device should produce.

Returns:: false if it failed to create a connection, true otherwise.

Definition at line 528 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::Disconnect ( )

Disconnects from a connected device

Definition at line 143 of file novatel_gps.cpp.

std::string novatel_gps_driver::NovatelGps::ErrorMsg ( ) const [inline]

Returns:: The most recent error message

Definition at line 129 of file novatel_gps.h.

void novatel_gps_driver::NovatelGps::GenerateImuMessages ( ) [private]

Processes any messages in our corrimudata & inspva queues in order to generate Imu messages from them.

Definition at line 874 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetFixMessages ( std::vector< gps_common::GPSFixPtr > & fix_messages )

Provides any GPSFix messages that have been generated since the last time this was called.

Parameters:

[out] fix_messages New GPSFix messages.

Definition at line 295 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetGpggaMessages ( std::vector< novatel_gps_msgs::GpggaPtr > & gpgga_messages )

Provides any GPGGA messages that have been received since the last time this was called.

Parameters:

[out] gpgga_messages New GPGGA messages.

Definition at line 442 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetGpgsaMessages ( std::vector< novatel_gps_msgs::GpgsaPtr > & gpgsa_messages )

Provides any GPGSA messages that have been received since the last time this was called.

Parameters:

[out] gpgsa_messages New GPGSA messages.

Definition at line 449 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetGpgsvMessages ( std::vector< novatel_gps_msgs::GpgsvPtr > & gpgsv_messages )

Provides any GPGSV messages that have been received since the last time this was called.

Parameters:

[out] gpgsv_messages New GPGSV messages.

Definition at line 456 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetGprmcMessages ( std::vector< novatel_gps_msgs::GprmcPtr > & gprmc_messages )

Provides any GPRMC messages that have been received since the last time this was called.

Parameters:

[out] gprmc_messages New GPRMC messages.

Definition at line 463 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetImuMessages ( std::vector< sensor_msgs::ImuPtr > & imu_messages )

Provides any Imu messages that have been generated since the last time this was called.

Parameters:

[out] imu_message New Imu messages.

Definition at line 867 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetInscovMessages ( std::vector< novatel_gps_msgs::InscovPtr > & inscov_messages )

Provides any INSCOV messages that have been received since the last time this was called.

Parameters:

[out] inscov_messages New INSCOV messages.

Definition at line 470 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetInspvaMessages ( std::vector< novatel_gps_msgs::InspvaPtr > & inspva_messages )

Provides any INSPVA messages that have been received since the last time this was called.

Parameters:

[out] inspva_messages New INSPVA messages.

Definition at line 477 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetInsstdevMessages ( std::vector< novatel_gps_msgs::InsstdevPtr > & insstdev_messages )

Provides any INSSTDEV messages that have been received since the last time this was called.

Parameters:

[out] insstdev_messages New INSSTDEV messages.

Definition at line 484 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelCorrectedImuData ( std::vector< novatel_gps_msgs::NovatelCorrectedImuDataPtr > & imu_messages )

Provides any CORRIMUDATA messages that have been received since the last time this was called.

Parameters:

[out] imu_messages New CORRIMUDATA messages.

Definition at line 435 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelPositions ( std::vector< novatel_gps_msgs::NovatelPositionPtr > & positions )

Provides any BESTPOS messages that have been received since the last time this was called.

Parameters:

[out] positions New BESTPOS messages.

Definition at line 281 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelVelocities ( std::vector< novatel_gps_msgs::NovatelVelocityPtr > & velocities )

Provides any BESTVEL messages that have been received since the last time this was called.

Parameters:

[out] velocities New BESTVEL messages.

Definition at line 288 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetRangeMessages ( std::vector< novatel_gps_msgs::RangePtr > & range_messages )

Provides any RANGE messages that have been received since the last time this was called.

Parameters:

[out] range_messages New RANGE messages.

Definition at line 491 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetTimeMessages ( std::vector< novatel_gps_msgs::TimePtr > & time_messages )

Provides any TIME messages that have been received since the last time this was called.

Parameters:

[out] time_messages New TIME messages.

Definition at line 498 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetTrackstatMessages ( std::vector< novatel_gps_msgs::TrackstatPtr > & trackstat_msgs )

Provides any TRACKSTAT messages that have been received since the last time this was called.

Parameters:

[out] trackstat_msgs New TRACKSTAT messages.

Definition at line 505 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::IsConnected ( ) [inline]

Returns:: true if we are connected to a NovAtel device, false otherwise.

Definition at line 225 of file novatel_gps.h.

NovatelGps::ReadResult novatel_gps_driver::NovatelGps::ParseBinaryMessage	(	const BinaryMessage &	msg,
		const ros::Time &	stamp
	)		throw (ParseException) `[private]`

Converts a BinaryMessage object into a ROS message of the appropriate type and places it in the appropriate buffer.

Parameters:

[in]	msg	A valid binary message
[in]	stamp	A timestamp to set in the ROS message header.

Returns:: A value indicating the success of the operation.

Definition at line 972 of file novatel_gps.cpp.

NovatelGps::ConnectionType novatel_gps_driver::NovatelGps::ParseConnection ( const std::string & connection ) [static]

Converts the strings "udp", "tcp", or "serial" into the corresponding enum values.

Parameters:

connection A string indicating the connection type.

Returns:: The corresponding enum value.

Definition at line 121 of file novatel_gps.cpp.

NovatelGps::ReadResult novatel_gps_driver::NovatelGps::ParseNmeaSentence	(	const NmeaSentence &	sentence,
		const ros::Time &	stamp,
		double	most_recent_utc_time
	)		throw (ParseException) `[private]`

Converts an NMEA sentence into a ROS message of the appropriate type and places it in the appropriate buffer.

Parameters:

[in]	sentence	A valid NMEA sentence
[in]	stamp	A timestamp to set in the ROS message header.
	most_recent_utc_time	The most recently received time in any GPGGA or GPRMC message; used to adjust timestamps in ROS message headers.

Returns:: A value indicating the success of the operation.

Definition at line 1067 of file novatel_gps.cpp.

NovatelGps::ReadResult novatel_gps_driver::NovatelGps::ParseNovatelSentence	(	const NovatelSentence &	sentence,
		const ros::Time &	stamp
	)		throw (ParseException) `[private]`

Converts a NovatelSentence object into a ROS message of the appropriate type and places it in the appropriate buffer.

Parameters:

[in]	msg	A valid ASCII NovAtel message message
[in]	stamp	A timestamp to set in the ROS message header.

Returns:: A value indicating the success of the operation.

Definition at line 1137 of file novatel_gps.cpp.

NovatelGps::ReadResult novatel_gps_driver::NovatelGps::ProcessData ( )

Processes any data that has been received from the device since the last time this message was called. May result in any number of messages being placed in the individual message buffers.

Returns:: A code indicating the success of reading from the device.

Definition at line 176 of file novatel_gps.cpp.

NovatelGps::ReadResult novatel_gps_driver::NovatelGps::ReadData ( ) [private]

Reads data from a connected NovAtel device. Any read data will be appended to data_buffer_.

Returns:: The status of the read operation.

Definition at line 677 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::SetImuRate ( double imu_rate )

Sets the IMU rate; necessary for producing sensor_msgs/Imu messages.

Parameters:

imu_rate The IMU rate in Hz.

Definition at line 966 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::Write ( const std::string & command )

Writes the given string of characters to a connected NovAtel device.

Parameters:

command A string to transmit.

Returns:: true if we successfully wrote all of the data, false otherwise.

Definition at line 1217 of file novatel_gps.cpp.

Member Data Documentation

BestposParser novatel_gps_driver::NovatelGps::bestpos_parser_ [private]

Definition at line 403 of file novatel_gps.h.

BestvelParser novatel_gps_driver::NovatelGps::bestvel_parser_ [private]

Definition at line 404 of file novatel_gps.h.

ConnectionType novatel_gps_driver::NovatelGps::connection_ [private]

Definition at line 367 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelCorrectedImuDataPtr> novatel_gps_driver::NovatelGps::corrimudata_msgs_ [private]

Definition at line 418 of file novatel_gps.h.

CorrImuDataParser novatel_gps_driver::NovatelGps::corrimudata_parser_ [private]

Definition at line 405 of file novatel_gps.h.

std::queue<novatel_gps_msgs::NovatelCorrectedImuDataPtr> novatel_gps_driver::NovatelGps::corrimudata_queue_ [private]

Definition at line 437 of file novatel_gps.h.

std::vector<uint8_t> novatel_gps_driver::NovatelGps::data_buffer_ [private]

Variable-length buffer that has data continually appended to it until messages are parsed from it

Definition at line 387 of file novatel_gps.h.

constexpr uint16_t novatel_gps_driver::NovatelGps::DEFAULT_TCP_PORT = 3001 [static, private]

Definition at line 359 of file novatel_gps.h.

constexpr uint16_t novatel_gps_driver::NovatelGps::DEFAULT_UDP_PORT = 3002 [static, private]

Definition at line 360 of file novatel_gps.h.

constexpr double novatel_gps_driver::NovatelGps::DEGREES_TO_RADIANS = M_PI / 180.0 [static, private]

Definition at line 365 of file novatel_gps.h.

std::string novatel_gps_driver::NovatelGps::error_msg_ [private]

Definition at line 369 of file novatel_gps.h.

NovatelMessageExtractor novatel_gps_driver::NovatelGps::extractor_ [private]

Used to extract messages from the incoming data stream.

Definition at line 400 of file novatel_gps.h.

double novatel_gps_driver::NovatelGps::gpgga_gprmc_sync_tol_

Definition at line 256 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::GpggaPtr> novatel_gps_driver::NovatelGps::gpgga_msgs_ [private]

Definition at line 419 of file novatel_gps.h.

GpggaParser novatel_gps_driver::NovatelGps::gpgga_parser_ [private]

Definition at line 406 of file novatel_gps.h.

double novatel_gps_driver::NovatelGps::gpgga_position_sync_tol_

Definition at line 257 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::Gpgga> novatel_gps_driver::NovatelGps::gpgga_sync_buffer_ [private]

Definition at line 420 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::GpgsaPtr> novatel_gps_driver::NovatelGps::gpgsa_msgs_ [private]

Definition at line 421 of file novatel_gps.h.

GpgsaParser novatel_gps_driver::NovatelGps::gpgsa_parser_ [private]

Definition at line 407 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::GpgsvPtr> novatel_gps_driver::NovatelGps::gpgsv_msgs_ [private]

Definition at line 422 of file novatel_gps.h.

GpgsvParser novatel_gps_driver::NovatelGps::gpgsv_parser_ [private]

Definition at line 408 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::GprmcPtr> novatel_gps_driver::NovatelGps::gprmc_msgs_ [private]

Definition at line 423 of file novatel_gps.h.

GprmcParser novatel_gps_driver::NovatelGps::gprmc_parser_ [private]

Definition at line 409 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::Gprmc> novatel_gps_driver::NovatelGps::gprmc_sync_buffer_ [private]

Definition at line 424 of file novatel_gps.h.

boost::circular_buffer<sensor_msgs::ImuPtr> novatel_gps_driver::NovatelGps::imu_msgs_ [private]

Definition at line 425 of file novatel_gps.h.

double novatel_gps_driver::NovatelGps::imu_rate_ [private]

Definition at line 441 of file novatel_gps.h.

constexpr double novatel_gps_driver::NovatelGps::IMU_TOLERANCE_S = 0.0002 [static, private]

Definition at line 364 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::InscovPtr> novatel_gps_driver::NovatelGps::inscov_msgs_ [private]

Definition at line 426 of file novatel_gps.h.

InscovParser novatel_gps_driver::NovatelGps::inscov_parser_ [private]

Definition at line 410 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::InspvaPtr> novatel_gps_driver::NovatelGps::inspva_msgs_ [private]

Definition at line 427 of file novatel_gps.h.

InspvaParser novatel_gps_driver::NovatelGps::inspva_parser_ [private]

Definition at line 411 of file novatel_gps.h.

std::queue<novatel_gps_msgs::InspvaPtr> novatel_gps_driver::NovatelGps::inspva_queue_ [private]

Definition at line 438 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::InsstdevPtr> novatel_gps_driver::NovatelGps::insstdev_msgs_ [private]

Definition at line 428 of file novatel_gps.h.

InsstdevParser novatel_gps_driver::NovatelGps::insstdev_parser_ [private]

Definition at line 412 of file novatel_gps.h.

boost::asio::io_service novatel_gps_driver::NovatelGps::io_service_ [private]

Definition at line 379 of file novatel_gps.h.

bool novatel_gps_driver::NovatelGps::is_connected_ [private]

Definition at line 371 of file novatel_gps.h.

std::vector<uint8_t> novatel_gps_driver::NovatelGps::last_tcp_packet_ [private]

Definition at line 397 of file novatel_gps.h.

novatel_gps_msgs::InscovPtr novatel_gps_driver::NovatelGps::latest_inscov_ [private]

Definition at line 440 of file novatel_gps.h.

novatel_gps_msgs::InsstdevPtr novatel_gps_driver::NovatelGps::latest_insstdev_ [private]

Definition at line 439 of file novatel_gps.h.

constexpr size_t novatel_gps_driver::NovatelGps::MAX_BUFFER_SIZE = 100 [static, private]

Definition at line 361 of file novatel_gps.h.

std::string novatel_gps_driver::NovatelGps::nmea_buffer_ [private]

Buffer containing incomplete data from message parsing.

Definition at line 389 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelPositionPtr> novatel_gps_driver::NovatelGps::novatel_positions_ [private]

Definition at line 429 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelVelocityPtr> novatel_gps_driver::NovatelGps::novatel_velocities_ [private]

Definition at line 430 of file novatel_gps.h.

pcap_t* novatel_gps_driver::NovatelGps::pcap_ [private]

pcap device for testing

Definition at line 394 of file novatel_gps.h.

char novatel_gps_driver::NovatelGps::pcap_errbuf_[MAX_BUFFER_SIZE] [private]

Definition at line 396 of file novatel_gps.h.

bpf_program novatel_gps_driver::NovatelGps::pcap_packet_filter_ [private]

Definition at line 395 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelPositionPtr> novatel_gps_driver::NovatelGps::position_sync_buffer_ [private]

Definition at line 431 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::RangePtr> novatel_gps_driver::NovatelGps::range_msgs_ [private]

Definition at line 432 of file novatel_gps.h.

RangeParser novatel_gps_driver::NovatelGps::range_parser_ [private]

Definition at line 413 of file novatel_gps.h.

constexpr uint32_t novatel_gps_driver::NovatelGps::SECONDS_PER_WEEK = 604800 [static, private]

Definition at line 363 of file novatel_gps.h.

swri_serial_util::SerialPort novatel_gps_driver::NovatelGps::serial_ [private]

Definition at line 376 of file novatel_gps.h.

boost::array<uint8_t, 10000> novatel_gps_driver::NovatelGps::socket_buffer_ [private]

Fixed-size buffer for reading directly from sockets.

Definition at line 391 of file novatel_gps.h.

constexpr size_t novatel_gps_driver::NovatelGps::SYNC_BUFFER_SIZE = 10 [static, private]

Definition at line 362 of file novatel_gps.h.

boost::asio::ip::tcp::socket novatel_gps_driver::NovatelGps::tcp_socket_ [private]

Definition at line 380 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::TimePtr> novatel_gps_driver::NovatelGps::time_msgs_ [private]

Definition at line 433 of file novatel_gps.h.

TimeParser novatel_gps_driver::NovatelGps::time_parser_ [private]

Definition at line 414 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::TrackstatPtr> novatel_gps_driver::NovatelGps::trackstat_msgs_ [private]

Definition at line 434 of file novatel_gps.h.

TrackstatParser novatel_gps_driver::NovatelGps::trackstat_parser_ [private]

Definition at line 415 of file novatel_gps.h.

boost::shared_ptr<boost::asio::ip::udp::endpoint> novatel_gps_driver::NovatelGps::udp_endpoint_ [private]

Definition at line 382 of file novatel_gps.h.

boost::shared_ptr<boost::asio::ip::udp::socket> novatel_gps_driver::NovatelGps::udp_socket_ [private]

Definition at line 381 of file novatel_gps.h.

double novatel_gps_driver::NovatelGps::utc_offset_ [private]

Definition at line 373 of file novatel_gps.h.

bool novatel_gps_driver::NovatelGps::wait_for_position_

Definition at line 258 of file novatel_gps.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation