io_comm_rx Namespace Reference

Classes
class	AbstractCallbackHandler
class	AsyncManager
	This is the central interface between ROSaic and the Rx(s), managing I/O operations such as reading messages and sending commands.. More...
class	CallbackHandler
	Abstract class representing a generic callback handler, includes high-level functionality such as wait. More...
class	CallbackHandlers
	Represents ensemble of (to be constructed) ROS messages, to be handled at once by this class. More...
class	Comm_IO
	Handles communication with and configuration of the mosaic (and beyond) receiver(s) More...
class	Manager
	Interface (in C++ terms), that could be used for any I/O manager, synchronous and asynchronous alike. More...
class	RxMessage
	Can search buffer for messages, read/parse them, and so on. More...

Functions
ros::Time	timestampSBF (uint32_t tow, bool use_gnss)
	Calculates the timestamp, in the Unix Epoch time format This is either done using the TOW as transmitted with the SBF block (if "use_gnss" is true), or using the current time. More...

Variables
static const uint32_t	BAUDRATES []
	Possible baudrates for the Rx. More...

Detailed Description

This namespace is for the communication interface, handling all aspects related to serial and TCP/IP communication..

Function Documentation

timestampSBF()

ros::Time io_comm_rx::timestampSBF	(	uint32_t	tow,
		bool	use_gnss
	)

Calculates the timestamp, in the Unix Epoch time format This is either done using the TOW as transmitted with the SBF block (if "use_gnss" is true), or using the current time.

Parameters

[in]	tow	(Time of Week) Number of milliseconds that elapsed since the beginning of the current GPS week as transmitted by the SBF block
[in]	use_gnss	If true, the TOW as transmitted with the SBF block is used, otherwise the current time

Returns

ros::Time object containing seconds and nanoseconds since last epoch

If the current time shall be employed, it is calculated via the time(NULL) function found in the <ctime> library At the time of writing the code (2020), the GPS time was ahead of UTC time by 18 (leap) seconds. Adapt the g_leap_seconds ROSaic parameter accordingly as soon as the next leap second is inserted into the UTC time.

Definition at line 768 of file rx_message.cpp.

Variable Documentation

BAUDRATES

const uint32_t io_comm_rx::BAUDRATES[]

static

Initial value:

= {1200, 2400, 4800, 9600, 19200, 38400, 57600, 
                                                                                115200, 230400, 460800, 500000, 576000, 921600, 
                                                                                1000000, 1152000, 1500000, 2000000, 2500000, 
                                                                                3000000, 3500000, 4000000}

Possible baudrates for the Rx.

Definition at line 93 of file communication_core.hpp.