rx_message.hpp File Reference

Defines a class that reads messages handed over from the circular buffer. More...

#include <cassert>
#include <cstddef>
#include <map>
#include <sstream>
#include <boost/call_traits.hpp>
#include <boost/format.hpp>
#include <boost/math/constants/constants.hpp>
#include <boost/tokenizer.hpp>
#include <septentrio_gnss_driver/abstraction/typedefs.hpp>
#include <septentrio_gnss_driver/crc/crc.h>
#include <septentrio_gnss_driver/parsers/nmea_parsers/gpgga.hpp>
#include <septentrio_gnss_driver/parsers/nmea_parsers/gpgsa.hpp>
#include <septentrio_gnss_driver/parsers/nmea_parsers/gpgsv.hpp>
#include <septentrio_gnss_driver/parsers/nmea_parsers/gprmc.hpp>
#include <septentrio_gnss_driver/parsers/string_utilities.h>

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Classes
class	io_comm_rx::RxMessage
	Can search buffer for messages, read/parse them, and so on. More...

Namespaces
	io_comm_rx

Macros
#define	CARRIAGE_RETURN   0x0D
	0x0D is ASCII for "Carriage Return", i.e. "Enter" More...
#define	CONNECTION_DESCRIPTOR_BYTE_1   0x49
#define	CONNECTION_DESCRIPTOR_BYTE_2   0x50
#define	LINE_FEED   0x0A
	0x0A is ASCII for "Line Feed", i.e. "New Line" More...
#define	NMEA_SYNC_BYTE_1   0x24
	0x24 is ASCII for $ - 1st byte in each message More...
#define	NMEA_SYNC_BYTE_2_1   0x47
	0x47 is ASCII for G - 2nd byte to indicate NMEA-type ASCII message More...
#define	NMEA_SYNC_BYTE_2_2   0x50
	0x50 is ASCII for P - 2nd byte to indicate proprietary ASCII message More...
#define	RESPONSE_SYNC_BYTE_1   0x24
	0x24 is ASCII for $ - 1st byte in each response from the Rx More...
#define	RESPONSE_SYNC_BYTE_2   0x52
	0x52 is ASCII for R (for "Response") - 2nd byte in each response from the Rx More...
#define	RESPONSE_SYNC_BYTE_3   0x3F
#define	RX_MESSAGE_HPP

Enumerations
enum	RxID_Enum {   evNavSatFix, evINSNavSatFix, evGPSFix, evINSGPSFix,   evPoseWithCovarianceStamped, evINSPoseWithCovarianceStamped, evGPGGA, evGPRMC,   evGPGSA, evGPGSV, evGLGSV, evGAGSV,   evPVTCartesian, evPVTGeodetic, evBaseVectorCart, evBaseVectorGeod,   evPosCovCartesian, evPosCovGeodetic, evAttEuler, evAttCovEuler,   evINSNavCart, evINSNavGeod, evIMUSetup, evVelSensorSetup,   evExtEventINSNavGeod, evExtEventINSNavCart, evExtSensorMeas, evGPST,   evChannelStatus, evMeasEpoch, evDOP, evVelCovGeodetic,   evDiagnosticArray, evLocalization, evReceiverStatus, evQualityInd,   evReceiverTime, evReceiverSetup }
enum	TypeOfPVT_Enum {   evNoPVT, evStandAlone, evDGPS, evFixed,   evRTKFixed, evRTKFloat, evSBAS, evMovingBaseRTKFixed,   evMovingBaseRTKFloat, evPPP }

Variables
uint32_t	g_cd_count
bool	g_read_cd

Detailed Description

Defines a class that reads messages handed over from the circular buffer.

Date

20/08/20

Definition in file rx_message.hpp.

Macro Definition Documentation

CARRIAGE_RETURN

#define CARRIAGE_RETURN   0x0D

0x0D is ASCII for "Carriage Return", i.e. "Enter"

Definition at line 81 of file rx_message.hpp.

CONNECTION_DESCRIPTOR_BYTE_1

#define CONNECTION_DESCRIPTOR_BYTE_1   0x49

0x49 is ASCII for I - 1st character of connection descriptor sent by the Rx after initiating TCP connection

Definition at line 95 of file rx_message.hpp.

CONNECTION_DESCRIPTOR_BYTE_2

#define CONNECTION_DESCRIPTOR_BYTE_2   0x50

0x50 is ASCII for P - 2nd character of connection descriptor sent by the Rx after initiating TCP connection

Definition at line 100 of file rx_message.hpp.

LINE_FEED

#define LINE_FEED   0x0A

0x0A is ASCII for "Line Feed", i.e. "New Line"

Definition at line 85 of file rx_message.hpp.

NMEA_SYNC_BYTE_1

#define NMEA_SYNC_BYTE_1   0x24

0x24 is ASCII for $ - 1st byte in each message

Definition at line 61 of file rx_message.hpp.

NMEA_SYNC_BYTE_2_1

#define NMEA_SYNC_BYTE_2_1   0x47

0x47 is ASCII for G - 2nd byte to indicate NMEA-type ASCII message

Definition at line 65 of file rx_message.hpp.

NMEA_SYNC_BYTE_2_2

#define NMEA_SYNC_BYTE_2_2   0x50

0x50 is ASCII for P - 2nd byte to indicate proprietary ASCII message

Definition at line 69 of file rx_message.hpp.

RESPONSE_SYNC_BYTE_1

#define RESPONSE_SYNC_BYTE_1   0x24

0x24 is ASCII for $ - 1st byte in each response from the Rx

Definition at line 73 of file rx_message.hpp.

RESPONSE_SYNC_BYTE_2

#define RESPONSE_SYNC_BYTE_2   0x52

0x52 is ASCII for R (for "Response") - 2nd byte in each response from the Rx

Definition at line 77 of file rx_message.hpp.

RESPONSE_SYNC_BYTE_3

#define RESPONSE_SYNC_BYTE_3   0x3F

0x3F is ASCII for ? - 3rd byte in the response message from the Rx in case the command was invalid

Definition at line 90 of file rx_message.hpp.

RX_MESSAGE_HPP

#define RX_MESSAGE_HPP

Definition at line 123 of file rx_message.hpp.

Enumeration Type Documentation

RxID_Enum

enum RxID_Enum

Since switch only works with int (yet NMEA message IDs are strings), we need enum. Note drawbacks: No variable can have a name which is already in some enumeration, enums are not type safe etc..

Enumerator
evNavSatFix
evINSNavSatFix
evGPSFix
evINSGPSFix
evPoseWithCovarianceStamped
evINSPoseWithCovarianceStamped
evGPGGA
evGPRMC
evGPGSA
evGPGSV
evGLGSV
evGAGSV
evPVTCartesian
evPVTGeodetic
evBaseVectorCart
evBaseVectorGeod
evPosCovCartesian
evPosCovGeodetic
evAttEuler
evAttCovEuler
evINSNavCart
evINSNavGeod
evIMUSetup
evVelSensorSetup
evExtEventINSNavGeod
evExtEventINSNavCart
evExtSensorMeas
evGPST
evChannelStatus
evMeasEpoch
evDOP
evVelCovGeodetic
evDiagnosticArray
evLocalization
evReceiverStatus
evQualityInd
evReceiverTime
evReceiverSetup

Definition at line 153 of file rx_message.hpp.

TypeOfPVT_Enum

enum TypeOfPVT_Enum

Enum for NavSatFix's status.status field, which is obtained from PVTGeodetic's Mode field

Enumerator
evNoPVT
evStandAlone
evDGPS
evFixed
evRTKFixed
evRTKFloat
evSBAS
evMovingBaseRTKFixed
evMovingBaseRTKFloat
evPPP

Definition at line 136 of file rx_message.hpp.

Variable Documentation

g_cd_count

uint32_t g_cd_count

Since after SSSSSSSSSSS we need to wait for second connection descriptor, we have to count the connection descriptors

Definition at line 120 of file communication_core.cpp.

g_read_cd

bool g_read_cd

Whether or not we still want to read the connection descriptor, which we only want in the very beginning to know whether it is IP10, IP11 etc.

Definition at line 115 of file communication_core.cpp.