Declares and defines structs into which SBF blocks are unpacked then shipped to handler functions. More...

#include <cstdint>
#include <algorithm>
#include <boost/spirit/include/qi.hpp>
#include <septentrio_gnss_driver/abstraction/typedefs.hpp>
#include <septentrio_gnss_driver/parsers/parsing_utilities.hpp>

Include dependency graph for sbf_structs.hpp:

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Go to the source code of this file.

Classes
struct	AgcState
	Struct for the SBF sub-block "AGCState". More...

struct	BlockHeader
	Struct for the SBF block's header message. More...

class	ChannelSatInfo
	Struct for the SBF sub-block "ChannelSatInfo". More...

class	ChannelStateInfo
	Struct for the SBF sub-block "ChannelStateInfo". More...

class	ChannelStatus
	Struct for the SBF block "ChannelStatus". More...

class	DOP
	Struct for the SBF block "DOP". More...

class	QualityInd
	Struct for the SBF block "QualityInd". More...

class	ReceiverSetup
	Struct for the SBF block "ReceiverSetup". More...

class	ReceiverStatus
	Struct for the SBF block "ReceiverStatus". More...

Macros
#define	MAX_NB_INMARSATCHANNELS 1
	Inmarsat is a British satellite telecommunications company. More...

#define	MAX_NR_OF_SIGNALS_PER_SATELLITE 7
	Using maximum value of MAX_NR_OF_SIGNALS_PER_SATELLITE for SBF definitions. More...

#define	MAXSB_CHANNELSATINFO (NR_OF_LOGICALCHANNELS + MAX_NB_INMARSATCHANNELS)
	Max number of bytes that ChannelSatInfo sub-block can consist of. More...

#define	MAXSB_CHANNELSTATEINFO (MAXSB_CHANNELSATINFO * MAXSB_NBRANTENNA)
	Max number of bytes that ChannelStateInfo sub-block can consist of. More...

#define	MAXSB_MEASEPOCH_T1 (NR_OF_LOGICALCHANNELS + MAX_NB_INMARSATCHANNELS)
	Max number of bytes that MeasEpochChannelType1 sub-block can consist of. More...

#define	MAXSB_MEASEPOCH_T2 ((MAXSB_MEASEPOCH_T1) * (((MAX_NR_OF_SIGNALS_PER_SATELLITE) * (NR_OF_ANTENNAS)) - 1))
	Max number of bytes that MeasEpochChannelType2 sub-block can consist of. More...

#define	MAXSB_NBRANTENNA 4
	Maximum number of antennas that mosaic etc. can handle. More...

#define	MEASEPOCH_DATA_LENGTH
	Max number of bytes that the data part of the MeasEpoch struct can consist of. More...

#define	NR_OF_ANTENNAS 3
	Using maximum value of NR_OF_ANTENNAS for SBF definitions. More...

#define	NR_OF_LOGICALCHANNELS 80
	Using maximum value of NR_OF_LOGICALCHANNELS for SBF definitions. More...

#define	SBF_CHANNELSTATUS_DATA_LENGTH
	Max number of bytes that the Data part of the ChannelStatus struct can consist of. More...

#define	SBF_EXTEVENTINSNAVCART_LENGTH SBF_EXTEVENTINSNAVCART_LENGTH_1

#define	SBF_EXTEVENTINSNAVCART_LENGTH_1 16
	Max number of bytes that INSNavCart sub-block can consist of. More...

#define	SBF_EXTEVENTINSNAVGEOD_LENGTH SBF_EXTEVENTINSNAVGEOD_LENGTH_1

#define	SBF_EXTEVENTINSNAVGEOD_LENGTH_1 16
	Max number of bytes that INSNavGeod sub-block can consist of. More...

#define	SBF_EXTSENSORMEAS_1_0_EXTSENSORMEAS_LENGTH 4
	Max size for ExtSensorMeasSet_1 sub-block. More...

#define	SBF_EXTSENSORMEAS_1_EXTSENSORMEAS_LENGTH SBF_EXTSENSORMEAS_1_0_EXTSENSORMEAS_LENGTH

#define	SBF_INSNAVCART_LENGTH SBF_INSNAVCART_LENGTH_1

#define	SBF_INSNAVCART_LENGTH_1 16
	Max number of bytes that INSNavCart sub-block can consist of. More...

#define	SBF_INSNAVGEOD_LENGTH SBF_INSNAVGEOD_LENGTH_1

#define	SBF_INSNAVGEOD_LENGTH_1 16
	Max number of bytes that INSNavGeod sub-block can consist of. More...

Functions
template<typename It >
void	AgcStateParser (It it, AgcState &msg, uint8_t sb_length)
	Struct for the SBF sub-block "AGCState". More...

template<typename It >
bool	AttCovEulerParser (ROSaicNodeBase *node, It it, It itEnd, AttCovEulerMsg &msg, bool use_ros_axis_orientation)
	Qi based parser for the SBF block "AttCovEuler". More...

template<typename It >
bool	AttEulerParser (ROSaicNodeBase *node, It it, It itEnd, AttEulerMsg &msg, bool use_ros_axis_orientation)
	Qi based parser for the SBF block "AttEuler". More...

template<typename It , typename Hdr >
bool	BlockHeaderParser (ROSaicNodeBase *node, It &it, Hdr &block_header)
	Qi based parser for the SBF block "BlockHeader" plus receiver time stamp. More...

template<typename It >
bool	ChannelSatInfoParser (ROSaicNodeBase *node, It &it, ChannelSatInfo &msg, uint8_t sb1_length, uint8_t sb2_length)
	Qi based parser or the SBF sub-block "ChannelSatInfo". More...

template<typename It >
void	ChannelStateInfoParser (It &it, ChannelStateInfo &msg, uint8_t sb2_length)
	Qi based parser for the SBF sub-block "ChannelStateInfo". More...

template<typename It >
bool	ChannelStatusParser (ROSaicNodeBase *node, It it, It itEnd, ChannelStatus &msg)
	Qi based parser for the SBF block "ChannelStatus". More...

template<typename It >
bool	DOPParser (ROSaicNodeBase *node, It it, It itEnd, DOP &msg)
	Qi based parser for the SBF block "DOP". More...

template<typename It >
bool	ExtSensorMeasParser (ROSaicNodeBase *node, It it, It itEnd, ExtSensorMeasMsg &msg, bool use_ros_axis_orientation)
	Qi based parser for the SBF block "ExtSensorMeas". More...

template<typename It >
bool	IMUSetupParser (ROSaicNodeBase *node, It it, It itEnd, IMUSetupMsg &msg, bool use_ros_axis_orientation)
	Qi based parser for the SBF block "IMUSetup". More...

template<typename It >
bool	INSNavCartParser (ROSaicNodeBase *node, It it, It itEnd, INSNavCartMsg &msg, bool use_ros_axis_orientation)
	Qi based parser for the SBF block "INSNavCart". More...

template<typename It >
bool	INSNavGeodParser (ROSaicNodeBase *node, It it, It itEnd, INSNavGeodMsg &msg, bool use_ros_axis_orientation)
	Qi based parser for the SBF block "INSNavGeod". More...

template<typename It >
bool	MeasEpochChannelType1Parser (ROSaicNodeBase *node, It &it, MeasEpochChannelType1Msg &msg, uint8_t sb1_length, uint8_t sb2_length)

template<typename It >
void	MeasEpochChannelType2Parser (It &it, MeasEpochChannelType2Msg &msg, uint8_t sb2_length)
	Qi based parser for the SBF sub-block "MeasEpochChannelType2". More...

template<typename It >
bool	MeasEpochParser (ROSaicNodeBase *node, It it, It itEnd, MeasEpochMsg &msg)

template<typename It >
bool	PosCovCartesianParser (ROSaicNodeBase *node, It it, It itEnd, PosCovCartesianMsg &msg)
	Qi based parser for the SBF block "PosCovCartesian". More...

template<typename It >
bool	PosCovGeodeticParser (ROSaicNodeBase *node, It it, It itEnd, PosCovGeodeticMsg &msg)
	Qi based parser for the SBF block "PosCovGeodetic". More...

template<typename It >
bool	PVTCartesianParser (ROSaicNodeBase *node, It it, It itEnd, PVTCartesianMsg &msg)
	Qi based parser for the SBF block "PVTCartesian". More...

template<typename It >
bool	PVTGeodeticParser (ROSaicNodeBase *node, It it, It itEnd, PVTGeodeticMsg &msg)
	Qi based parser for the SBF block "PVTGeodetic". More...

template<typename It >
bool	qiCharsToStringParser (It &it, std::string &val, std::size_t num)
	Qi parser for char array to string. More...

template<typename It , typename Val >
bool	qiLittleEndianParser (It &it, Val &val)
	Qi little endian parsers for numeric values. More...

template<typename It >
bool	QualityIndParser (ROSaicNodeBase *node, It it, It itEnd, QualityInd &msg)
	Qi based parser for the SBF block "QualityInd". More...

template<typename It >
bool	ReceiverSetupParser (ROSaicNodeBase *node, It it, It itEnd, ReceiverSetup &msg)
	Qi based parser for the SBF block "ReceiverSetup". More...

template<typename It >
bool	ReceiverStatusParser (ROSaicNodeBase *node, It it, It itEnd, ReceiverStatus &msg)
	Struct for the SBF block "ReceiverStatus". More...

template<typename T >
void	setDoNotUse (T &s)
	Sets scalar to Do-Not-Use value -2e10. More...

template<typename T >
bool	validValue (T s)
	Check if value is not set to Do-Not-Use -2e10. More...

template<typename It >
bool	VelCovCartesianParser (ROSaicNodeBase *node, It it, It itEnd, VelCovCartesianMsg &msg)
	Qi based parser for the SBF block "VelCovCartesian". More...

template<typename It >
bool	VelCovGeodeticParser (ROSaicNodeBase *node, It it, It itEnd, VelCovGeodeticMsg &msg)
	Qi based parser for the SBF block "VelCovGeodetic". More...

template<typename It >
bool	VelSensorSetupParser (ROSaicNodeBase *node, It it, It itEnd, VelSensorSetupMsg &msg, bool use_ros_axis_orientation)
	Qi based parser for the SBF block "VelSensorSetup". More...

Variables
static const std::array< uint16_t, 256 >	CRC_LOOK_UP
	CRC look-up table for fast computation of the 16-bit CRC for SBF blocks. More...

static const uint8_t	SBF_SYNC_BYTE_1 = 0x24
	0x24 is ASCII for $ - 1st byte in each message More...

static const uint8_t	SBF_SYNC_BYTE_2 = 0x40
	0x40 is ASCII for @ - 2nd byte to indicate SBF block More...

Detailed Description

Declares and defines structs into which SBF blocks are unpacked then shipped to handler functions.

Date: 17/08/20

Definition in file sbf_structs.hpp.

Macro Definition Documentation

◆ MAX_NB_INMARSATCHANNELS

#define MAX_NB_INMARSATCHANNELS 1

Inmarsat is a British satellite telecommunications company.

Definition at line 42 of file sbf_structs.hpp.

◆ MAX_NR_OF_SIGNALS_PER_SATELLITE

#define MAX_NR_OF_SIGNALS_PER_SATELLITE 7

Using maximum value of MAX_NR_OF_SIGNALS_PER_SATELLITE for SBF definitions.

Definition at line 46 of file sbf_structs.hpp.

◆ MAXSB_CHANNELSATINFO

#define MAXSB_CHANNELSATINFO (NR_OF_LOGICALCHANNELS + MAX_NB_INMARSATCHANNELS)

Max number of bytes that ChannelSatInfo sub-block can consist of.

Definition at line 58 of file sbf_structs.hpp.

◆ MAXSB_CHANNELSTATEINFO

#define MAXSB_CHANNELSTATEINFO (MAXSB_CHANNELSATINFO * MAXSB_NBRANTENNA)

Max number of bytes that ChannelStateInfo sub-block can consist of.

Definition at line 62 of file sbf_structs.hpp.

◆ MAXSB_MEASEPOCH_T1

#define MAXSB_MEASEPOCH_T1 (NR_OF_LOGICALCHANNELS + MAX_NB_INMARSATCHANNELS)

Max number of bytes that MeasEpochChannelType1 sub-block can consist of.

Definition at line 66 of file sbf_structs.hpp.

◆ MAXSB_MEASEPOCH_T2

#define MAXSB_MEASEPOCH_T2 ((MAXSB_MEASEPOCH_T1) * (((MAX_NR_OF_SIGNALS_PER_SATELLITE) * (NR_OF_ANTENNAS)) - 1))

Max number of bytes that MeasEpochChannelType2 sub-block can consist of.

Definition at line 70 of file sbf_structs.hpp.

◆ MAXSB_NBRANTENNA

#define MAXSB_NBRANTENNA 4

Maximum number of antennas that mosaic etc. can handle.

Definition at line 54 of file sbf_structs.hpp.

◆ MEASEPOCH_DATA_LENGTH

#define MEASEPOCH_DATA_LENGTH

Value:

(MAXSB_MEASEPOCH_T1 * sizeof(MeasEpochChannelType1) + \

MAXSB_MEASEPOCH_T2 * sizeof(MeasEpochChannelType2))

MAXSB_MEASEPOCH_T2

#define MAXSB_MEASEPOCH_T2

Max number of bytes that MeasEpochChannelType2 sub-block can consist of.

Definition: sbf_structs.hpp:70

MAXSB_MEASEPOCH_T1

#define MAXSB_MEASEPOCH_T1

Max number of bytes that MeasEpochChannelType1 sub-block can consist of.

Definition: sbf_structs.hpp:66

Max number of bytes that the data part of the MeasEpoch struct can consist of.

Definition at line 96 of file sbf_structs.hpp.

◆ NR_OF_ANTENNAS

#define NR_OF_ANTENNAS 3

Using maximum value of NR_OF_ANTENNAS for SBF definitions.

Definition at line 50 of file sbf_structs.hpp.

◆ NR_OF_LOGICALCHANNELS

#define NR_OF_LOGICALCHANNELS 80

Using maximum value of NR_OF_LOGICALCHANNELS for SBF definitions.

Definition at line 38 of file sbf_structs.hpp.

◆ SBF_CHANNELSTATUS_DATA_LENGTH

#define SBF_CHANNELSTATUS_DATA_LENGTH

Value:

MAXSB_CHANNELSATINFO * sizeof(ChannelSatInfo) + \

MAXSB_CHANNELSTATEINFO * sizeof(ChannelStateInfo)

MAXSB_CHANNELSTATEINFO

#define MAXSB_CHANNELSTATEINFO

Max number of bytes that ChannelStateInfo sub-block can consist of.

Definition: sbf_structs.hpp:62

MAXSB_CHANNELSATINFO

#define MAXSB_CHANNELSATINFO

Max number of bytes that ChannelSatInfo sub-block can consist of.

Definition: sbf_structs.hpp:58

ChannelSatInfo

Struct for the SBF sub-block "ChannelSatInfo".

Definition: sbf_structs.hpp:164

ChannelStateInfo

Struct for the SBF sub-block "ChannelStateInfo".

Definition: sbf_structs.hpp:152

Max number of bytes that the Data part of the ChannelStatus struct can consist of.

Definition at line 90 of file sbf_structs.hpp.

◆ SBF_EXTEVENTINSNAVCART_LENGTH

#define SBF_EXTEVENTINSNAVCART_LENGTH SBF_EXTEVENTINSNAVCART_LENGTH_1

Definition at line 108 of file sbf_structs.hpp.

◆ SBF_EXTEVENTINSNAVCART_LENGTH_1

#define SBF_EXTEVENTINSNAVCART_LENGTH_1 16

Max number of bytes that INSNavCart sub-block can consist of.

Definition at line 86 of file sbf_structs.hpp.

◆ SBF_EXTEVENTINSNAVGEOD_LENGTH

#define SBF_EXTEVENTINSNAVGEOD_LENGTH SBF_EXTEVENTINSNAVGEOD_LENGTH_1

Definition at line 109 of file sbf_structs.hpp.

◆ SBF_EXTEVENTINSNAVGEOD_LENGTH_1

#define SBF_EXTEVENTINSNAVGEOD_LENGTH_1 16

Max number of bytes that INSNavGeod sub-block can consist of.

Definition at line 82 of file sbf_structs.hpp.

◆ SBF_EXTSENSORMEAS_1_0_EXTSENSORMEAS_LENGTH

#define SBF_EXTSENSORMEAS_1_0_EXTSENSORMEAS_LENGTH 4

Max size for ExtSensorMeasSet_1 sub-block.

Definition at line 102 of file sbf_structs.hpp.

◆ SBF_EXTSENSORMEAS_1_EXTSENSORMEAS_LENGTH

#define SBF_EXTSENSORMEAS_1_EXTSENSORMEAS_LENGTH SBF_EXTSENSORMEAS_1_0_EXTSENSORMEAS_LENGTH

Definition at line 107 of file sbf_structs.hpp.

◆ SBF_INSNAVCART_LENGTH

#define SBF_INSNAVCART_LENGTH SBF_INSNAVCART_LENGTH_1

Definition at line 106 of file sbf_structs.hpp.

◆ SBF_INSNAVCART_LENGTH_1

#define SBF_INSNAVCART_LENGTH_1 16

Max number of bytes that INSNavCart sub-block can consist of.

Definition at line 78 of file sbf_structs.hpp.

◆ SBF_INSNAVGEOD_LENGTH

#define SBF_INSNAVGEOD_LENGTH SBF_INSNAVGEOD_LENGTH_1

Definition at line 110 of file sbf_structs.hpp.

◆ SBF_INSNAVGEOD_LENGTH_1

#define SBF_INSNAVGEOD_LENGTH_1 16

Max number of bytes that INSNavGeod sub-block can consist of.

Definition at line 74 of file sbf_structs.hpp.

Function Documentation

◆ AgcStateParser()

template<typename It >

void AgcStateParser	(	It	it,
		AgcState &	msg,
		uint8_t	sb_length
	)

Struct for the SBF sub-block "AGCState".

AgcStateParser

Definition at line 1237 of file sbf_structs.hpp.

◆ AttCovEulerParser()

template<typename It >

bool AttCovEulerParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		AttCovEulerMsg &	msg,
		bool	use_ros_axis_orientation
	)

Qi based parser for the SBF block "AttCovEuler".

AttCovEulerParser

Definition at line 885 of file sbf_structs.hpp.

◆ AttEulerParser()

template<typename It >

bool AttEulerParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		AttEulerMsg &	msg,
		bool	use_ros_axis_orientation
	)

Qi based parser for the SBF block "AttEuler".

AttEulerParser

Definition at line 842 of file sbf_structs.hpp.

◆ BlockHeaderParser()

template<typename It , typename Hdr >

bool BlockHeaderParser	(	ROSaicNodeBase *	node,
		It &	it,
		Hdr &	block_header
	)

Qi based parser for the SBF block "BlockHeader" plus receiver time stamp.

BlockHeaderParser

Definition at line 437 of file sbf_structs.hpp.

◆ ChannelSatInfoParser()

template<typename It >

bool ChannelSatInfoParser	(	ROSaicNodeBase *	node,
		It &	it,
		ChannelSatInfo &	msg,
		uint8_t	sb1_length,
		uint8_t	sb2_length
	)

Qi based parser or the SBF sub-block "ChannelSatInfo".

ChannelSatInfoParser

Definition at line 482 of file sbf_structs.hpp.

◆ ChannelStateInfoParser()

template<typename It >

void ChannelStateInfoParser	(	It &	it,
		ChannelStateInfo &	msg,
		uint8_t	sb2_length
	)

Qi based parser for the SBF sub-block "ChannelStateInfo".

ChannelStateInfoParser

Definition at line 467 of file sbf_structs.hpp.

◆ ChannelStatusParser()

template<typename It >

bool ChannelStatusParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		ChannelStatus &	msg
	)

Qi based parser for the SBF block "ChannelStatus".

ChannelStatusParser

Definition at line 512 of file sbf_structs.hpp.

◆ DOPParser()

template<typename It >

bool DOPParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		DOP &	msg
	)

Qi based parser for the SBF block "DOP".

DOPParser

Definition at line 549 of file sbf_structs.hpp.

◆ ExtSensorMeasParser()

template<typename It >

bool ExtSensorMeasParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		ExtSensorMeasMsg &	msg,
		bool	use_ros_axis_orientation
	)

Qi based parser for the SBF block "ExtSensorMeas".

ExtSensorMeasParser

Definition at line 1505 of file sbf_structs.hpp.

◆ IMUSetupParser()

template<typename It >

bool IMUSetupParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		IMUSetupMsg &	msg,
		bool	use_ros_axis_orientation
	)

Qi based parser for the SBF block "IMUSetup".

IMUSetupParser

Definition at line 1437 of file sbf_structs.hpp.

◆ INSNavCartParser()

template<typename It >

bool INSNavCartParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		INSNavCartMsg &	msg,
		bool	use_ros_axis_orientation
	)

Qi based parser for the SBF block "INSNavCart".

INSNavCartParser

Definition at line 922 of file sbf_structs.hpp.

◆ INSNavGeodParser()

template<typename It >

bool INSNavGeodParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		INSNavGeodMsg &	msg,
		bool	use_ros_axis_orientation
	)

Qi based parser for the SBF block "INSNavGeod".

INSNavGeodParser

Definition at line 1292 of file sbf_structs.hpp.

◆ MeasEpochChannelType1Parser()

template<typename It >

bool MeasEpochChannelType1Parser	(	ROSaicNodeBase *	node,
		It &	it,
		MeasEpochChannelType1Msg &	msg,
		uint8_t	sb1_length,
		uint8_t	sb2_length
	)

Definition at line 604 of file sbf_structs.hpp.

◆ MeasEpochChannelType2Parser()

template<typename It >

void MeasEpochChannelType2Parser	(	It &	it,
		MeasEpochChannelType2Msg &	msg,
		uint8_t	sb2_length
	)

Qi based parser for the SBF sub-block "MeasEpochChannelType2".

MeasEpochChannelType2Parser

Definition at line 585 of file sbf_structs.hpp.

◆ MeasEpochParser()

template<typename It >

bool MeasEpochParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		MeasEpochMsg &	msg
	)

Definition at line 637 of file sbf_structs.hpp.

◆ PosCovCartesianParser()

template<typename It >

bool PosCovCartesianParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		PosCovCartesianMsg &	msg
	)

Qi based parser for the SBF block "PosCovCartesian".

PosCovCartesianParser

Definition at line 1066 of file sbf_structs.hpp.

◆ PosCovGeodeticParser()

template<typename It >

bool PosCovGeodeticParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		PosCovGeodeticMsg &	msg
	)

Qi based parser for the SBF block "PosCovGeodetic".

PosCovGeodeticParser

Definition at line 1100 of file sbf_structs.hpp.

◆ PVTCartesianParser()

template<typename It >

bool PVTCartesianParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		PVTCartesianMsg &	msg
	)

Qi based parser for the SBF block "PVTCartesian".

PVTCartesianParser

Definition at line 734 of file sbf_structs.hpp.

◆ PVTGeodeticParser()

template<typename It >

bool PVTGeodeticParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		PVTGeodeticMsg &	msg
	)

Qi based parser for the SBF block "PVTGeodetic".

PVTGeodeticParser

Definition at line 788 of file sbf_structs.hpp.

◆ qiCharsToStringParser()

template<typename It >

bool qiCharsToStringParser	(	It &	it,
		std::string &	val,
		std::size_t	num
	)

Qi parser for char array to string.

qiCharsToStringParser

Definition at line 422 of file sbf_structs.hpp.

◆ qiLittleEndianParser()

template<typename It , typename Val >

bool qiLittleEndianParser	(	It &	it,
		Val &	val
	)

Qi little endian parsers for numeric values.

qiLittleEndianParser

Definition at line 374 of file sbf_structs.hpp.

◆ QualityIndParser()

template<typename It >

bool QualityIndParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		QualityInd &	msg
	)

Qi based parser for the SBF block "QualityInd".

QualityIndParser

Definition at line 1202 of file sbf_structs.hpp.

◆ ReceiverSetupParser()

template<typename It >

bool ReceiverSetupParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		ReceiverSetup &	msg
	)

Qi based parser for the SBF block "ReceiverSetup".

ReceiverSetupParser

Definition at line 677 of file sbf_structs.hpp.

◆ ReceiverStatusParser()

template<typename It >

bool ReceiverStatusParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		ReceiverStatus &	msg
	)

Struct for the SBF block "ReceiverStatus".

ReceiverStatusParser

Definition at line 1251 of file sbf_structs.hpp.

◆ setDoNotUse()

template<typename T >

void setDoNotUse ( T & s )

Sets scalar to Do-Not-Use value -2e10.

setDoNotUse

Definition at line 355 of file sbf_structs.hpp.

◆ validValue()

template<typename T >

bool validValue ( T s )

Check if value is not set to Do-Not-Use -2e10.

validValue

Definition at line 326 of file sbf_structs.hpp.

◆ VelCovCartesianParser()

template<typename It >

bool VelCovCartesianParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		VelCovCartesianMsg &	msg
	)

Qi based parser for the SBF block "VelCovCartesian".

VelCovCartesianParser

Definition at line 1134 of file sbf_structs.hpp.

◆ VelCovGeodeticParser()

template<typename It >

bool VelCovGeodeticParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		VelCovGeodeticMsg &	msg
	)

Qi based parser for the SBF block "VelCovGeodetic".

VelCovGeodeticParser

Definition at line 1168 of file sbf_structs.hpp.

◆ VelSensorSetupParser()

template<typename It >

bool VelSensorSetupParser	(	ROSaicNodeBase *	node,
		It	it,
		It	itEnd,
		VelSensorSetupMsg &	msg,
		bool	use_ros_axis_orientation
	)

Qi based parser for the SBF block "VelSensorSetup".

VelSensorSetupParser

Definition at line 1473 of file sbf_structs.hpp.

Variable Documentation

◆ CRC_LOOK_UP

const std::array<uint16_t, 256> CRC_LOOK_UP

static

Initial value:

= {
    0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, 0x8108, 0x9129,
    0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, 0x1231, 0x0210, 0x3273, 0x2252,
    0x52b5, 0x4294, 0x72f7, 0x62d6, 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c,
    0xf3ff, 0xe3de, 0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
    0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672,
    0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719, 0x8738,
    0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861,
    0x2802, 0x3823, 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
    0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12, 0xdbfd, 0xcbdc,
    0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5,
    0x2c22, 0x3c03, 0x0c60, 0x1c41, 0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b,
    0x8d68, 0x9d49, 0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
    0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, 0x9188, 0x81a9,
    0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080, 0x00a1, 0x30c2, 0x20e3,
    0x5004, 0x4025, 0x7046, 0x6067, 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c,
    0xe37f, 0xf35e, 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
    0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d, 0x34e2, 0x24c3,
    0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 0xa7db, 0xb7fa, 0x8799, 0x97b8,
    0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676,
    0x4615, 0x5634, 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
    0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d, 0xdb5c,
    0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, 0x4a75, 0x5a54, 0x6a37, 0x7a16,
    0x0af1, 0x1ad0, 0x2ab3, 0x3a92, 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b,
    0x9de8, 0x8dc9, 0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
    0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, 0x6e17, 0x7e36,
    0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0}

CRC look-up table for fast computation of the 16-bit CRC for SBF blocks.

Definition at line 291 of file sbf_structs.hpp.

◆ SBF_SYNC_BYTE_1

const uint8_t SBF_SYNC_BYTE_1 = 0x24

static

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

Definition at line 113 of file sbf_structs.hpp.

◆ SBF_SYNC_BYTE_2

const uint8_t SBF_SYNC_BYTE_2 = 0x40

static

0x40 is ASCII for @ - 2nd byte to indicate SBF block

Definition at line 115 of file sbf_structs.hpp.

Classes

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ MAX_NB_INMARSATCHANNELS

◆ MAX_NR_OF_SIGNALS_PER_SATELLITE

◆ MAXSB_CHANNELSATINFO

◆ MAXSB_CHANNELSTATEINFO

◆ MAXSB_MEASEPOCH_T1

◆ MAXSB_MEASEPOCH_T2

◆ MAXSB_NBRANTENNA

◆ MEASEPOCH_DATA_LENGTH

◆ NR_OF_ANTENNAS

◆ NR_OF_LOGICALCHANNELS

◆ SBF_CHANNELSTATUS_DATA_LENGTH

◆ SBF_EXTEVENTINSNAVCART_LENGTH

◆ SBF_EXTEVENTINSNAVCART_LENGTH_1

◆ SBF_EXTEVENTINSNAVGEOD_LENGTH

◆ SBF_EXTEVENTINSNAVGEOD_LENGTH_1

◆ SBF_EXTSENSORMEAS_1_0_EXTSENSORMEAS_LENGTH

◆ SBF_EXTSENSORMEAS_1_EXTSENSORMEAS_LENGTH

◆ SBF_INSNAVCART_LENGTH

◆ SBF_INSNAVCART_LENGTH_1

◆ SBF_INSNAVGEOD_LENGTH

◆ SBF_INSNAVGEOD_LENGTH_1

Function Documentation

◆ AgcStateParser()

◆ AttCovEulerParser()

◆ AttEulerParser()

◆ BlockHeaderParser()

◆ ChannelSatInfoParser()

◆ ChannelStateInfoParser()

◆ ChannelStatusParser()

◆ DOPParser()

◆ ExtSensorMeasParser()

◆ IMUSetupParser()

◆ INSNavCartParser()

◆ INSNavGeodParser()

◆ MeasEpochChannelType1Parser()

◆ MeasEpochChannelType2Parser()

◆ MeasEpochParser()

◆ PosCovCartesianParser()

◆ PosCovGeodeticParser()

◆ PVTCartesianParser()

◆ PVTGeodeticParser()

◆ qiCharsToStringParser()

◆ qiLittleEndianParser()

◆ QualityIndParser()

◆ ReceiverSetupParser()

◆ ReceiverStatusParser()

◆ setDoNotUse()

◆ validValue()

◆ VelCovCartesianParser()

◆ VelCovGeodeticParser()

◆ VelSensorSetupParser()

Variable Documentation

◆ CRC_LOOK_UP

◆ SBF_SYNC_BYTE_1

◆ SBF_SYNC_BYTE_2