#include <sbg_device.h>

Public Member Functions
uint32_t	getUpdateFrequency () const

void	initDeviceForMagCalibration ()

void	initDeviceForReceivingData ()

void	periodicHandle ()

	SbgDevice (ros::NodeHandle &ref_node_handle)

	~SbgDevice ()

Private Member Functions
void	configure ()

void	connect ()

void	displayMagCalibrationStatusResult () const

bool	endMagCalibration ()

void	exportMagCalibrationResults () const

std::string	getVersionAsString (uint32 sbg_version_enc) const

void	initPublishers ()

void	initSubscribers ()

void	loadParameters ()

void	onLogReceived (SbgEComClass msg_class, SbgEComMsgId msg, const SbgBinaryLogData &ref_sbg_data)

bool	processMagCalibration (std_srvs::Trigger::Request &ref_ros_request, std_srvs::Trigger::Response &ref_ros_response)

void	readDeviceInfo ()

bool	saveMagCalibration (std_srvs::Trigger::Request &ref_ros_request, std_srvs::Trigger::Response &ref_ros_response)

bool	startMagCalibration ()

bool	uploadMagCalibrationToDevice ()

void	writeRtcmMessageToDevice (const rtcm_msgs::Message::ConstPtr &msg)

Static Private Member Functions
static SbgErrorCode	onLogReceivedCallback (SbgEComHandle p_handle, SbgEComClass msg_class, SbgEComMsgId msg, const SbgBinaryLogData p_log_data, void *p_user_arg)

Static Private Attributes
static std::map< SbgEComMagCalibBandwidth, std::string >	g_mag_calib_bandwidth_

static std::map< SbgEComMagCalibConfidence, std::string >	g_mag_calib_confidence_

static std::map< SbgEComMagCalibMode, std::string >	g_mag_calib_mode_

static std::map< SbgEComMagCalibQuality, std::string >	g_mag_calib_quality_

Detailed Description

Class to handle a connected SBG device.

Definition at line 55 of file sbg_device.h.

Constructor & Destructor Documentation

◆ SbgDevice()

SbgDevice::SbgDevice ( ros::NodeHandle & ref_node_handle )

Default constructor.

Parameters

[in] ref_node_handle ROS NodeHandle.

Class to handle a connected SBG device.

Definition at line 60 of file sbg_device.cpp.

◆ ~SbgDevice()

SbgDevice::~SbgDevice ( )

Default destructor.

Definition at line 69 of file sbg_device.cpp.

Member Function Documentation

◆ configure()

void SbgDevice::configure ( )

private

Configure the connected SBG device. This function will configure the device if the config file allows it. It will log warning for unavailable parameters for the connected device.

Exceptions

Unable to configure the connected device.

Definition at line 221 of file sbg_device.cpp.

◆ connect()

void SbgDevice::connect ( )

private

Create the connection to the SBG device.

Exceptions

Unable to connect to the SBG device.

Definition at line 130 of file sbg_device.cpp.

◆ displayMagCalibrationStatusResult()

void SbgDevice::displayMagCalibrationStatusResult ( ) const

private

Display magnetometers calibration status result.

Definition at line 373 of file sbg_device.cpp.

◆ endMagCalibration()

bool SbgDevice::endMagCalibration ( )

private

End the magnetometer calibration process.

Returns: True if the calibration process has ended successfully.

Definition at line 325 of file sbg_device.cpp.

◆ exportMagCalibrationResults()

void SbgDevice::exportMagCalibrationResults ( ) const

private

Export magnetometers calibration results.

Definition at line 425 of file sbg_device.cpp.

◆ getUpdateFrequency()

uint32_t SbgDevice::getUpdateFrequency ( ) const

Get the frequency to update the main rate loop for device handling.

Returns: Device frequency to read the logs (in Hz).

Definition at line 483 of file sbg_device.cpp.

◆ getVersionAsString()

std::string SbgDevice::getVersionAsString ( uint32 sbg_version_enc ) const

private

Get the SBG version as a string.

Parameters

[in] sbg_version_enc SBG version encoded.

Returns: String version decoded.

Definition at line 194 of file sbg_device.cpp.

◆ initDeviceForMagCalibration()

void SbgDevice::initDeviceForMagCalibration ( )

Initialize the device for magnetometers calibration.

Definition at line 508 of file sbg_device.cpp.

◆ initDeviceForReceivingData()

void SbgDevice::initDeviceForReceivingData ( )

Initialize the SBG device for receiving data.

Exceptions

Unable to initialize the SBG device.

Definition at line 492 of file sbg_device.cpp.

◆ initPublishers()

void SbgDevice::initPublishers ( )

private

Initialize the publishers according to the configuration.

Definition at line 202 of file sbg_device.cpp.

◆ initSubscribers()

void SbgDevice::initSubscribers ( )

private

Initialize the subscribers according to the configuration.

Definition at line 209 of file sbg_device.cpp.

◆ loadParameters()

void SbgDevice::loadParameters ( )

private

Load the parameters.

Definition at line 121 of file sbg_device.cpp.

◆ onLogReceived()

void SbgDevice::onLogReceived	(	SbgEComClass	msg_class,
		SbgEComMsgId	msg,
		const SbgBinaryLogData &	ref_sbg_data
	)

private

Function to handle the received log.

Parameters

[in]	msg_class	Class of the message we have received
[in]	msg	Message ID of the log received.
[in]	ref_sbg_data	Contains the received log data as an union.

Definition at line 113 of file sbg_device.cpp.

◆ onLogReceivedCallback()

SbgErrorCode SbgDevice::onLogReceivedCallback	(	SbgEComHandle *	p_handle,
		SbgEComClass	msg_class,
		SbgEComMsgId	msg,
		const SbgBinaryLogData *	p_log_data,
		void *	p_user_arg
	)

staticprivate

Callback definition called each time a new log is received.

Parameters

[in]	pHandle	Valid handle on the sbgECom instance that has called this callback.
[in]	msg_class	Class of the message we have received
[in]	msg	Message ID of the log received.
[in]	p_log_data	Contains the received log data as an union.
[in]	p_user_arg	Optional user supplied argument.

Returns: SBG_NO_ERROR if the received log has been used successfully.

Definition at line 99 of file sbg_device.cpp.

◆ periodicHandle()

void SbgDevice::periodicHandle ( )

Periodic handle of the connected SBG device.

Definition at line 516 of file sbg_device.cpp.

◆ processMagCalibration()

bool SbgDevice::processMagCalibration	(	std_srvs::Trigger::Request &	ref_ros_request,
		std_srvs::Trigger::Response &	ref_ros_response
	)

private

Process the magnetometer calibration.

Parameters

[in]	ref_ros_request	ROS service request.
[in]	ref_ros_response	ROS service response.

Returns: Return true if the calibration process has been succesfull.

Definition at line 230 of file sbg_device.cpp.

◆ readDeviceInfo()

void SbgDevice::readDeviceInfo ( )

private

Read the device informations.

Exceptions

Unable to read the device information.

Definition at line 170 of file sbg_device.cpp.

◆ saveMagCalibration()

bool SbgDevice::saveMagCalibration	(	std_srvs::Trigger::Request &	ref_ros_request,
		std_srvs::Trigger::Response &	ref_ros_response
	)

private

Save the magnetometer calibration.

Parameters

[in]	ref_ros_request	ROS service request.
[in]	ref_ros_response	ROS service response.

Returns: Return true if the calibration has been saved.

Definition at line 269 of file sbg_device.cpp.

◆ startMagCalibration()

bool SbgDevice::startMagCalibration ( )

private

Start the magnetometer calibration process.

Returns: True if the calibration process has started successfully.

Definition at line 300 of file sbg_device.cpp.

◆ uploadMagCalibrationToDevice()

bool SbgDevice::uploadMagCalibrationToDevice ( )

private

Upload the magnetometers calibration results to the device.

Returns: True if the magnetometers calibration has been successfully uploaded to the device.

Definition at line 345 of file sbg_device.cpp.

◆ writeRtcmMessageToDevice()

void SbgDevice::writeRtcmMessageToDevice ( const rtcm_msgs::Message::ConstPtr & msg )

private

Handler for subscription to RTCM topic.

Parameters

[in] msg ROS RTCM message.

Definition at line 465 of file sbg_device.cpp.

Member Data Documentation

◆ calib_save_service_

ros::ServiceServer sbg::SbgDevice::calib_save_service_

private

Definition at line 84 of file sbg_device.h.

◆ calib_service_

ros::ServiceServer sbg::SbgDevice::calib_service_

private

Definition at line 83 of file sbg_device.h.

◆ com_handle_

SbgEComHandle sbg::SbgDevice::com_handle_

private

Definition at line 72 of file sbg_device.h.

◆ config_store_

ConfigStore sbg::SbgDevice::config_store_

private

Definition at line 76 of file sbg_device.h.

◆ g_mag_calib_bandwidth_

std::map< SbgEComMagCalibBandwidth, std::string > SbgDevice::g_mag_calib_bandwidth_

staticprivate

Initial value:

= {{SBG_ECOM_MAG_CALIB_HIGH_BW,   "High Bandwidth"},
                                                                                     {SBG_ECOM_MAG_CALIB_MEDIUM_BW, "Medium Bandwidth"},
                                                                                     {SBG_ECOM_MAG_CALIB_LOW_BW,    "Low Bandwidth"}}

Definition at line 66 of file sbg_device.h.

◆ g_mag_calib_confidence_

std::map< SbgEComMagCalibConfidence, std::string > SbgDevice::g_mag_calib_confidence_

staticprivate

Initial value:

= { {SBG_ECOM_MAG_CALIB_TRUST_HIGH, "Confidence: high"},
                                                                                        {SBG_ECOM_MAG_CALIB_TRUST_MEDIUM, "Confidence: medium"},
                                                                                        {SBG_ECOM_MAG_CALIB_TRUST_LOW, "Confidence: low"}}

Definition at line 64 of file sbg_device.h.

◆ g_mag_calib_mode_

std::map< SbgEComMagCalibMode, std::string > SbgDevice::g_mag_calib_mode_

staticprivate

Initial value:

= { {SBG_ECOM_MAG_CALIB_MODE_2D, "Mode 2D"},

{SBG_ECOM_MAG_CALIB_MODE_3D, "Mode 3D"}}

Definition at line 65 of file sbg_device.h.

◆ g_mag_calib_quality_

std::map< SbgEComMagCalibQuality, std::string > SbgDevice::g_mag_calib_quality_

staticprivate

Initial value:

= { {SBG_ECOM_MAG_CALIB_QUAL_OPTIMAL, "Quality: optimal"},
                                                                                  {SBG_ECOM_MAG_CALIB_QUAL_GOOD, "Quality: good"},
                                                                                  {SBG_ECOM_MAG_CALIB_QUAL_POOR, "Quality: poor"},
                                                                                  {SBG_ECOM_MAG_CALIB_QUAL_INVALID, "Quality: invalid"}}

Definition at line 63 of file sbg_device.h.

◆ mag_calib_results_

SbgEComMagCalibResults sbg::SbgDevice::mag_calib_results_

private

Definition at line 82 of file sbg_device.h.

◆ mag_calibration_done_

bool sbg::SbgDevice::mag_calibration_done_

private

Definition at line 81 of file sbg_device.h.

◆ mag_calibration_ongoing_

bool sbg::SbgDevice::mag_calibration_ongoing_

private

Definition at line 80 of file sbg_device.h.

◆ message_publisher_

MessagePublisher sbg::SbgDevice::message_publisher_

private

Definition at line 75 of file sbg_device.h.

◆ rate_frequency_

uint32_t sbg::SbgDevice::rate_frequency_

private

Definition at line 78 of file sbg_device.h.

◆ ref_node_

ros::NodeHandle& sbg::SbgDevice::ref_node_

private

Definition at line 74 of file sbg_device.h.

◆ rtcm_sub_

ros::Subscriber sbg::SbgDevice::rtcm_sub_

private

Definition at line 86 of file sbg_device.h.

◆ sbg_interface_

SbgInterface sbg::SbgDevice::sbg_interface_

private

Definition at line 73 of file sbg_device.h.

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

Private Attributes
ros::ServiceServer	calib_save_service_

ros::ServiceServer	calib_service_

SbgEComHandle	com_handle_

ConfigStore	config_store_

SbgEComMagCalibResults	mag_calib_results_

bool	mag_calibration_done_

bool	mag_calibration_ongoing_

MessagePublisher	message_publisher_

uint32_t	rate_frequency_

ros::NodeHandle &	ref_node_

ros::Subscriber	rtcm_sub_

SbgInterface	sbg_interface_

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SbgDevice()

◆ ~SbgDevice()

Member Function Documentation

◆ configure()

◆ connect()

◆ displayMagCalibrationStatusResult()

◆ endMagCalibration()

◆ exportMagCalibrationResults()

◆ getUpdateFrequency()

◆ getVersionAsString()

◆ initDeviceForMagCalibration()

◆ initDeviceForReceivingData()

◆ initPublishers()

◆ initSubscribers()

◆ loadParameters()

◆ onLogReceived()

◆ onLogReceivedCallback()

◆ periodicHandle()

◆ processMagCalibration()

◆ readDeviceInfo()

◆ saveMagCalibration()

◆ startMagCalibration()

◆ uploadMagCalibrationToDevice()

◆ writeRtcmMessageToDevice()

Member Data Documentation

◆ calib_save_service_

◆ calib_service_

◆ com_handle_

◆ config_store_

◆ g_mag_calib_bandwidth_

◆ g_mag_calib_confidence_

◆ g_mag_calib_mode_

◆ g_mag_calib_quality_

◆ mag_calib_results_

◆ mag_calibration_done_

◆ mag_calibration_ongoing_

◆ message_publisher_

◆ rate_frequency_

◆ ref_node_

◆ rtcm_sub_

◆ sbg_interface_