This class represents u-blox ROS node for all firmware and product versions. More...

#include <node.h>

Inheritance diagram for ublox_node::UbloxNode:

Public Member Functions
bool	configureUblox ()
	Configure the device based on ROS parameters. More...

void	getRosParams ()
	Get the node parameters from the ROS Parameter Server. More...

void	initializeRosDiagnostics ()
	Initialize the diagnostic updater and add the fix diagnostic. More...

void	printInf (const ublox_msgs::Inf &m, uint8_t id)
	Print an INF message to the ROS console. More...

void	subscribe ()
	Subscribe to all requested u-blox messages. More...

	UbloxNode ()
	Initialize and run the u-blox node. More...

Static Public Attributes
constexpr static float	kDiagnosticPeriod = 0.2
	[s] 5Hz diagnostic period More...

constexpr static double	kFixFreqTol = 0.15
	Tolerance for Fix topic frequency as percentage of target frequency. More...

constexpr static double	kFixFreqWindow = 10
	Window [num messages] for Fix Frequency Diagnostic. More...

constexpr static double	kKeepAlivePeriod = 10.0
	How often (in seconds) to send keep-alive message. More...

constexpr static double	kPollDuration = 1.0
	How often (in seconds) to call poll messages. More...

constexpr static double	kTimeStampStatusMin = 0
	Minimum Time Stamp Status for fix frequency diagnostic. More...

Private Member Functions
void	addFirmwareInterface ()
	Add the interface for firmware specific configuration, subscribers, & diagnostics. This assumes the protocol_version_ has been set. More...

void	addProductInterface (std::string product_category, std::string ref_rov="")
	Add the interface which is used for product category configuration, subscribers, & diagnostics. More...

void	configureInf ()
	Configure INF messages, call after subscribe. More...

void	initialize ()
	Initialize the U-Blox node. Configure the U-Blox and subscribe to messages. More...

void	initializeIo ()
	Initialize the I/O handling. More...

void	keepAlive (const ros::TimerEvent &event)
	Poll version message from the U-Blox device to keep socket active. More...

void	pollMessages (const ros::TimerEvent &event)
	Poll messages from the U-Blox device. More...

void	processMonVer ()
	Process the MonVer message and add firmware and product components. More...

bool	resetDevice ()
	Send a reset message the u-blox device & re-initialize the I/O. More...

void	shutdown ()
	Shutdown the node. Closes the serial port. More...

Private Attributes
uint32_t	baudrate_
	UART1 baudrate. More...

ublox_msgs::CfgDAT	cfg_dat_
	User-defined Datum. More...

std::vector< boost::shared_ptr< ComponentInterface > >	components_
	The u-blox node components. More...

std::string	device_
	Device port. More...

uint8_t	dmodel_
	Set from dynamic model string. More...

uint8_t	dr_limit_
	Dead reckoning limit parameter. More...

std::string	dynamic_model_
	dynamic model type More...

bool	enable_ppp_
	Whether or not to enable PPP (advanced setting) More...

bool	enable_sbas_
	Whether or not to enable SBAS. More...

std::string	fix_mode_
	Fix mode type. More...

uint8_t	fmode_
	Set from fix mode string. More...

ublox_msgs::CfgCFG	load_
	Parameters to load from non-volatile memory during configuration. More...

uint8_t	max_sbas_
	Max SBAS parameter (see CfgSBAS message) More...

float	protocol_version_ = 0
	Determined From Mon VER. More...

double	rate_
	The measurement rate in Hz. More...

RawDataStreamPa	rawDataStreamPa_
	raw data stream logging More...

ublox_msgs::CfgCFG	save_
	Parameters to save to non-volatile memory after configuration. More...

uint8_t	sbas_usage_
	SBAS Usage parameter (see CfgSBAS message) More...

bool	set_dat_
	If true, set configure the User-Defined Datum. More...

bool	set_usb_
	Whether to configure the USB port. More...

uint8_t	tim_rate_
	rate for TIM-TM2 More...

uint16_t	uart_in_
	UART in protocol (see CfgPRT message for constants) More...

uint16_t	uart_out_
	UART out protocol (see CfgPRT message for constants) More...

uint16_t	usb_in_
	USB in protocol (see CfgPRT message for constants) More...

uint16_t	usb_out_
	USB out protocol (see CfgPRT message for constants) More...

uint16_t	usb_tx_
	USB TX Ready Pin configuration (see CfgPRT message for constants) More...

Detailed Description

This class represents u-blox ROS node for all firmware and product versions.

It loads the user parameters, configures the u-blox device, subscribes to u-blox messages, and configures the device hardware. Functionality specific to a given product or firmware version, etc. should NOT be implemented in this class. Instead, the user should add the functionality to the appropriate implementation of ComponentInterface. If necessary, the user should create a class which implements u-blox interface, then add a pointer to an instance of the class to the components vector. The UbloxNode calls the public methods of ComponentInterface for each element in the components vector.

Definition at line 501 of file node.h.

Constructor & Destructor Documentation

◆ UbloxNode()

UbloxNode::UbloxNode ( )

Initialize and run the u-blox node.

Definition at line 90 of file node.cpp.

Member Function Documentation

◆ addFirmwareInterface()

void UbloxNode::addFirmwareInterface ( )

private

Add the interface for firmware specific configuration, subscribers, & diagnostics. This assumes the protocol_version_ has been set.

Definition at line 94 of file node.cpp.

◆ addProductInterface()

void UbloxNode::addProductInterface	(	std::string	product_category,
		std::string	ref_rov = `""`
	)

private

Add the interface which is used for product category configuration, subscribers, & diagnostics.

Parameters

the	product category, i.e. SPG, HPG, ADR, UDR, TIM, or FTS.
for	HPG/TIM products, this value is either REF or ROV, for other products this string is empty

Definition at line 114 of file node.cpp.

◆ configureInf()

void UbloxNode::configureInf ( )

private

Configure INF messages, call after subscribe.

Definition at line 504 of file node.cpp.

◆ configureUblox()

bool UbloxNode::configureUblox ( )

virtual

Configure the device based on ROS parameters.

Returns: true if configured successfully

Implements ublox_node::ComponentInterface.

Definition at line 432 of file node.cpp.

◆ getRosParams()

void UbloxNode::getRosParams ( )

virtual

Get the node parameters from the ROS Parameter Server.

Implements ublox_node::ComponentInterface.

Definition at line 138 of file node.cpp.

◆ initialize()

void UbloxNode::initialize ( )

private

Initialize the U-Blox node. Configure the U-Blox and subscribe to messages.

Definition at line 569 of file node.cpp.

◆ initializeIo()

void UbloxNode::initializeIo ( )

private

Initialize the I/O handling.

Definition at line 535 of file node.cpp.

◆ initializeRosDiagnostics()

void UbloxNode::initializeRosDiagnostics ( )

virtual

Initialize the diagnostic updater and add the fix diagnostic.

Implements ublox_node::ComponentInterface.

Definition at line 352 of file node.cpp.

◆ keepAlive()

void UbloxNode::keepAlive ( const ros::TimerEvent & event )

private

Poll version message from the U-Blox device to keep socket active.

Parameters

event a timer indicating how often to poll

Definition at line 235 of file node.cpp.

◆ pollMessages()

void UbloxNode::pollMessages ( const ros::TimerEvent & event )

private

Poll messages from the U-Blox device.

Parameters

event a timer indicating how often to poll the messages

Definition at line 240 of file node.cpp.

◆ printInf()

void UbloxNode::printInf	(	const ublox_msgs::Inf &	m,
		uint8_t	id
	)

Print an INF message to the ROS console.

Definition at line 255 of file node.cpp.

◆ processMonVer()

void UbloxNode::processMonVer ( )

private

Process the MonVer message and add firmware and product components.

Determines the protocol version, product type and supported GNSS.

Definition at line 367 of file node.cpp.

◆ resetDevice()

bool ublox_node::UbloxNode::resetDevice ( )

private

Send a reset message the u-blox device & re-initialize the I/O.

Returns: true if reset was successful, false otherwise.

◆ shutdown()

void UbloxNode::shutdown ( )

private

Shutdown the node. Closes the serial port.

Definition at line 610 of file node.cpp.

◆ subscribe()

void UbloxNode::subscribe ( )

virtual

Subscribe to all requested u-blox messages.

Implements ublox_node::ComponentInterface.

Definition at line 266 of file node.cpp.

Member Data Documentation

◆ baudrate_

uint32_t ublox_node::UbloxNode::baudrate_

private

UART1 baudrate.

Definition at line 633 of file node.h.

◆ cfg_dat_

ublox_msgs::CfgDAT ublox_node::UbloxNode::cfg_dat_

private

User-defined Datum.

Definition at line 652 of file node.h.

◆ components_

std::vector<boost::shared_ptr<ComponentInterface> > ublox_node::UbloxNode::components_

private

The u-blox node components.

The node will call the functions in these interfaces for each object in the vector.

Definition at line 617 of file node.h.

◆ device_

std::string ublox_node::UbloxNode::device_

private

Device port.

Definition at line 623 of file node.h.

◆ dmodel_

uint8_t ublox_node::UbloxNode::dmodel_

private

Set from dynamic model string.

Definition at line 629 of file node.h.

◆ dr_limit_

uint8_t ublox_node::UbloxNode::dr_limit_

private

Dead reckoning limit parameter.

Definition at line 662 of file node.h.

◆ dynamic_model_

std::string ublox_node::UbloxNode::dynamic_model_

private

dynamic model type

Definition at line 625 of file node.h.

◆ enable_ppp_

bool ublox_node::UbloxNode::enable_ppp_

private

Whether or not to enable PPP (advanced setting)

Definition at line 656 of file node.h.

◆ enable_sbas_

bool ublox_node::UbloxNode::enable_sbas_

private

Whether or not to enable SBAS.

Definition at line 654 of file node.h.

◆ fix_mode_

std::string ublox_node::UbloxNode::fix_mode_

private

Fix mode type.

Definition at line 627 of file node.h.

◆ fmode_

uint8_t ublox_node::UbloxNode::fmode_

private

Set from fix mode string.

Definition at line 631 of file node.h.

◆ kDiagnosticPeriod

constexpr static float ublox_node::UbloxNode::kDiagnosticPeriod = 0.2

staticconstexpr

[s] 5Hz diagnostic period

Definition at line 509 of file node.h.

◆ kFixFreqTol

constexpr static double ublox_node::UbloxNode::kFixFreqTol = 0.15

staticconstexpr

Tolerance for Fix topic frequency as percentage of target frequency.

Definition at line 511 of file node.h.

◆ kFixFreqWindow

constexpr static double ublox_node::UbloxNode::kFixFreqWindow = 10

staticconstexpr

Window [num messages] for Fix Frequency Diagnostic.

Definition at line 513 of file node.h.

◆ kKeepAlivePeriod

constexpr static double ublox_node::UbloxNode::kKeepAlivePeriod = 10.0

staticconstexpr

How often (in seconds) to send keep-alive message.

Definition at line 504 of file node.h.

◆ kPollDuration

constexpr static double ublox_node::UbloxNode::kPollDuration = 1.0

staticconstexpr

How often (in seconds) to call poll messages.

Definition at line 506 of file node.h.

◆ kTimeStampStatusMin

constexpr static double ublox_node::UbloxNode::kTimeStampStatusMin = 0

staticconstexpr

Minimum Time Stamp Status for fix frequency diagnostic.

Definition at line 515 of file node.h.

◆ load_

ublox_msgs::CfgCFG ublox_node::UbloxNode::load_

private

Parameters to load from non-volatile memory during configuration.

Definition at line 664 of file node.h.

◆ max_sbas_

uint8_t ublox_node::UbloxNode::max_sbas_

private

Max SBAS parameter (see CfgSBAS message)

Definition at line 660 of file node.h.

◆ protocol_version_

float ublox_node::UbloxNode::protocol_version_ = 0

private

Determined From Mon VER.

Definition at line 620 of file node.h.

◆ rate_

double ublox_node::UbloxNode::rate_

private

The measurement rate in Hz.

Definition at line 648 of file node.h.

◆ rawDataStreamPa_

RawDataStreamPa ublox_node::UbloxNode::rawDataStreamPa_

private

raw data stream logging

Definition at line 671 of file node.h.

◆ save_

ublox_msgs::CfgCFG ublox_node::UbloxNode::save_

private

Parameters to save to non-volatile memory after configuration.

Definition at line 666 of file node.h.

◆ sbas_usage_

uint8_t ublox_node::UbloxNode::sbas_usage_

private

SBAS Usage parameter (see CfgSBAS message)

Definition at line 658 of file node.h.

◆ set_dat_

bool ublox_node::UbloxNode::set_dat_

private

If true, set configure the User-Defined Datum.

Definition at line 650 of file node.h.

◆ set_usb_

bool ublox_node::UbloxNode::set_usb_

private

Whether to configure the USB port.

Set to true if usb_in & usb_out parameters are set

Definition at line 642 of file node.h.

◆ tim_rate_

uint8_t ublox_node::UbloxNode::tim_rate_

private

rate for TIM-TM2

Definition at line 668 of file node.h.

◆ uart_in_

uint16_t ublox_node::UbloxNode::uart_in_

private

UART in protocol (see CfgPRT message for constants)

Definition at line 635 of file node.h.

◆ uart_out_

uint16_t ublox_node::UbloxNode::uart_out_

private

UART out protocol (see CfgPRT message for constants)

Definition at line 637 of file node.h.

◆ usb_in_

uint16_t ublox_node::UbloxNode::usb_in_

private

USB in protocol (see CfgPRT message for constants)

Definition at line 644 of file node.h.

◆ usb_out_

uint16_t ublox_node::UbloxNode::usb_out_

private

USB out protocol (see CfgPRT message for constants)

Definition at line 646 of file node.h.

◆ usb_tx_

uint16_t ublox_node::UbloxNode::usb_tx_

private

USB TX Ready Pin configuration (see CfgPRT message for constants)

Definition at line 639 of file node.h.

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

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ UbloxNode()

Member Function Documentation

◆ addFirmwareInterface()

◆ addProductInterface()

◆ configureInf()

◆ configureUblox()

◆ getRosParams()

◆ initialize()

◆ initializeIo()

◆ initializeRosDiagnostics()

◆ keepAlive()

◆ pollMessages()

◆ printInf()

◆ processMonVer()

◆ resetDevice()

◆ shutdown()

◆ subscribe()

Member Data Documentation

◆ baudrate_

◆ cfg_dat_

◆ components_

◆ device_

◆ dmodel_

◆ dr_limit_

◆ dynamic_model_

◆ enable_ppp_

◆ enable_sbas_

◆ fix_mode_

◆ fmode_

◆ kDiagnosticPeriod

◆ kFixFreqTol

◆ kFixFreqWindow

◆ kKeepAlivePeriod

◆ kPollDuration

◆ kTimeStampStatusMin

◆ load_

◆ max_sbas_

◆ protocol_version_

◆ rate_

◆ rawDataStreamPa_

◆ save_

◆ sbas_usage_

◆ set_dat_

◆ set_usb_

◆ tim_rate_

◆ uart_in_

◆ uart_out_

◆ usb_in_

◆ usb_out_

◆ usb_tx_