.. _program_listing_file__tmp_ws_src_septentrio_gnss_driver_include_septentrio_gnss_driver_communication_settings.hpp: Program Listing for File settings.hpp ===================================== |exhale_lsh| :ref:`Return to documentation for file ` (``/tmp/ws/src/septentrio_gnss_driver/include/septentrio_gnss_driver/communication/settings.hpp``) .. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS .. code-block:: cpp // ***************************************************************************** // // © Copyright 2020, Septentrio NV/SA. // All rights reserved. // // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions are met: // 1. Redistributions of source code must retain the above copyright // notice, this list of conditions and the following disclaimer. // 2. Redistributions in binary form must reproduce the above copyright // notice, this list of conditions and the following disclaimer in the // documentation and/or other materials provided with the distribution. // 3. Neither the name of the copyright holder nor the names of its // contributors may be used to endorse or promote products derived // from this software without specific prior written permission. // // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE // POSSIBILITY OF SUCH DAMAGE. // // ***************************************************************************** #pragma once #include #include #include struct Osnma { std::string mode; std::string ntp_server; bool keep_open; }; struct RtkNtrip { std::string id; std::string caster; uint32_t caster_port; std::string username; std::string password; std::string mountpoint; std::string version; bool tls; std::string fingerprint; std::string rtk_standard; std::string send_gga; bool keep_open; }; struct RtkIpServer { std::string id; uint32_t port; std::string rtk_standard; std::string send_gga; bool keep_open; }; struct RtkSerial { std::string port; uint32_t baud_rate; std::string rtk_standard; std::string send_gga; bool keep_open; }; struct Rtk { std::vector ntrip; std::vector ip_server; std::vector serial; }; namespace device_type { enum DeviceType { TCP, SERIAL, SBF_FILE, PCAP_FILE }; } // namespace device_type struct Settings { bool activate_debug_log; std::string device; device_type::DeviceType device_type; std::string device_tcp_ip; std::string device_tcp_port; uint32_t udp_port; std::string udp_unicast_ip; std::string udp_ip_server; uint32_t tcp_port; std::string tcp_ip_server; std::string file_name; std::string login_user; std::string login_password; float reconnect_delay_s; uint32_t baudrate; std::string hw_flow_control; // Wether to configure Rx bool configure_rx; std::string datum; uint32_t polling_period_pvt; uint32_t polling_period_rest; float delta_e; float delta_n; float delta_u; std::string ant_type; std::string ant_aux1_type; std::string ant_serial_nr; std::string ant_aux1_serial_nr; bool use_ros_axis_orientation; double theta_x; double theta_y; double theta_z; double ant_lever_x; double ant_lever_y; double ant_lever_z; double poi_x; double poi_y; double poi_z; double vsm_x; double vsm_y; double vsm_z; double heading_offset; double pitch_offset; bool multi_antenna; bool ins_use_poi; std::string ins_initial_heading; float att_std_dev; float pos_std_dev; Rtk rtk; Osnma osnma; bool publish_gpgga; bool publish_gprmc; bool publish_gpgsa; bool publish_gpgsv; bool publish_measepoch; bool publish_aimplusstatus; bool publish_galauthstatus; bool publish_pvtcartesian; bool publish_pvtgeodetic; bool publish_basevectorcart; bool publish_basevectorgeod; bool publish_poscovcartesian; bool publish_poscovgeodetic; bool publish_velcovcartesian; bool publish_velcovgeodetic; bool publish_atteuler; bool publish_attcoveuler; bool publish_insnavcart; bool publish_insnavgeod; bool publish_imusetup; bool publish_velsensorsetup; bool publish_exteventinsnavgeod; bool publish_exteventinsnavcart; bool publish_extsensormeas; bool publish_gpst; bool publish_navsatfix; bool publish_gpsfix; bool publish_pose; bool publish_diagnostics; bool publish_imu; bool publish_localization; bool publish_localization_ecef; bool publish_twist; bool publish_tf; bool publish_tf_ecef; bool insert_local_frame = false; std::string local_frame_id; std::string septentrio_receiver_type; bool use_gnss_time; bool latency_compensation; std::string frame_id; std::string imu_frame_id; std::string poi_frame_id; std::string vsm_frame_id; std::string aux1_frame_id; std::string vehicle_frame_id; bool lock_utm_zone; int32_t leap_seconds = -128; bool read_from_sbf_log = false; bool read_from_pcap = false; std::string ins_vsm_ros_source; std::vector ins_vsm_ros_config = {false, false, false}; bool ins_vsm_ros_variances_by_parameter = false; std::vector ins_vsm_ros_variances = {-1.0, -1.0, -1.0}; std::string ins_vsm_ip_server_id; uint32_t ins_vsm_ip_server_port; bool ins_vsm_ip_server_keep_open; std::string ins_vsm_serial_port; uint32_t ins_vsm_serial_baud_rate; bool ins_vsm_serial_keep_open; }; struct Capabilities { bool is_ins = false; bool has_heading = false; bool has_improved_vsm_handling = false; };