Program Listing for File settings.hpp
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#pragma once
#include <stdint.h>
#include <string>
#include <vector>
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<RtkNtrip> ntrip;
std::vector<RtkIpServer> ip_server;
std::vector<RtkSerial> 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<bool> ins_vsm_ros_config = {false, false, false};
bool ins_vsm_ros_variances_by_parameter = false;
std::vector<double> 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;
};