Handles communication with and configuration of the u-blox device. More...

#include <gps.h>

Classes
struct	Ack
	Stores ACK/NACK messages. More...
Public Member Functions
bool	clearBbr ()
	Send a message to the receiver to delete the BBR data stored in flash.
void	close ()
	Closes the I/O port, and initiates save on shutdown procedure if enabled.
bool	configGnss (ublox_msgs::CfgGNSS gnss, const boost::posix_time::time_duration &wait)
	Configure the GNSS, cold reset the device, and reset the I/O.
bool	configRate (uint16_t meas_rate, uint16_t nav_rate)
	Configure the device navigation and measurement rate settings.
bool	configReset (uint16_t nav_bbr_mask, uint16_t reset_mode)
	Send a reset message to the u-blox device.
bool	configRtcm (std::vector< uint8_t > ids, std::vector< uint8_t > rates)
	Configure the RTCM messages with the given IDs to the set rate.
bool	configSbas (bool enable, uint8_t usage, uint8_t max_sbas)
	Configure the SBAS settings.
bool	configTmode3Fixed (bool lla_flag, std::vector< float > arp_position, std::vector< int8_t > arp_position_hp, float fixed_pos_acc)
	Set the TMODE3 settings to fixed.
bool	configTmode3SurveyIn (unsigned int svin_min_dur, float svin_acc_limit)
	Set the TMODE3 settings to survey-in.
bool	configUart1 (unsigned int baudrate, uint16_t in_proto_mask, uint16_t out_proto_mask)
	Configure the UART1 Port.
template<typename ConfigT >
bool	configure (const ConfigT &message, bool wait=true)
	Send the given configuration message.
bool	configUsb (uint16_t tx_ready, uint16_t in_proto_mask, uint16_t out_proto_mask)
	Configure the USB Port.
bool	disableTmode3 ()
	Set the TMODE3 settings to disabled. Should only be called for High Precision GNSS devices, otherwise the device will return a NACK.
bool	disableUart1 (ublox_msgs::CfgPRT &prev_cfg)
	Disable the UART Port. Sets in/out protocol masks to 0. Does not modify other values.
	Gps ()
void	initializeSerial (std::string port, unsigned int baudrate, uint16_t uart_in, uint16_t uart_out)
	Initialize the Serial I/O port.
void	initializeTcp (std::string host, std::string port)
	Initialize TCP I/O.
bool	isConfigured () const
bool	isInitialized () const
bool	isOpen () const
template<typename ConfigT >
bool	poll (ConfigT &message, const std::vector< uint8_t > &payload=std::vector< uint8_t >(), const boost::posix_time::time_duration &timeout=default_timeout_)
bool	poll (uint8_t class_id, uint8_t message_id, const std::vector< uint8_t > &payload=std::vector< uint8_t >())
template<typename T >
bool	read (T &message, const boost::posix_time::time_duration &timeout=default_timeout_)
void	reset (const boost::posix_time::time_duration &wait)
	Reset I/O communications.
void	resetSerial (std::string port)
	Reset the Serial I/O port after u-blox reset.
void	setConfigOnStartup (const bool config_on_startup)
	Set the internal flag for enabling or disabling the initial configurations.
bool	setDeadReckonLimit (uint8_t limit)
	Set the dead reckoning time limit.
bool	setDgnss (uint8_t mode)
	Set the DGNSS mode (see CfgDGNSS message for details).
bool	setDynamicModel (uint8_t model)
	Set the device dynamic model.
bool	setFixMode (uint8_t mode)
	Set the device fix mode.
bool	setPpp (bool enable)
	Enable or disable PPP (precise-point-positioning).
bool	setRate (uint8_t class_id, uint8_t message_id, uint8_t rate)
	Set the rate at which the U-Blox device sends the given message.
void	setRawDataCallback (const Worker::Callback &callback)
	Set the callback function which handles raw data.
void	setSaveOnShutdown (bool save_on_shutdown)
	If called, when the node shuts down, it will send a command to save the flash memory.
bool	setTimtm2 (uint8_t rate)
	Enable or disable TIM-TM2 (time mark message).
bool	setUseAdr (bool enable)
	Enable or disable ADR (automotive dead reckoning).
bool	setUTCtime ()
	Configure the U-Blox to UTC time.
template<typename T >
void	subscribe (typename CallbackHandler_< T >::Callback callback, unsigned int rate)
	Configure the U-Blox send rate of the message & subscribe to the given message.
template<typename T >
void	subscribe (typename CallbackHandler_< T >::Callback callback)
	Subscribe to the given Ublox message.
template<typename T >
void	subscribeId (typename CallbackHandler_< T >::Callback callback, unsigned int message_id)
	Subscribe to the message with the given ID. This is used for messages which have the same format but different message IDs, e.g. INF messages.
bool	waitForAcknowledge (const boost::posix_time::time_duration &timeout, uint8_t class_id, uint8_t msg_id)
	Wait for an acknowledge message until the timeout.
virtual	~Gps ()
Static Public Attributes
static constexpr double	kDefaultAckTimeout = 1.0
	Default timeout for ACK messages in seconds.
static constexpr int	kSetBaudrateSleepMs = 500
	Sleep time [ms] after setting the baudrate.
static constexpr int	kWriterSize = 2056
	Size of write buffer for output messages.
Private Types
enum	AckType { NACK, ACK, WAIT }
	Types for ACK/NACK messages, WAIT is used when waiting for an ACK. More...
Private Member Functions
void	processAck (const ublox_msgs::Ack &m)
	Callback handler for UBX-ACK message.
void	processNack (const ublox_msgs::Ack &m)
	Callback handler for UBX-NACK message.
void	processUpdSosAck (const ublox_msgs::UpdSOS_Ack &m)
	Callback handler for UBX-UPD-SOS-ACK message.
bool	saveOnShutdown ()
	Execute save on shutdown procedure.
void	setWorker (const boost::shared_ptr< Worker > &worker)
	Set the I/O worker.
void	subscribeAcks ()
	Subscribe to ACK/NACK messages and UPD-SOS-ACK messages.
Private Attributes
boost::atomic< Ack >	ack_
	Stores last received ACK accessed by multiple threads.
CallbackHandlers	callbacks_
	Callback handlers for u-blox messages.
bool	config_on_startup_flag_
bool	configured_
	Whether or not the I/O port has been configured.
std::string	host_
std::string	port_
bool	save_on_shutdown_
	Whether or not to save Flash BBR on shutdown.
boost::shared_ptr< Worker >	worker_
	Processes I/O stream data.
Static Private Attributes
static const boost::posix_time::time_duration	default_timeout_
	The default timeout for ACK messages.

Detailed Description

Handles communication with and configuration of the u-blox device.

Definition at line 68 of file gps.h.

Member Enumeration Documentation

enum ublox_gps::Gps::AckType [private]

Types for ACK/NACK messages, WAIT is used when waiting for an ACK.

Enumerator:

NACK

ACK

Not acknowledged.

WAIT

Acknowledge.

Waiting for ACK

Definition at line 410 of file gps.h.

Constructor & Destructor Documentation

ublox_gps::Gps::Gps ( )

Definition at line 41 of file gps.cpp.

ublox_gps::Gps::~Gps ( ) [virtual]

Definition at line 45 of file gps.cpp.

Member Function Documentation

bool ublox_gps::Gps::clearBbr ( )

Send a message to the receiver to delete the BBR data stored in flash.

Returns:: true if sent message and received ACK, false otherwise

Definition at line 311 of file gps.cpp.

void ublox_gps::Gps::close ( )

Closes the I/O port, and initiates save on shutdown procedure if enabled.

Definition at line 246 of file gps.cpp.

bool ublox_gps::Gps::configGnss	(	ublox_msgs::CfgGNSS	gnss,
		const boost::posix_time::time_duration &	wait
	)

Configure the GNSS, cold reset the device, and reset the I/O.

Parameters:

gnss	the desired GNSS configuration
wait	the time to wait after resetting I/O before restarting

Returns:: true if the GNSS was configured, the device was reset, and the I/O reset successfully

Definition at line 282 of file gps.cpp.

bool ublox_gps::Gps::configRate	(	uint16_t	meas_rate,
		uint16_t	nav_rate
	)

Configure the device navigation and measurement rate settings.

Parameters:

meas_rate	Period in milliseconds between subsequent measurements.
nav_rate	the rate at which navigation solutions are generated by the receiver in number measurement cycles

Returns:: true on ACK, false on other conditions.

Definition at line 378 of file gps.cpp.

bool ublox_gps::Gps::configReset	(	uint16_t	nav_bbr_mask,
		uint16_t	reset_mode
	)

Send a reset message to the u-blox device.

Parameters:

nav_bbr_mask	The BBR sections to clear, see CfgRST message
reset_mode	The reset type, see CfgRST message

Returns:: true if the message was successfully sent, false otherwise

Definition at line 268 of file gps.cpp.

bool ublox_gps::Gps::configRtcm	(	std::vector< uint8_t >	ids,
		std::vector< uint8_t >	rates
	)

Configure the RTCM messages with the given IDs to the set rate.

Parameters:

ids	the RTCM message ids, valid range: [0, 255]
rates	the send rates for each RTCM message ID, valid range: [0, 255]

Returns:: true on ACK, false on other conditions.

Definition at line 389 of file gps.cpp.

bool ublox_gps::Gps::configSbas	(	bool	enable,
		uint8_t	usage,
		uint8_t	max_sbas
	)

Configure the SBAS settings.

Parameters:

enable	If true, enable SBAS. Deprecated in firmware 8, use CfgGNSS instead.
usage	SBAS usage, see CfgSBAS for options
max_sbas	Maximum Number of SBAS prioritized tracking channels

Returns:: true on ACK, false on other conditions.

Definition at line 400 of file gps.cpp.

bool ublox_gps::Gps::configTmode3Fixed	(	bool	lla_flag,
		std::vector< float >	arp_position,
		std::vector< int8_t >	arp_position_hp,
		float	fixed_pos_acc
	)

Set the TMODE3 settings to fixed.

Sets the at the given antenna reference point (ARP) position in either Latitude Longitude Altitude (LLA) or ECEF coordinates.

Parameters:

arp_position	a vector of size 3 representing the ARP position in ECEF coordinates [m] or LLA coordinates [deg]
arp_position_hp	a vector of size 3 a vector of size 3 representing the ARP position in ECEF coordinates [0.1 mm] or LLA coordinates [deg * 1e-9]
lla_flag	true if position is given in LAT/LON/ALT, false if ECEF
fixed_pos_acc	Fixed position 3D accuracy [m]

Returns:: true on ACK, false if settings are incorrect or on other conditions

Definition at line 410 of file gps.cpp.

bool ublox_gps::Gps::configTmode3SurveyIn	(	unsigned int	svin_min_dur,
		float	svin_acc_limit
	)

Set the TMODE3 settings to survey-in.

Parameters:

svin_min_dur	Survey-in minimum duration [s]
svin_acc_limit	Survey-in position accuracy limit [m]

Returns:: true on ACK, false on other conditions.

Definition at line 446 of file gps.cpp.

bool ublox_gps::Gps::configUart1	(	unsigned int	baudrate,
		uint16_t	in_proto_mask,
		uint16_t	out_proto_mask
	)

Configure the UART1 Port.

Parameters:

baudrate	the baudrate of the port
in_proto_mask	the in protocol mask, see CfgPRT message
out_proto_mask	the out protocol mask, see CfgPRT message

Returns:: true on ACK, false on other conditions.

Definition at line 319 of file gps.cpp.

template<typename ConfigT >

bool ublox_gps::Gps::configure	(	const ConfigT &	message,
		bool	wait = `true`
	)

Send the given configuration message.

Parameters:

message	the configuration message
wait	if true, wait for an ACK

Returns:: true if message sent successfully and either ACK was received or wait was set to false

Definition at line 518 of file gps.h.

bool ublox_gps::Gps::configUsb	(	uint16_t	tx_ready,
		uint16_t	in_proto_mask,
		uint16_t	out_proto_mask
	)

Configure the USB Port.

Parameters:

tx_ready	the TX ready pin configuration, see CfgPRT message
in_proto_mask	the in protocol mask, see CfgPRT message
out_proto_mask	the out protocol mask, see CfgPRT message

Returns:: true on ACK, false on other conditions.

Definition at line 362 of file gps.cpp.

bool ublox_gps::Gps::disableTmode3 ( )

Set the TMODE3 settings to disabled. Should only be called for High Precision GNSS devices, otherwise the device will return a NACK.

Returns:: true on ACK, false on other conditions.

Definition at line 457 of file gps.cpp.

bool ublox_gps::Gps::disableUart1 ( ublox_msgs::CfgPRT & prev_cfg )

Disable the UART Port. Sets in/out protocol masks to 0. Does not modify other values.

Parameters:

prev_cfg an empty message which will be filled with the previous configuration parameters

Returns:: true on ACK, false on other conditions.

Definition at line 336 of file gps.cpp.

void ublox_gps::Gps::initializeSerial	(	std::string	port,
		unsigned int	baudrate,
		uint16_t	uart_in,
		uint16_t	uart_out
	)

Initialize the Serial I/O port.

Parameters:

port	the device port address
baudrate	the desired baud rate of the port
uart_in	the UART In protocol, see CfgPRT for options
uart_out	the UART Out protocol, see CfgPRT for options

Definition at line 105 of file gps.cpp.

void ublox_gps::Gps::initializeTcp	(	std::string	host,
		std::string	port
	)

Initialize TCP I/O.

Parameters:

host	the TCP host
port	the TCP port

Definition at line 210 of file gps.cpp.

bool ublox_gps::Gps::isConfigured ( ) const [inline]

Definition at line 357 of file gps.h.

bool ublox_gps::Gps::isInitialized ( ) const [inline]

Definition at line 356 of file gps.h.

bool ublox_gps::Gps::isOpen ( ) const [inline]

Definition at line 358 of file gps.h.

template<typename ConfigT >

bool ublox_gps::Gps::poll	(	ConfigT &	message,
		const std::vector< uint8_t > &	payload = `std::vector<uint8_t>()`,
		const boost::posix_time::time_duration &	timeout = `default_timeout_`
	)

Poll a u-blox message of the given type.

Parameters:

message	the received u-blox message output
payload	the poll message payload sent to the device defaults to empty
timeout	the amount of time to wait for the desired message

Definition at line 504 of file gps.h.

bool ublox_gps::Gps::poll	(	uint8_t	class_id,
		uint8_t	message_id,
		const std::vector< uint8_t > &	payload = `std::vector<uint8_t>()`
	)

Poll a u-blox message.

Parameters:

class_id	the u-blox message class id
message_id	the u-blox message id
payload	the poll message payload sent to the device, defaults to empty
timeout	the amount of time to wait for the desired message

Definition at line 527 of file gps.cpp.

void ublox_gps::Gps::processAck ( const ublox_msgs::Ack & m ) [private]

Callback handler for UBX-ACK message.

Parameters:

m	the message to process

Definition at line 67 of file gps.cpp.

void ublox_gps::Gps::processNack ( const ublox_msgs::Ack & m ) [private]

Callback handler for UBX-NACK message.

Parameters:

m	the message to process

Definition at line 79 of file gps.cpp.

void ublox_gps::Gps::processUpdSosAck ( const ublox_msgs::UpdSOS_Ack & m ) [private]

Callback handler for UBX-UPD-SOS-ACK message.

Parameters:

m	the message to process

Definition at line 90 of file gps.cpp.

template<typename T >

bool ublox_gps::Gps::read	(	T &	message,
		const boost::posix_time::time_duration &	timeout = `default_timeout_`
	)

Read a u-blox message of the given type.

Parameters:

message	the received u-blox message
timeout	the amount of time to wait for the desired message

Definition at line 512 of file gps.h.

void ublox_gps::Gps::reset ( const boost::posix_time::time_duration & wait )

Reset I/O communications.

Parameters:

wait	Time to wait before restarting communications

Definition at line 257 of file gps.cpp.

void ublox_gps::Gps::resetSerial ( std::string port )

Reset the Serial I/O port after u-blox reset.

Parameters:

port	the device port address
baudrate	the desired baud rate of the port
uart_in	the UART In protocol, see CfgPRT for options
uart_out	the UART Out protocol, see CfgPRT for options

Definition at line 169 of file gps.cpp.

bool ublox_gps::Gps::saveOnShutdown ( ) [private]

Execute save on shutdown procedure.

Execute the procedure recommended in the u-blox 8 documentation. Send a stop message to the receiver and instruct it to dump its current state to the attached flash memory (where fitted) as part of the shutdown procedure. The flash data is automatically retrieved when the receiver is restarted.

Returns:: true if the receiver reset & saved the BBR contents to flash

Definition at line 298 of file gps.cpp.

void ublox_gps::Gps::setConfigOnStartup ( const bool config_on_startup ) [inline]

Set the internal flag for enabling or disabling the initial configurations.

Parameters:

config_on_startup boolean flag

Definition at line 92 of file gps.h.

bool ublox_gps::Gps::setDeadReckonLimit ( uint8_t limit )

Set the dead reckoning time limit.

Parameters:

limit Time limit in seconds.

Returns:: true on ACK, false on other conditions.

Definition at line 493 of file gps.cpp.

bool ublox_gps::Gps::setDgnss ( uint8_t mode )

Set the DGNSS mode (see CfgDGNSS message for details).

Parameters:

mode	the DGNSS mode (see CfgDGNSS message for options)

Returns:: true on ACK, false on other conditions

Definition at line 511 of file gps.cpp.

bool ublox_gps::Gps::setDynamicModel ( uint8_t model )

Set the device dynamic model.

Parameters:

model Dynamic model to use. Consult ublox protocol spec for details.

Returns:: true on ACK, false on other conditions.

Definition at line 475 of file gps.cpp.

bool ublox_gps::Gps::setFixMode ( uint8_t mode )

Set the device fix mode.

Parameters:

mode	2D only, 3D only or auto.

Returns:: true on ACK, false on other conditions.

Definition at line 484 of file gps.cpp.

bool ublox_gps::Gps::setPpp ( bool enable )

Enable or disable PPP (precise-point-positioning).

Parameters:

enable If true, enable PPP.

Returns:: true on ACK, false on other conditions.

Note:: This is part of the expert settings. It is recommended you check the ublox manual first.

Definition at line 502 of file gps.cpp.

bool ublox_gps::Gps::setRate	(	uint8_t	class_id,
		uint8_t	message_id,
		uint8_t	rate
	)

Set the rate at which the U-Blox device sends the given message.

Parameters:

class_id	the class identifier of the message
message_id	the message identifier
rate	the updated rate in Hz

Returns:: true on ACK, false on other conditions.

Definition at line 465 of file gps.cpp.

void ublox_gps::Gps::setRawDataCallback ( const Worker::Callback & callback )

Set the callback function which handles raw data.

Parameters:

callback the write callback which handles raw data

Definition at line 561 of file gps.cpp.

void ublox_gps::Gps::setSaveOnShutdown ( bool save_on_shutdown ) [inline]

If called, when the node shuts down, it will send a command to save the flash memory.

Definition at line 84 of file gps.h.

bool ublox_gps::Gps::setTimtm2 ( uint8_t rate )

Enable or disable TIM-TM2 (time mark message).

Parameters:

enable If true, enable TIM-TM2.

Returns:: true on ACK, false on other conditions.

Note:: This is part of the expert settings. It is recommended you check the ublox manual first.

Definition at line 574 of file gps.cpp.

bool ublox_gps::Gps::setUseAdr ( bool enable )

Enable or disable ADR (automotive dead reckoning).

Parameters:

enable If true, enable ADR.

Returns:: true on ACK, false on other conditions.

Definition at line 518 of file gps.cpp.

bool ublox_gps::Gps::setUTCtime ( )

Configure the U-Blox to UTC time.

Returns:: true on ACK, false on other conditions.

Note:: This is part of the expert settings. It is recommended you check the ublox manual first.

Definition at line 566 of file gps.cpp.

void ublox_gps::Gps::setWorker ( const boost::shared_ptr< Worker > & worker ) [private]

Set the I/O worker.

Parameters:

an	I/O handler

Definition at line 47 of file gps.cpp.

template<typename T >

void ublox_gps::Gps::subscribe	(	typename CallbackHandler_< T >::Callback	callback,
		unsigned int	rate
	)

Configure the U-Blox send rate of the message & subscribe to the given message.

Parameters:

the	callback handler for the message
rate	the rate in Hz of the message

Definition at line 486 of file gps.h.

template<typename T >

void ublox_gps::Gps::subscribe ( typename CallbackHandler_< T >::Callback callback )

Subscribe to the given Ublox message.

Parameters:

the	callback handler for the message

Definition at line 493 of file gps.h.

void ublox_gps::Gps::subscribeAcks ( ) [private]

Subscribe to ACK/NACK messages and UPD-SOS-ACK messages.

Definition at line 55 of file gps.cpp.

template<typename T >

void ublox_gps::Gps::subscribeId	(	typename CallbackHandler_< T >::Callback	callback,
		unsigned int	message_id
	)

Subscribe to the message with the given ID. This is used for messages which have the same format but different message IDs, e.g. INF messages.

Parameters:

the	callback handler for the message
message_id	the U-Blox message ID

Definition at line 498 of file gps.h.

bool ublox_gps::Gps::waitForAcknowledge	(	const boost::posix_time::time_duration &	timeout,
		uint8_t	class_id,
		uint8_t	msg_id
	)

Wait for an acknowledge message until the timeout.

Parameters:

timeout	maximum time to wait in seconds
class_id	the expected class ID of the ACK
msg_id	the expected message ID of the ACK

Returns:: true if expected ACK received, false otherwise

Definition at line 540 of file gps.cpp.

Member Data Documentation

boost::atomic<Ack> ublox_gps::Gps::ack_ [mutable, private]

Stores last received ACK accessed by multiple threads.

Definition at line 477 of file gps.h.

CallbackHandlers ublox_gps::Gps::callbacks_ [private]

Callback handlers for u-blox messages.

Definition at line 480 of file gps.h.

bool ublox_gps::Gps::config_on_startup_flag_ [private]

Definition at line 471 of file gps.h.

bool ublox_gps::Gps::configured_ [private]

Whether or not the I/O port has been configured.

Definition at line 467 of file gps.h.

const boost::posix_time::time_duration ublox_gps::Gps::default_timeout_ [static, private]

Initial value:

    boost::posix_time::milliseconds(
        static_cast<int>(Gps::kDefaultAckTimeout * 1000))

The default timeout for ACK messages.

Definition at line 475 of file gps.h.

std::string ublox_gps::Gps::host_ [private]

Definition at line 482 of file gps.h.

constexpr double ublox_gps::Gps::kDefaultAckTimeout = 1.0 [static]

Default timeout for ACK messages in seconds.

Definition at line 73 of file gps.h.

constexpr int ublox_gps::Gps::kSetBaudrateSleepMs = 500 [static]

Sleep time [ms] after setting the baudrate.

Definition at line 71 of file gps.h.

constexpr int ublox_gps::Gps::kWriterSize = 2056 [static]

Size of write buffer for output messages.

Definition at line 75 of file gps.h.

std::string ublox_gps::Gps::port_ [private]

Definition at line 482 of file gps.h.

bool ublox_gps::Gps::save_on_shutdown_ [private]

Whether or not to save Flash BBR on shutdown.

Whether or not initial configuration to the hardware is done

Definition at line 470 of file gps.h.

boost::shared_ptr<Worker> ublox_gps::Gps::worker_ [private]

Processes I/O stream data.

Definition at line 465 of file gps.h.

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

Classes

Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation