ublox_msgs: ublox_msgs.cpp Source File

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00001 //==============================================================================
00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
00018 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
00019 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
00020 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //==============================================================================
00028 
00029 #include <ublox/serialization/ublox_msgs.h>
00030 
00031 template <typename T>
00032 std::vector<std::pair<uint8_t,uint8_t> > ublox::Message<T>::keys_;
00033 
00034 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::ATT, 
00035                       ublox_msgs, NavATT);
00036 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::CLOCK, 
00037                       ublox_msgs, NavCLOCK);
00038 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::DGPS, 
00039                       ublox_msgs, NavDGPS);
00040 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::DOP, 
00041                       ublox_msgs, NavDOP);
00042 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::POSECEF, 
00043                       ublox_msgs, NavPOSECEF);
00044 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::POSLLH, 
00045                       ublox_msgs, NavPOSLLH);
00046 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, 
00047                       ublox_msgs::Message::NAV::RELPOSNED, 
00048                       ublox_msgs, 
00049                       NavRELPOSNED);
00050 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::SBAS, 
00051                       ublox_msgs, NavSBAS);
00052 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::SOL, 
00053                       ublox_msgs, NavSOL);
00054 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::PVT, 
00055                       ublox_msgs, NavPVT);
00056 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::PVT, 
00057                       ublox_msgs, NavPVT7);
00058 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::SAT, 
00059                       ublox_msgs, NavSAT);
00060 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::STATUS, 
00061                       ublox_msgs, NavSTATUS);
00062 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::SVIN, 
00063                       ublox_msgs, NavSVIN);
00064 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::SVINFO, 
00065                       ublox_msgs, NavSVINFO);
00066 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::TIMEGPS, 
00067                       ublox_msgs, NavTIMEGPS);
00068 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::TIMEUTC, 
00069                       ublox_msgs, NavTIMEUTC);
00070 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::VELECEF, 
00071                       ublox_msgs, NavVELECEF);
00072 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::NAV, ublox_msgs::Message::NAV::VELNED, 
00073                       ublox_msgs, NavVELNED);
00074 
00075 // ACK messages are declared differently because they both have the same 
00076 // protocol, so only 1 ROS message is used
00077 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::ACK, ublox_msgs::Message::ACK::NACK, 
00078                       ublox_msgs, Ack);
00079 DECLARE_UBLOX_MESSAGE_ID(ublox_msgs::Class::ACK, ublox_msgs::Message::ACK::ACK, 
00080                       ublox_msgs, Ack, ACK);
00081 
00082 // INF messages are declared differently because they all have the same 
00083 // protocol, so only 1 ROS message is used. DECLARE_UBLOX_MESSAGE can only
00084 // be called once, and DECLARE_UBLOX_MESSAGE_ID is called for the following
00085 // messages
00086 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::INF, ublox_msgs::Message::INF::ERROR, 
00087                       ublox_msgs, Inf);
00088 DECLARE_UBLOX_MESSAGE_ID(ublox_msgs::Class::INF, 
00089                          ublox_msgs::Message::INF::WARNING, 
00090                          ublox_msgs, Inf, WARNING);
00091 DECLARE_UBLOX_MESSAGE_ID(ublox_msgs::Class::INF, 
00092                          ublox_msgs::Message::INF::NOTICE, 
00093                          ublox_msgs, Inf, NOTICE);
00094 DECLARE_UBLOX_MESSAGE_ID(ublox_msgs::Class::INF, 
00095                          ublox_msgs::Message::INF::TEST, 
00096                          ublox_msgs, Inf, TEST);
00097 DECLARE_UBLOX_MESSAGE_ID(ublox_msgs::Class::INF, 
00098                          ublox_msgs::Message::INF::DEBUG, 
00099                          ublox_msgs, Inf, DEBUG);
00100 
00101 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::RXM, ublox_msgs::Message::RXM::ALM, 
00102                       ublox_msgs, RxmALM);
00103 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::RXM, ublox_msgs::Message::RXM::EPH, 
00104                       ublox_msgs, RxmEPH);
00105 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::RXM, ublox_msgs::Message::RXM::RAW, 
00106                       ublox_msgs, RxmRAW);
00107 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::RXM, ublox_msgs::Message::RXM::RAWX, 
00108                       ublox_msgs, RxmRAWX);
00109 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::RXM, ublox_msgs::Message::RXM::RTCM, 
00110                       ublox_msgs, RxmRTCM);
00111 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::RXM, ublox_msgs::Message::RXM::SFRB, 
00112                       ublox_msgs, RxmSFRB);
00113 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::RXM, ublox_msgs::Message::RXM::SFRBX, 
00114                       ublox_msgs, RxmSFRBX);
00115 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::RXM, ublox_msgs::Message::RXM::SVSI, 
00116                       ublox_msgs, RxmSVSI);
00117 
00118 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::ANT, 
00119                       ublox_msgs, CfgANT);
00120 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::CFG, 
00121                       ublox_msgs, CfgCFG);
00122 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::DAT, 
00123                       ublox_msgs, CfgDAT);
00124 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::DGNSS, 
00125                       ublox_msgs, CfgDGNSS);
00126 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::GNSS, 
00127                       ublox_msgs, CfgGNSS);
00128 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::HNR,
00129                       ublox_msgs, CfgHNR);
00130 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::INF,
00131                       ublox_msgs, CfgINF);
00132 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::MSG, 
00133                       ublox_msgs, CfgMSG);
00134 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::NAV5, 
00135                       ublox_msgs, CfgNAV5);
00136 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::NAVX5, 
00137                       ublox_msgs, CfgNAVX5);
00138 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::NMEA, 
00139                       ublox_msgs, CfgNMEA);
00140 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::NMEA, 
00141                       ublox_msgs, CfgNMEA6);
00142 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::NMEA, 
00143                       ublox_msgs, CfgNMEA7);
00144 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::PRT, 
00145                       ublox_msgs, CfgPRT);
00146 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::RATE, 
00147                       ublox_msgs, CfgRATE);
00148 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::RST, 
00149                       ublox_msgs, CfgRST);
00150 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::TMODE3, 
00151                       ublox_msgs, CfgTMODE3);
00152 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::CFG, ublox_msgs::Message::CFG::USB, 
00153                       ublox_msgs, CfgUSB);
00154 
00155 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::UPD, ublox_msgs::Message::UPD::SOS, 
00156                       ublox_msgs, UpdSOS);
00157 // SOS and SOS_Ack have the same message ID, but different lengths
00158 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::UPD, ublox_msgs::Message::UPD::SOS, 
00159                       ublox_msgs, UpdSOS_Ack);
00160 
00161 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::MON, ublox_msgs::Message::MON::GNSS, 
00162                       ublox_msgs, MonGNSS);
00163 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::MON, ublox_msgs::Message::MON::HW, 
00164                       ublox_msgs, MonHW);
00165 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::MON, ublox_msgs::Message::MON::HW, 
00166                       ublox_msgs, MonHW6);
00167 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::MON, ublox_msgs::Message::MON::VER, 
00168                       ublox_msgs, MonVER);
00169 
00170 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::AID, ublox_msgs::Message::AID::ALM, 
00171                       ublox_msgs, AidALM);
00172 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::AID, ublox_msgs::Message::AID::EPH, 
00173                       ublox_msgs, AidEPH);
00174 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::AID, ublox_msgs::Message::AID::HUI, 
00175                       ublox_msgs, AidHUI);
00176 
00177 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::ESF, ublox_msgs::Message::ESF::INS,
00178                       ublox_msgs, EsfINS);
00179 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::ESF, ublox_msgs::Message::ESF::MEAS, 
00180                       ublox_msgs, EsfMEAS);
00181 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::ESF, ublox_msgs::Message::ESF::RAW, 
00182                       ublox_msgs, EsfRAW);
00183 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::ESF, ublox_msgs::Message::ESF::STATUS, 
00184                       ublox_msgs, EsfSTATUS);
00185 
00186 
00187 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::MGA, ublox_msgs::Message::MGA::GAL, 
00188                       ublox_msgs, MgaGAL);
00189 
00190 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::HNR, ublox_msgs::Message::HNR::PVT, 
00191                       ublox_msgs, HnrPVT);
00192 
00193 // TIM messages
00194 DECLARE_UBLOX_MESSAGE(ublox_msgs::Class::TIM, ublox_msgs::Message::TIM::TM2,
00195                       ublox_msgs, TimTM2);
00196