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. More...

void	close ()
	Closes the I/O port, and initiates save on shutdown procedure if enabled. More...

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. More...

bool	configRate (uint16_t meas_rate, uint16_t nav_rate)
	Configure the device navigation and measurement rate settings. More...

bool	configReset (uint16_t nav_bbr_mask, uint16_t reset_mode)
	Send a reset message to the u-blox device. More...

bool	configRtcm (std::vector< uint8_t > ids, std::vector< uint8_t > rates)
	Configure the RTCM messages with the given IDs to the set rate. More...

bool	configSbas (bool enable, uint8_t usage, uint8_t max_sbas)
	Configure the SBAS settings. More...

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. More...

bool	configTmode3SurveyIn (unsigned int svin_min_dur, float svin_acc_limit)
	Set the TMODE3 settings to survey-in. More...

bool	configUart1 (unsigned int baudrate, uint16_t in_proto_mask, uint16_t out_proto_mask)
	Configure the UART1 Port. More...

template<typename ConfigT >
bool	configure (const ConfigT &message, bool wait=true)
	Send the given configuration message. More...

bool	configUsb (uint16_t tx_ready, uint16_t in_proto_mask, uint16_t out_proto_mask)
	Configure the USB Port. More...

bool	disableTmode3 ()
	Set the TMODE3 settings to disabled. Should only be called for High Precision GNSS devices, otherwise the device will return a NACK. More...

bool	disableUart1 (ublox_msgs::CfgPRT &prev_cfg)
	Disable the UART Port. Sets in/out protocol masks to 0. Does not modify other values. More...

	Gps ()

void	initializeSerial (std::string port, unsigned int baudrate, uint16_t uart_in, uint16_t uart_out)
	Initialize the Serial I/O port. More...

void	initializeTcp (std::string host, std::string port)
	Initialize TCP I/O. More...

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. More...

void	resetSerial (std::string port)
	Reset the Serial I/O port after u-blox reset. More...

void	setConfigOnStartup (const bool config_on_startup)
	Set the internal flag for enabling or disabling the initial configurations. More...

bool	setDeadReckonLimit (uint8_t limit)
	Set the dead reckoning time limit. More...

bool	setDgnss (uint8_t mode)
	Set the DGNSS mode (see CfgDGNSS message for details). More...

bool	setDynamicModel (uint8_t model)
	Set the device dynamic model. More...

bool	setFixMode (uint8_t mode)
	Set the device fix mode. More...

bool	setPpp (bool enable, float protocol_version)
	Enable or disable PPP (precise-point-positioning). More...

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. More...

void	setRawDataCallback (const Worker::Callback &callback)
	Set the callback function which handles raw data. More...

void	setSaveOnShutdown (bool save_on_shutdown)
	If called, when the node shuts down, it will send a command to save the flash memory. More...

bool	setTimtm2 (uint8_t rate)
	Enable or disable TIM-TM2 (time mark message). More...

bool	setUseAdr (bool enable, float protocol_version)
	Enable or disable ADR (automotive dead reckoning). More...

bool	setUTCtime ()
	Configure the U-Blox to UTC time. More...

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. More...

template<typename T >
void	subscribe (typename CallbackHandler_< T >::Callback callback)
	Subscribe to the given Ublox message. More...

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. More...

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. More...

virtual	~Gps ()

Static Public Attributes
static constexpr double	kDefaultAckTimeout = 1.0
	Default timeout for ACK messages in seconds. More...

static constexpr int	kWriterSize = 2056
	Size of write buffer for output messages. More...

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. More...

void	processNack (const ublox_msgs::Ack &m)
	Callback handler for UBX-NACK message. More...

void	processUpdSosAck (const ublox_msgs::UpdSOS_Ack &m)
	Callback handler for UBX-UPD-SOS-ACK message. More...

bool	saveOnShutdown ()
	Execute save on shutdown procedure. More...

void	setWorker (const boost::shared_ptr< Worker > &worker)
	Set the I/O worker. More...

void	subscribeAcks ()
	Subscribe to ACK/NACK messages and UPD-SOS-ACK messages. More...

Private Attributes
boost::atomic< Ack >	ack_
	Stores last received ACK accessed by multiple threads. More...

CallbackHandlers	callbacks_
	Callback handlers for u-blox messages. More...

bool	config_on_startup_flag_

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

std::string	host_

std::string	port_

bool	save_on_shutdown_
	Whether or not to save Flash BBR on shutdown. More...

boost::shared_ptr< Worker >	worker_
	Processes I/O stream data. More...

Static Private Attributes
static const boost::posix_time::time_duration	default_timeout_
	The default timeout for ACK messages. More...

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 408 of file gps.h.

Constructor & Destructor Documentation

ublox_gps::Gps::Gps ( )

Definition at line 44 of file gps.cpp.

ublox_gps::Gps::~Gps ( )

virtual

Definition at line 48 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 314 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 249 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 285 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 381 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 271 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 392 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 403 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 413 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 449 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 322 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 516 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 365 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 460 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 339 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 108 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 213 of file gps.cpp.

bool ublox_gps::Gps::isConfigured ( ) const

inline

Definition at line 355 of file gps.h.

bool ublox_gps::Gps::isInitialized ( ) const

inline

Definition at line 354 of file gps.h.

bool ublox_gps::Gps::isOpen ( ) const

inline

Definition at line 356 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 502 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 535 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 70 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 82 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 93 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 510 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 260 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 172 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 301 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 90 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 496 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 516 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 478 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 487 of file gps.cpp.

bool ublox_gps::Gps::setPpp	(	bool	enable,
		float	protocol_version
	)

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 505 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 468 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 569 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 82 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 582 of file gps.cpp.

bool ublox_gps::Gps::setUseAdr	(	bool	enable,
		float	protocol_version
	)

Enable or disable ADR (automotive dead reckoning).

Parameters

enable If true, enable ADR.

Returns: true on ACK, false on other conditions.

Definition at line 523 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 574 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 50 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 484 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 491 of file gps.h.

void ublox_gps::Gps::subscribeAcks ( )

private

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

Definition at line 58 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 496 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 548 of file gps.cpp.

Member Data Documentation

boost::atomic<Ack> ublox_gps::Gps::ack_

mutableprivate

Stores last received ACK accessed by multiple threads.

Definition at line 475 of file gps.h.

CallbackHandlers ublox_gps::Gps::callbacks_

private

Callback handlers for u-blox messages.

Definition at line 478 of file gps.h.

bool ublox_gps::Gps::config_on_startup_flag_

private

Definition at line 469 of file gps.h.

bool ublox_gps::Gps::configured_

private

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

Definition at line 465 of file gps.h.

const boost::posix_time::time_duration ublox_gps::Gps::default_timeout_

staticprivate

Initial value:

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

The default timeout for ACK messages.

Definition at line 473 of file gps.h.

std::string ublox_gps::Gps::host_

private

Definition at line 480 of file gps.h.

constexpr double ublox_gps::Gps::kDefaultAckTimeout = 1.0

static

Default timeout for ACK messages in seconds.

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 73 of file gps.h.

std::string ublox_gps::Gps::port_

private

Definition at line 480 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 467 of file gps.h.

boost::shared_ptr<Worker> ublox_gps::Gps::worker_

private

Processes I/O stream data.

Definition at line 463 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