Classes
class	BestposParser

class	BestutmParser

class	BestvelParser

class	BestxyzParser

struct	BinaryHeader

struct	BinaryMessage

class	ClockSteeringParser

class	CorrImuDataParser

class	DualAntennaHeadingParser

class	GpggaParser

class	GpgsaParser

class	GpgsvParser

class	GphdtParser

class	GprmcParser

class	HeaderParser

class	Heading2Parser

class	InscovParser

class	InspvaParser

class	InspvaxParser

class	InsstdevParser

class	MessageParser

struct	NmeaSentence

class	NovatelGps

class	NovatelGpsNodelet

class	NovatelMessageExtractor

struct	NovatelSentence

class	ParseException

class	Psrdop2Parser

class	RangeParser

class	TimeParser

class	TrackstatParser

Typedefs
typedef std::map< std::string, double >	NovatelMessageOpts

Functions
double	ConvertDmsToDegrees (double dms)

void	GetExtendedSolutionStatusMessage (uint32_t status, novatel_gps_msgs::NovatelExtendedSolutionStatus &msg)

void	GetNovatelReceiverStatusMessage (uint32_t status, novatel_gps_msgs::NovatelReceiverStatus &receiver_status_msg)

void	GetSignalsUsed (uint32_t mask, novatel_gps_msgs::NovatelSignalMask &msg)

double	ParseDouble (const uint8_t *buffer)
	Converts a buffer containing 8 bytes into a double. More...

bool	ParseDouble (const std::string &string, double &value)
	Parses a string containing a floating-point number into a double. More...

float	ParseFloat (const uint8_t *buffer)
	Converts a buffer containing 4 bytes into a float. More...

bool	ParseFloat (const std::string &string, float &value)
	Parses a string containing a floating-point number into a float. More...

int16_t	ParseInt16 (const uint8_t *buffer)
	Converts a buffer containing 2 bytes into a signed 16-bit int. More...

bool	ParseInt16 (const std::string &string, int16_t &value, int32_t base=10)
	Parses a string containing an integer number into an int16_t. More...

int32_t	ParseInt32 (const uint8_t *buffer)
	Converts a buffer containing 4 bytes into a signed 32-bit int. More...

bool	ParseInt32 (const std::string &string, int32_t &value, int32_t base=10)
	Parses a string containing an integer number into an int32_t. More...

uint16_t	ParseUInt16 (const uint8_t *buffer)
	Converts a buffer containing 2 bytes into an unsigned 16-bit int. More...

bool	ParseUInt16 (const std::string &string, uint16_t &value, int32_t base=10)
	Parses a string containing an integer number into a uint16_t. More...

uint32_t	ParseUInt32 (const uint8_t *buffer)
	Converts a buffer containing 4 bytes into an unsigned 32-bit int. More...

bool	ParseUInt32 (const std::string &string, uint32_t &value, int32_t base=10)
	Parses a string containing an integer number into a uint32_t. More...

bool	ParseUInt8 (const std::string &string, uint8_t &value, int32_t base=10)
	Parses a string containing an integer number into a uint16_t. More...

double	UtcFloatToSeconds (double utc_float)

Variables
const std::string	DATUMS []

const size_t	MAX_DATUM = 86

const size_t	MAX_POSITION_TYPE = 80

const size_t	MAX_SOLUTION_STATUS = 22

const size_t	NOVATEL_MESSAGE_HEADER_LENGTH = 10

const std::string	PORT_IDENTIFIERS []

const std::string	POSITION_TYPES []

const std::string	SOLUTION_STATUSES []

Detailed Description

Utility functions, structures, and constants used when parsing messages.

Typedef Documentation

◆ NovatelMessageOpts

typedef std::map<std::string, double> novatel_gps_driver::NovatelMessageOpts

Define NovatelMessageOpts as a map from message name to log period (seconds) A negative period will be logged as "onchanged" rather than "ontime"

Definition at line 93 of file novatel_gps.h.

Function Documentation

◆ ConvertDmsToDegrees()

double novatel_gps_driver::ConvertDmsToDegrees ( double dms )

Definition at line 239 of file parsing_utils.cpp.

◆ GetExtendedSolutionStatusMessage()

void novatel_gps_driver::GetExtendedSolutionStatusMessage	(	uint32_t	status,
		novatel_gps_msgs::NovatelExtendedSolutionStatus &	msg
	)

Definition at line 68 of file parsing_utils.cpp.

◆ GetNovatelReceiverStatusMessage()

void novatel_gps_driver::GetNovatelReceiverStatusMessage	(	uint32_t	status,
		novatel_gps_msgs::NovatelReceiverStatus &	receiver_status_msg
	)

Definition at line 38 of file parsing_utils.cpp.

◆ GetSignalsUsed()

void novatel_gps_driver::GetSignalsUsed	(	uint32_t	mask,
		novatel_gps_msgs::NovatelSignalMask &	msg
	)

Definition at line 101 of file parsing_utils.cpp.

◆ ParseDouble() [1/2]

double novatel_gps_driver::ParseDouble ( const uint8_t * buffer )

Converts a buffer containing 8 bytes into a double.

This assumes that the bytes in the buffer are already arranged with the same endianness as the local platform.

Parameters

buffer A buffer containing 8 bytes of data.

Returns: The double represented by the data in the buffer.

Definition at line 111 of file parsing_utils.cpp.

◆ ParseDouble() [2/2]

bool novatel_gps_driver::ParseDouble	(	const std::string &	string,
		double &	value
	)

Parses a string containing a floating-point number into a double.

Parameters

string	The string to read, i.e. "5.0"
value	A double representing the value from the strong.

Returns: False if the format of the string was not recognized.

Definition at line 118 of file parsing_utils.cpp.

◆ ParseFloat() [1/2]

float novatel_gps_driver::ParseFloat ( const uint8_t * buffer )

Converts a buffer containing 4 bytes into a float.

This assumes that the bytes in the buffer are already arranged with the same endianness as the local platform.

Parameters

buffer A buffer containing 4 bytes of data.

Returns: The float represented by the data in the buffer.

Definition at line 123 of file parsing_utils.cpp.

◆ ParseFloat() [2/2]

bool novatel_gps_driver::ParseFloat	(	const std::string &	string,
		float &	value
	)

Parses a string containing a floating-point number into a float.

Parameters

string	The string to read, i.e. "5.0"
value	A float representing the value from the strong.

Returns: False if the format of the string was not recognized.

Definition at line 130 of file parsing_utils.cpp.

◆ ParseInt16() [1/2]

int16_t novatel_gps_driver::ParseInt16 ( const uint8_t * buffer )

Converts a buffer containing 2 bytes into a signed 16-bit int.

This assumes that the bytes in the buffer are already arranged with the same endianness as the local platform.

Parameters

buffer A buffer containing 2 bytes of data.

Returns: The int16_t represented by the data in the buffer.

Definition at line 135 of file parsing_utils.cpp.

◆ ParseInt16() [2/2]

bool novatel_gps_driver::ParseInt16	(	const std::string &	string,
		int16_t &	value,
		int32_t	base = `10`
	)

Parses a string containing an integer number into an int16_t.

Parameters

string	The string to read, i.e. "5"
value	An int16_t representing the value from the strong.
base	The numerical base of the integer in the string.

Returns: False if the format of the string was not recognized.

Definition at line 142 of file parsing_utils.cpp.

◆ ParseInt32() [1/2]

int32_t novatel_gps_driver::ParseInt32 ( const uint8_t * buffer )

Converts a buffer containing 4 bytes into a signed 32-bit int.

This assumes that the bytes in the buffer are already arranged with the same endianness as the local platform.

Parameters

buffer A buffer containing 4 bytes of data.

Returns: The int32_t represented by the data in the buffer.

Definition at line 162 of file parsing_utils.cpp.

◆ ParseInt32() [2/2]

bool novatel_gps_driver::ParseInt32	(	const std::string &	string,
		int32_t &	value,
		int32_t	base = `10`
	)

Parses a string containing an integer number into an int32_t.

Parameters

string	The string to read, i.e. "5"
value	An int32_t representing the value from the strong.
base	The numerical base of the integer in the string.

Returns: False if the format of the string was not recognized.

Definition at line 169 of file parsing_utils.cpp.

◆ ParseUInt16() [1/2]

uint16_t novatel_gps_driver::ParseUInt16 ( const uint8_t * buffer )

Converts a buffer containing 2 bytes into an unsigned 16-bit int.

This assumes that the bytes in the buffer are already arranged with the same endianness as the local platform.

Parameters

buffer A buffer containing 2 bytes of data.

Returns: The uint16_t represented by the data in the buffer.

Definition at line 204 of file parsing_utils.cpp.

◆ ParseUInt16() [2/2]

bool novatel_gps_driver::ParseUInt16	(	const std::string &	string,
		uint16_t &	value,
		int32_t	base = `10`
	)

Parses a string containing an integer number into a uint16_t.

Parameters

string	The string to read, i.e. "5"
value	A uint16_t representing the value from the strong.
base	The numerical base of the integer in the string.

Returns: False if the format of the string was not recognized.

Definition at line 211 of file parsing_utils.cpp.

◆ ParseUInt32() [1/2]

uint32_t novatel_gps_driver::ParseUInt32 ( const uint8_t * buffer )

Converts a buffer containing 4 bytes into an unsigned 32-bit int.

This assumes that the bytes in the buffer are already arranged with the same endianness as the local platform.

Parameters

buffer A buffer containing 4 bytes of data.

Returns: The uint32_t represented by the data in the buffer.

Definition at line 174 of file parsing_utils.cpp.

◆ ParseUInt32() [2/2]

bool novatel_gps_driver::ParseUInt32	(	const std::string &	string,
		uint32_t &	value,
		int32_t	base = `10`
	)

Parses a string containing an integer number into a uint32_t.

Parameters

string	The string to read, i.e. "5"
value	A uint32_t representing the value from the strong.
base	The numerical base of the integer in the string.

Returns: False if the format of the string was not recognized.

Definition at line 181 of file parsing_utils.cpp.

◆ ParseUInt8()

bool novatel_gps_driver::ParseUInt8	(	const std::string &	string,
		uint8_t &	value,
		int32_t	base = `10`
	)

Parses a string containing an integer number into a uint16_t.

Parameters

string	The string to read, i.e. "5"
value	A uint16_t representing the value from the strong.
base	The numerical base of the integer in the string.

Returns: False if the format of the string was not recognized.

Definition at line 186 of file parsing_utils.cpp.

◆ UtcFloatToSeconds()

double novatel_gps_driver::UtcFloatToSeconds ( double utc_float )

Definition at line 229 of file parsing_utils.cpp.

Variable Documentation

◆ DATUMS

const std::string novatel_gps_driver::DATUMS[]

Initial value:

= {
      "BLANK",
      "ADIND", "ARC50", "ARC60", "AGD66", "AGD84", "BUKIT", "ASTRO", "CHATM", "CARTH", "CAPE",
      "DJAKA", "EGYPT", "ED50", "ED79", "GUNSG", "GEO49", "GRB36", "GUAM", "HAWAII", "KAUAI",
      "MAUI", "OAHU", "HERAT", "HJORS", "HONGK", "HUTZU", "INDIA", "IRE65", "KERTA", "KANDA",
      "LIBER", "LUZON", "MINDA", "MERCH", "NAHR", "NAD83", "CANADA", "ALASKA", "NAD27", "CARIBB",
      "MEXICO", "CAMER", "MINNA", "OMAN", "PUERTO", "QORNO", "ROME", "CHUA", "SAM56", "SAM69",
      "CAMPO", "SACOR", "YACAR", "TANAN", "TIMBA", "TOKYO", "TRIST", "VITI", "WAK60", "WGS72",
      "WGS84", "ZANDE", "USER", "CSRS", "ADIM", "ARSM", "ENW", "HTN", "INDB", "INDI",
      "IRL", "LUZA", "LUZB", "NAHC", "NASP", "OGBM", "OHAA", "OHAB", "OHAC", "OHAD",
      "OHIA", "OHIB", "OHIC", "OHID", "TIL", "TOYM"}

Definition at line 76 of file parsing_utils.h.

◆ MAX_DATUM

const size_t novatel_gps_driver::MAX_DATUM = 86

Definition at line 75 of file parsing_utils.h.

◆ MAX_POSITION_TYPE

const size_t novatel_gps_driver::MAX_POSITION_TYPE = 80

Definition at line 56 of file parsing_utils.h.

◆ MAX_SOLUTION_STATUS

const size_t novatel_gps_driver::MAX_SOLUTION_STATUS = 22

Definition at line 49 of file parsing_utils.h.

◆ NOVATEL_MESSAGE_HEADER_LENGTH

const size_t novatel_gps_driver::NOVATEL_MESSAGE_HEADER_LENGTH = 10

Definition at line 47 of file parsing_utils.h.

◆ PORT_IDENTIFIERS

const std::string novatel_gps_driver::PORT_IDENTIFIERS[]

Initial value:

= {
      "NO_PORTS", "COM1_ALL", "COM2_ALL", "COM3_ALL", "UNUSED", "UNUSED", "THISPORT_ALL", "FILE_ALL", "ALL_PORTS",
      "XCOM1_ALL", "XCOM2_ALL", "UNUSED", "UNUSED", "USB1_ALL", "USB2_ALL", "USB3_ALL", "AUX_ALL", "XCOM3_ALL",
      "UNUSED", "COM4_ALL", "ETH1_ALL", "IMU_ALL", "UNUSED", "ICOM1_ALL", "ICOM2_ALL", "ICOM3_ALL", "NCOM1_ALL",
      "NCOM2_ALL", "NCOM3_ALL", "ICOM4_ALL", "WCOM1_ALL", "UNUSED", "COM1", "COM1_1", "COM1_2", "COM1_3", "COM1_4",
      "COM1_5", "COM1_6", "COM1_7", "COM1_8", "COM1_9", "COM1_10", "COM1_11", "COM1_12", "COM1_13", "COM1_14",
      "COM1_15", "COM1_16", "COM1_17", "COM1_18", "COM1_19", "COM1_20", "COM1_21", "COM1_22", "COM1_23", "COM1_24",
      "COM1_25", "COM1_26", "COM1_27", "COM1_28", "COM1_29", "COM1_30", "COM1_31", "COM2", "COM2_1", "COM2_2", "COM2_3",
      "COM2_4", "COM2_5", "COM2_6", "COM2_7", "COM2_8", "COM2_9", "COM2_10", "COM2_11", "COM2_12", "COM2_13", "COM2_14",
      "COM2_15", "COM2_16", "COM2_17", "COM2_18", "COM2_19", "COM2_20", "COM2_21", "COM2_22", "COM2_23", "COM2_24",
      "COM2_25", "COM2_26", "COM2_27", "COM2_28", "COM2_29", "COM2_30", "COM2_31", "COM3", "COM3_1", "COM3_2", "COM3_3",
      "COM3_4", "COM3_5", "COM3_6", "COM3_7", "COM3_8", "COM3_9", "COM3_10", "COM3_11", "COM3_12", "COM3_13", "COM3_14",
      "COM3_15", "COM3_16", "COM3_17", "COM3_18", "COM3_19", "COM3_20", "COM3_21", "COM3_22", "COM3_23", "COM3_24",
      "COM3_25", "COM3_26", "COM3_27", "COM3_28", "COM3_29", "COM3_30", "COM3_31", "UNUSED", "UNUSED", "UNUSED",
      "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED",
      "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED",
      "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "UNUSED", "SPECIAL", "SPECIAL_1", "SPECIAL_2",
      "SPECIAL_3", "SPECIAL_4", "SPECIAL_5", "SPECIAL_6", "SPECIAL_7", "SPECIAL_8", "SPECIAL_9", "SPECIAL_10",
      "SPECIAL_11", "SPECIAL_12", "SPECIAL_13", "SPECIAL_14", "SPECIAL_15", "SPECIAL_16", "SPECIAL_17", "SPECIAL_18",
      "SPECIAL_19", "SPECIAL_20", "SPECIAL_21", "SPECIAL_22", "SPECIAL_23", "SPECIAL_24", "SPECIAL_25", "SPECIAL_26",
      "SPECIAL_27", "SPECIAL_28", "SPECIAL_29", "SPECIAL_30", "SPECIAL_31", "THISPORT", "THISPORT_1", "THISPORT_2",
      "THISPORT_3", "THISPORT_4", "THISPORT_5", "THISPORT_6", "THISPORT_7", "THISPORT_8", "THISPORT_9", "THISPORT_10",
      "THISPORT_11", "THISPORT_12", "THISPORT_13", "THISPORT_14", "THISPORT_15", "THISPORT_16", "THISPORT_17",
      "THISPORT_18", "THISPORT_19", "THISPORT_20", "THISPORT_21", "THISPORT_22", "THISPORT_23", "THISPORT_24",
      "THISPORT_25", "THISPORT_26", "THISPORT_27", "THISPORT_28", "THISPORT_29", "THISPORT_30", "THISPORT_31", "FILE",
      "FILE_1", "FILE_2", "FILE_3", "FILE_4", "FILE_5", "FILE_6", "FILE_7", "FILE_8", "FILE_9", "FILE_10", "FILE_11",
      "FILE_12", "FILE_13", "FILE_14", "FILE_15", "FILE_16", "FILE_17", "FILE_18", "FILE_19", "FILE_20", "FILE_21",
      "FILE_22", "FILE_23", "FILE_24", "FILE_25", "FILE_26", "FILE_27", "FILE_28", "FILE_29", "FILE_30", "FILE_31"}

Definition at line 87 of file parsing_utils.h.

◆ POSITION_TYPES

const std::string novatel_gps_driver::POSITION_TYPES[]

Initial value:

= {
      "NONE", "FIXEDPOS", "FIXEDHEIGHT", "RESERVED", "FLOATCONV",
      "WIDELANE", "NARROWLANE", "RESERVED", "DOPPLER_VELOCITY", "RESERVED",
      "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
      "RESERVED", "SINGLE", "PSRDIFF", "WAAS", "PROPOGATED",
      "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
      "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
      "RESERVED", "RESERVED", "L1_FLOAT", "IONOFREE_FLOAT", "NARROW_FLOAT",
      "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
      "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
      "RESERVED", "RESERVED", "RESERVED", "L1_INT", "WIDE_INT",
      "NARROW_INT", "RTK_DIRECT_INS", "INS_SBAS", "INS_PSRSP", "INS_PSRDIFF",
      "INS_RTKFLOAT", "INS_RTKFIXED", "RESERVED", "RESERVED", "RESERVED",
      "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED", "RESERVED",
      "RESERVED", "RESERVED", "RESERVED", "PPP_CONVERGING", "PPP",
      "OPERATIONAL", "WARNING", "OUT_OF_BOUNDS", "INS_PPP_CONVERGING", "INS_PPP",
      "UNKNOWN", "UNKNOWN", "PPP_BASIC_CONVERGING", "PPP_BASIC", "INS_PPP_BASIC",
      "INS_PPP_BASIC_CONVERGING"}

Definition at line 57 of file parsing_utils.h.

◆ SOLUTION_STATUSES

const std::string novatel_gps_driver::SOLUTION_STATUSES[]

Initial value:

= {
      "SOL_COMPUTED", "INSUFFICIENT_OBS", "NO_CONVERGENCE", "SINGULARITY", "COV_TRACE",
      "TEST_DIST", "COLD_START", "V_H_LIMIT", "VARIANCE", "RESIDUALS",
      "RESERVED", "RESERVED", "RESERVED", "INTEGRITY_WARNING", "RESERVED",
      "RESERVED", "RESERVED", "RESERVED", "PENDING", "INVALID_FIX",
      "UNAUTHORIZED", "RESERVED", "INVALID_RATE"}

Definition at line 50 of file parsing_utils.h.

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ NovatelMessageOpts

Function Documentation

◆ ConvertDmsToDegrees()

◆ GetExtendedSolutionStatusMessage()

◆ GetNovatelReceiverStatusMessage()

◆ GetSignalsUsed()

◆ ParseDouble() [1/2]

◆ ParseDouble() [2/2]

◆ ParseFloat() [1/2]

◆ ParseFloat() [2/2]

◆ ParseInt16() [1/2]

◆ ParseInt16() [2/2]

◆ ParseInt32() [1/2]

◆ ParseInt32() [2/2]

◆ ParseUInt16() [1/2]

◆ ParseUInt16() [2/2]

◆ ParseUInt32() [1/2]

◆ ParseUInt32() [2/2]

◆ ParseUInt8()

◆ UtcFloatToSeconds()

Variable Documentation

◆ DATUMS

◆ MAX_DATUM

◆ MAX_POSITION_TYPE

◆ MAX_SOLUTION_STATUS

◆ NOVATEL_MESSAGE_HEADER_LENGTH

◆ PORT_IDENTIFIERS

◆ POSITION_TYPES

◆ SOLUTION_STATUSES