Collects UBX-RXM-SFRBX messages and provides the Orbit information. More...

Data Structures
struct	EphemerisBuilder
	Ephemeris builder to store unfinished ephemeris data till all subframes are collected. More...

Public Member Functions
void	guiConfig () override
	ImGui config window which is shown on double click.
UbloxGnssOrbitCollector &	operator= (const UbloxGnssOrbitCollector &)=delete
	Copy assignment operator.
UbloxGnssOrbitCollector &	operator= (UbloxGnssOrbitCollector &&)=delete
	Move assignment operator.
std::string	type () const override
	String representation of the Class Type.
	UbloxGnssOrbitCollector ()
	Default constructor.
	UbloxGnssOrbitCollector (const UbloxGnssOrbitCollector &)=delete
	Copy constructor.
	UbloxGnssOrbitCollector (UbloxGnssOrbitCollector &&)=delete
	Move constructor.
	~UbloxGnssOrbitCollector () override
	Destructor.
Public Member Functions inherited from NAV::Node
virtual void	afterCreateLink (OutputPin &startPin, InputPin &endPin)
	Called when a new link was established.
virtual void	afterDeleteLink (OutputPin &startPin, InputPin &endPin)
	Called when a link was deleted.
virtual void	deinitialize ()
	Deinitialize the Node.
bool	doDeinitialize (bool wait=false)
	Asks the node worker to deinitialize the node.
bool	doDisable (bool wait=false)
	Asks the node worker to disable the node.
bool	doEnable ()
	Enable the node.
bool	doInitialize (bool wait=false)
	Asks the node worker to initialize the node.
bool	doReinitialize (bool wait=false)
	Asks the node worker to reinitialize the node.
virtual void	flush ()
	Function called by the flow executer after finishing to flush out remaining data.
template<typename T>
std::optional< InputPin::IncomingLink::ValueWrapper< T > >	getInputValue (size_t portIndex) const
	Get Input Value connected on the pin. Only const data types.
Mode	getMode () const
	Get the current mode of the node.
const ImVec2 &	getSize () const
	Get the size of the node.
State	getState () const
	Get the current state of the node.
bool	hasInputPinWithSameTime (const InsTime &insTime) const
	Checks wether there is an input pin with the same time.
InputPin &	inputPinFromId (ax::NodeEditor::PinId pinId)
	Returns the pin with the given id.
size_t	inputPinIndexFromId (ax::NodeEditor::PinId pinId) const
	Returns the index of the pin.
void	invokeCallbacks (size_t portIndex, const std::shared_ptr< const NodeData > &data)
	Calls all registered callbacks on the specified output port.
bool	isDisabled () const
	Checks if the node is disabled.
bool	isInitialized () const
	Checks if the node is initialized.
bool	isOnlyRealtime () const
	Checks if the node is only working in real time (sensors, network interfaces, ...)
bool	isTransient () const
	Checks if the node is changing its state currently.
std::string	nameId () const
	Node name and id.
	Node (const Node &)=delete
	Copy constructor.
	Node (Node &&)=delete
	Move constructor.
	Node (std::string name)
	Constructor.
void	notifyOutputValueChanged (size_t pinIdx, const InsTime &insTime, const std::scoped_lock< std::mutex > &&guard)
	Notifies connected nodes about the change.
virtual bool	onCreateLink (OutputPin &startPin, InputPin &endPin)
	Called when a new link is to be established.
Node &	operator= (const Node &)=delete
	Copy assignment operator.
Node &	operator= (Node &&)=delete
	Move assignment operator.
OutputPin &	outputPinFromId (ax::NodeEditor::PinId pinId)
	Returns the pin with the given id.
size_t	outputPinIndexFromId (ax::NodeEditor::PinId pinId) const
	Returns the index of the pin.
void	releaseInputValue (size_t portIndex)
	Unblocks the connected node. Has to be called when the input value should be released and getInputValue was not called.
std::scoped_lock< std::mutex >	requestOutputValueLock (size_t pinIdx)
	Blocks the thread till the output values was read by all connected nodes.
virtual bool	resetNode ()
	Resets the node. It is guaranteed that the node is initialized when this is called.
virtual void	restore (const json &j)
	Restores the node from a json object.
virtual void	restoreAtferLink (const json &j)
	Restores link related properties of the node from a json object.
virtual json	save () const
	Saves the node into a json object.
void	wakeWorker ()
	Wakes the worker thread.
virtual	~Node ()
	Destructor.

Static Public Member Functions
static std::string	category ()
	String representation of the Class Category.
static std::string	typeStatic ()
	String representation of the Class Type.
Static Public Member Functions inherited from NAV::Node
static std::string	toString (State state)
	Converts the state into a printable text.

Private Member Functions
void	decryptBeiDou (const SatId &satId, const ubx::UbxRxmSfrbx &sfrbx, const InsTime &insTime)
	Decrypt the BeiDou SFRBX message.
void	decryptGalileo (const SatId &satId, const ubx::UbxRxmSfrbx &sfrbx, const InsTime &insTime)
	Decrypt the Galileo SFRBX message.
void	decryptGLONASS (const SatId &satId, const ubx::UbxRxmSfrbx &sfrbx, const InsTime &insTime)
	Decrypt the GLONASS SFRBX message.
void	decryptGPS (const SatId &satId, const ubx::UbxRxmSfrbx &sfrbx, const InsTime &insTime)
	Decrypt the GPS SFRBX message.
void	decryptIRNSS (const SatId &satId, const ubx::UbxRxmSfrbx &sfrbx, const InsTime &insTime)
	Decrypt the IRNSS SFRBX message.
void	decryptQZSS (const SatId &satId, const ubx::UbxRxmSfrbx &sfrbx, const InsTime &insTime)
	Decrypt the QZSS SFRBX message.
void	decryptSBAS (const SatId &satId, const ubx::UbxRxmSfrbx &sfrbx, const InsTime &insTime)
	Decrypt the SBAS SFRBX message.
EphemerisBuilder &	getEphemerisBuilder (const SatId &satId, const InsTime &insTime, size_t IOD=0)
	Searches the ephemeris builder for the given satellite and time. If nothing found returns a new instance.
std::optional< std::reference_wrapper< EphemerisBuilder > >	getEphemerisBuilder (const SatId &satId, size_t IOD)
	Searches the ephemeris builder for the given Issue of Data Ephemeris.
std::optional< std::reference_wrapper< EphemerisBuilder > >	getLastEphemerisBuilder (const SatId &satId)
	Searches the most recent ephemeris builder for the given satellite.
bool	initialize () override
	Initialize the node.
void	onDeleteLink (OutputPin &startPin, InputPin &endPin) override
	Called when a link is to be deleted.
void	receiveObs (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Data receive function.

Private Attributes
std::vector< EphemerisBuilder >	_ephemerisBuilder
	Map of ephemeris build helper for each satellite.
GnssNavInfo	_gnssNavInfo
	Data object to share over the output pin.
std::unordered_map< SatId, size_t >	_lastAccessedBuilder
	List of IOD for each satellite.
std::optional< std::unique_lock< std::mutex > >	_postProcessingLock
	Mutex to lock if the connected ublox obs provider is a file reader.
std::set< SatelliteSystem >	_warningsNotImplemented
	List of satellite systems to emit warnings because conversion is not implemented yet.

Static Private Attributes
static constexpr size_t	INPUT_PORT_INDEX_UBLOX_OBS
	Flow (UbloxObs)
static constexpr size_t	OUTPUT_PORT_INDEX_GNSS_NAV_INFO
	Object.

Additional Inherited Members
Public Types inherited from NAV::Node
enum class	Mode : uint8_t { REAL_TIME , POST_PROCESSING }
	Different Modes the Node can work in. More...
enum class	State : uint8_t { Disabled , Deinitialized , DoInitialize , Initializing , Initialized , DoDeinitialize , Deinitializing , DoShutdown , Shutdown }
	Possible states of the node. More...
Data Fields inherited from NAV::Node
bool	callbacksEnabled
	Enables the callbacks.
ax::NodeEditor::NodeId	id
	Unique Id of the Node.
std::vector< InputPin >	inputPins
	List of input pins.
Kind	kind
	Kind of the Node.
std::string	name
	Name of the Node.
std::vector< OutputPin >	outputPins
	List of output pins.
std::multimap< InsTime, std::pair< OutputPin *, size_t > >	pollEvents
	Map with callback events (sorted by time)
Protected Attributes inherited from NAV::Node
ImVec2	_guiConfigDefaultWindowSize
bool	_hasConfig
	Flag if the config window should be shown.
bool	_lockConfigDuringRun
	Lock the config when executing post-processing.
bool	_onlyRealTime
	Whether the node can run in post-processing or only real-time.

Detailed Description

Collects UBX-RXM-SFRBX messages and provides the Orbit information.

Definition at line 33 of file UbloxGnssOrbitCollector.hpp.

Constructor & Destructor Documentation

◆ UbloxGnssOrbitCollector() [1/3]

NAV::UbloxGnssOrbitCollector::UbloxGnssOrbitCollector ( )

Default constructor.

Definition at line 32 of file UbloxGnssOrbitCollector.cpp.

◆ ~UbloxGnssOrbitCollector()

NAV::UbloxGnssOrbitCollector::~UbloxGnssOrbitCollector ( )

override

Destructor.

Definition at line 43 of file UbloxGnssOrbitCollector.cpp.

◆ UbloxGnssOrbitCollector() [2/3]

NAV::UbloxGnssOrbitCollector::UbloxGnssOrbitCollector ( const UbloxGnssOrbitCollector & )

delete

Copy constructor.

◆ UbloxGnssOrbitCollector() [3/3]

NAV::UbloxGnssOrbitCollector::UbloxGnssOrbitCollector ( UbloxGnssOrbitCollector && )

delete

Move constructor.

Member Function Documentation

◆ category()

std::string NAV::UbloxGnssOrbitCollector::category ( )

staticnodiscard

String representation of the Class Category.

Definition at line 58 of file UbloxGnssOrbitCollector.cpp.

◆ decryptBeiDou()

void NAV::UbloxGnssOrbitCollector::decryptBeiDou	(	const SatId &	satId,
		const ubx::UbxRxmSfrbx &	sfrbx,
		const InsTime &	insTime )

private

Decrypt the BeiDou SFRBX message.

Parameters

[in]	satId	Satellite Identifier
[in]	sfrbx	RAWX-SFRBX message
[in]	insTime	Time of the message

Definition at line 1313 of file UbloxGnssOrbitCollector.cpp.

◆ decryptGalileo()

void NAV::UbloxGnssOrbitCollector::decryptGalileo	(	const SatId &	satId,
		const ubx::UbxRxmSfrbx &	sfrbx,
		const InsTime &	insTime )

private

Decrypt the Galileo SFRBX message.

Parameters

[in]	satId	Satellite Identifier
[in]	sfrbx	RAWX-SFRBX message
[in]	insTime	Time of the message

Definition at line 802 of file UbloxGnssOrbitCollector.cpp.

◆ decryptGLONASS()

void NAV::UbloxGnssOrbitCollector::decryptGLONASS	(	const SatId &	satId,
		const ubx::UbxRxmSfrbx &	sfrbx,
		const InsTime &	insTime )

private

Decrypt the GLONASS SFRBX message.

Parameters

[in]	satId	Satellite Identifier
[in]	sfrbx	RAWX-SFRBX message
[in]	insTime	Time of the message

Definition at line 1275 of file UbloxGnssOrbitCollector.cpp.

◆ decryptGPS()

void NAV::UbloxGnssOrbitCollector::decryptGPS	(	const SatId &	satId,
		const ubx::UbxRxmSfrbx &	sfrbx,
		const InsTime &	insTime )

private

Decrypt the GPS SFRBX message.

Parameters

[in]	satId	Satellite Identifier
[in]	sfrbx	RAWX-SFRBX message
[in]	insTime	Time of the message

Definition at line 333 of file UbloxGnssOrbitCollector.cpp.

◆ decryptIRNSS()

void NAV::UbloxGnssOrbitCollector::decryptIRNSS	(	const SatId &	satId,
		const ubx::UbxRxmSfrbx &	sfrbx,
		const InsTime &	insTime )

private

Decrypt the IRNSS SFRBX message.

Parameters

[in]	satId	Satellite Identifier
[in]	sfrbx	RAWX-SFRBX message
[in]	insTime	Time of the message

Definition at line 1359 of file UbloxGnssOrbitCollector.cpp.

◆ decryptQZSS()

void NAV::UbloxGnssOrbitCollector::decryptQZSS	(	const SatId &	satId,
		const ubx::UbxRxmSfrbx &	sfrbx,
		const InsTime &	insTime )

private

Decrypt the QZSS SFRBX message.

Parameters

[in]	satId	Satellite Identifier
[in]	sfrbx	RAWX-SFRBX message
[in]	insTime	Time of the message

Definition at line 1343 of file UbloxGnssOrbitCollector.cpp.

◆ decryptSBAS()

void NAV::UbloxGnssOrbitCollector::decryptSBAS	(	const SatId &	satId,
		const ubx::UbxRxmSfrbx &	sfrbx,
		const InsTime &	insTime )

private

Decrypt the SBAS SFRBX message.

Parameters

[in]	satId	Satellite Identifier
[in]	sfrbx	RAWX-SFRBX message
[in]	insTime	Time of the message

Definition at line 1368 of file UbloxGnssOrbitCollector.cpp.

◆ getEphemerisBuilder() [1/2]

NAV::UbloxGnssOrbitCollector::EphemerisBuilder & NAV::UbloxGnssOrbitCollector::getEphemerisBuilder	(	const SatId &	satId,
		const InsTime &	insTime,
		size_t	IOD = 0 )

private

Searches the ephemeris builder for the given satellite and time. If nothing found returns a new instance.

Parameters

[in]	satId	Satellite identifier
[in]	insTime	Time to search for (either time of ephemeris or time of clock)
[in]	IOD	Issue of Data (Ephemeris, Nav, ...)

Returns: Reference to the ephemeris builder

Definition at line 182 of file UbloxGnssOrbitCollector.cpp.

◆ getEphemerisBuilder() [2/2]

std::optional< std::reference_wrapper< NAV::UbloxGnssOrbitCollector::EphemerisBuilder > > NAV::UbloxGnssOrbitCollector::getEphemerisBuilder	(	const SatId &	satId,
		size_t	IOD )

private

Searches the ephemeris builder for the given Issue of Data Ephemeris.

Parameters

[in]	satId	Satellite Identifier
[in]	IOD	Issue of Data (Ephemeris, Nav, ...)

Returns: Reference to the ephemeris builder if it was found

Definition at line 235 of file UbloxGnssOrbitCollector.cpp.

◆ getLastEphemerisBuilder()

std::optional< std::reference_wrapper< NAV::UbloxGnssOrbitCollector::EphemerisBuilder > > NAV::UbloxGnssOrbitCollector::getLastEphemerisBuilder ( const SatId & satId )

private

Searches the most recent ephemeris builder for the given satellite.

Parameters

[in] satId Satellite identifier

Returns: Reference to the ephemeris builder if it was found

Definition at line 266 of file UbloxGnssOrbitCollector.cpp.

◆ guiConfig()

void NAV::UbloxGnssOrbitCollector::guiConfig ( )

overridevirtual

ImGui config window which is shown on double click.

Attention: Don't forget to set _hasConfig to true in the constructor of the node

Reimplemented from NAV::Node.

Definition at line 63 of file UbloxGnssOrbitCollector.cpp.

◆ initialize()

bool NAV::UbloxGnssOrbitCollector::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

Definition at line 145 of file UbloxGnssOrbitCollector.cpp.

◆ onDeleteLink()

void NAV::UbloxGnssOrbitCollector::onDeleteLink	(	OutputPin &	startPin,
		InputPin &	endPin )

overrideprivatevirtual

Called when a link is to be deleted.

Parameters

[in]	startPin	Pin where the link starts
[in]	endPin	Pin where the link ends

Reimplemented from NAV::Node.

Definition at line 172 of file UbloxGnssOrbitCollector.cpp.

◆ operator=() [1/2]

UbloxGnssOrbitCollector & NAV::UbloxGnssOrbitCollector::operator= ( const UbloxGnssOrbitCollector & )

delete

Copy assignment operator.

◆ operator=() [2/2]

UbloxGnssOrbitCollector & NAV::UbloxGnssOrbitCollector::operator= ( UbloxGnssOrbitCollector && )

delete

Move assignment operator.

◆ receiveObs()

void NAV::UbloxGnssOrbitCollector::receiveObs	(	InputPin::NodeDataQueue &	queue,
		size_t	pinIdx )

private

Data receive function.

Parameters

[in]	queue	Queue with all the received data messages
[in]	pinIdx	Index of the pin the data is received on

Definition at line 277 of file UbloxGnssOrbitCollector.cpp.

◆ type()

std::string NAV::UbloxGnssOrbitCollector::type ( ) const

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Definition at line 53 of file UbloxGnssOrbitCollector.cpp.

◆ typeStatic()

std::string NAV::UbloxGnssOrbitCollector::typeStatic ( )

staticnodiscard

String representation of the Class Type.

Definition at line 48 of file UbloxGnssOrbitCollector.cpp.

Field Documentation

◆ _ephemerisBuilder

std::vector<EphemerisBuilder> NAV::UbloxGnssOrbitCollector::_ephemerisBuilder

private

Map of ephemeris build helper for each satellite.

Definition at line 98 of file UbloxGnssOrbitCollector.hpp.

◆ _gnssNavInfo

GnssNavInfo NAV::UbloxGnssOrbitCollector::_gnssNavInfo

private

Data object to share over the output pin.

Definition at line 75 of file UbloxGnssOrbitCollector.hpp.

◆ _lastAccessedBuilder

std::unordered_map<SatId, size_t> NAV::UbloxGnssOrbitCollector::_lastAccessedBuilder

private

List of IOD for each satellite.

Definition at line 101 of file UbloxGnssOrbitCollector.hpp.

◆ _postProcessingLock

std::optional<std::unique_lock<std::mutex> > NAV::UbloxGnssOrbitCollector::_postProcessingLock

private

Mutex to lock if the connected ublox obs provider is a file reader.

Definition at line 78 of file UbloxGnssOrbitCollector.hpp.

◆ _warningsNotImplemented

std::set<SatelliteSystem> NAV::UbloxGnssOrbitCollector::_warningsNotImplemented

private

List of satellite systems to emit warnings because conversion is not implemented yet.

Definition at line 104 of file UbloxGnssOrbitCollector.hpp.

◆ INPUT_PORT_INDEX_UBLOX_OBS

size_t NAV::UbloxGnssOrbitCollector::INPUT_PORT_INDEX_UBLOX_OBS

staticconstexprprivate

Flow (UbloxObs)

Definition at line 63 of file UbloxGnssOrbitCollector.hpp.

◆ OUTPUT_PORT_INDEX_GNSS_NAV_INFO

size_t NAV::UbloxGnssOrbitCollector::OUTPUT_PORT_INDEX_GNSS_NAV_INFO

staticconstexprprivate

Object.

Definition at line 64 of file UbloxGnssOrbitCollector.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/Converter/GNSS/UbloxGnssOrbitCollector.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Nodes/Converter/GNSS/UbloxGnssOrbitCollector.cpp

Data Structures

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ UbloxGnssOrbitCollector() [1/3]

◆ ~UbloxGnssOrbitCollector()

◆ UbloxGnssOrbitCollector() [2/3]

◆ UbloxGnssOrbitCollector() [3/3]

Member Function Documentation

◆ category()

◆ decryptBeiDou()

◆ decryptGalileo()

◆ decryptGLONASS()

◆ decryptGPS()

◆ decryptIRNSS()

◆ decryptQZSS()

◆ decryptSBAS()

◆ getEphemerisBuilder() [1/2]

◆ getEphemerisBuilder() [2/2]

◆ getLastEphemerisBuilder()

◆ guiConfig()

◆ initialize()

◆ onDeleteLink()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ receiveObs()

◆ type()

◆ typeStatic()

Field Documentation

◆ _ephemerisBuilder

◆ _gnssNavInfo

◆ _lastAccessedBuilder

◆ _postProcessingLock

◆ _warningsNotImplemented

◆ INPUT_PORT_INDEX_UBLOX_OBS

◆ OUTPUT_PORT_INDEX_GNSS_NAV_INFO