| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | /// @file UbloxObs.hpp | ||
| 10 | /// @brief ublox Observation Class | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2020-03-19 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include "NodeData/NodeData.hpp" | ||
| 17 | |||
| 18 | #include <variant> | ||
| 19 | |||
| 20 | #include "util/Vendor/Ublox/UbloxTypes.hpp" | ||
| 21 | |||
| 22 | namespace NAV | ||
| 23 | { | ||
| 24 | /// ublox Observation Class | ||
| 25 | class UbloxObs : public NodeData | ||
| 26 | { | ||
| 27 | public: | ||
| 28 | /// @brief Returns the type of the data class | ||
| 29 | /// @return The data type | ||
| 30 | 582070 | [[nodiscard]] static std::string type() | |
| 31 | { | ||
| 32 |
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1164140 | return "UbloxObs"; |
| 33 | } | ||
| 34 | |||
| 35 | /// @brief Returns the type of the data class | ||
| 36 | /// @return The data type | ||
| 37 | ✗ | [[nodiscard]] std::string getType() const override { return type(); } | |
| 38 | |||
| 39 | /// @brief Returns the parent types of the data class | ||
| 40 | /// @return The parent data types | ||
| 41 | 112 | [[nodiscard]] static std::vector<std::string> parentTypes() | |
| 42 | { | ||
| 43 |
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336 | return { NodeData::type() }; |
| 44 | 112 | } | |
| 45 | |||
| 46 | /// Ubx Message Class (NONE if NMEA message) | ||
| 47 | vendor::ublox::UbxClass msgClass = vendor::ublox::UbxClass::UBX_CLASS_NONE; | ||
| 48 | /// Ubx Message ID | ||
| 49 | uint8_t msgId = 0; | ||
| 50 | /// Payload length in bytes | ||
| 51 | uint16_t payloadLength = 0; | ||
| 52 | |||
| 53 | /// Decoded data | ||
| 54 | std::variant< | ||
| 55 | // ACK: Ack/Nak Messages: Acknowledge or Reject messages to UBX-CFG input messages | ||
| 56 | vendor::ublox::UbxAckAck, vendor::ublox::UbxAckNak, | ||
| 57 | // CFG: Configuration Input Messages: Configure the receiver | ||
| 58 | // ESF: External Sensor Fusion Messages: External Sensor Measurements and Status Information | ||
| 59 | vendor::ublox::UbxEsfIns, | ||
| 60 | vendor::ublox::UbxEsfMeas, | ||
| 61 | vendor::ublox::UbxEsfRaw, | ||
| 62 | vendor::ublox::UbxEsfStatus, | ||
| 63 | // HNR: High Rate Navigation Results Messages: High rate time, position, speed, heading | ||
| 64 | // INF: Information Messages: Printf-Style Messages, with IDs such as Error, Warning, Notice | ||
| 65 | // LOG: Logging Messages: Log creation, deletion, info and retrieval | ||
| 66 | // MGA: Multiple GNSS Assistance Messages: Assistance data for various GNSS | ||
| 67 | // MON:Monitoring Messages: Communication Status, CPU Load, Stack Usage, Task Status | ||
| 68 | // NAV: Navigation Results Messages: Position, Speed, Time, Acceleration, Heading, DOP, SVs used | ||
| 69 | vendor::ublox::UbxNavAtt, | ||
| 70 | vendor::ublox::UbxNavPosecef, | ||
| 71 | vendor::ublox::UbxNavPosllh, | ||
| 72 | vendor::ublox::UbxNavVelned, | ||
| 73 | // RXM: Receiver Manager Messages: Satellite Status, RTC Status | ||
| 74 | vendor::ublox::UbxRxmRawx, | ||
| 75 | vendor::ublox::UbxRxmSfrbx | ||
| 76 | // SEC: Security Feature Messages | ||
| 77 | // TIM: Timing Messages: Time Pulse Output, Time Mark Results | ||
| 78 | // UPD: Firmware Update Messages: Memory/Flash erase/write, Reboot, Flash identification, etc. | ||
| 79 | > | ||
| 80 | data; | ||
| 81 | }; | ||
| 82 | |||
| 83 | } // namespace NAV | ||
| 84 |