| 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 | #include "UbloxUtilities.hpp" | ||
| 10 | #include "UbloxTypes.hpp" | ||
| 11 | |||
| 12 | #include "util/Eigen.hpp" | ||
| 13 | #include "Navigation/Transformations/CoordinateFrames.hpp" | ||
| 14 | #include "util/Logger.hpp" | ||
| 15 | |||
| 16 | #include "util/Time/TimeBase.hpp" | ||
| 17 | |||
| 18 | 63701 | bool NAV::vendor::ublox::decryptUbloxObs(const std::shared_ptr<NAV::UbloxObs>& obs, uart::protocol::Packet& packet, [[maybe_unused]] const std::string& nameId) | |
| 19 | { | ||
| 20 |
2/2✓ Branch 1 taken 16847 times.
✓ Branch 2 taken 46854 times.
|
63701 | if (packet.type() == uart::protocol::Packet::Type::TYPE_BINARY) |
| 21 | { | ||
| 22 | 16847 | uint8_t msgClassByte = packet.extractUint8(); | |
| 23 | 16847 | obs->msgClass = static_cast<UbxClass>(msgClassByte); | |
| 24 | 16847 | obs->msgId = packet.extractUint8(); | |
| 25 | 16847 | obs->payloadLength = packet.extractUint16(); | |
| 26 | |||
| 27 | // Ack/Nak Messages: Acknowledge or Reject messages to UBX-CFG input messages | ||
| 28 |
2/2✓ Branch 1 taken 46 times.
✓ Branch 2 taken 16801 times.
|
16847 | if (obs->msgClass == UbxClass::UBX_CLASS_ACK) |
| 29 | { | ||
| 30 | 46 | auto msgId = static_cast<UbxAckMessages>(obs->msgId); | |
| 31 |
1/2✓ Branch 0 taken 46 times.
✗ Branch 1 not taken.
|
46 | if (msgId == UbxAckMessages::UBX_ACK_ACK) |
| 32 | { | ||
| 33 | 46 | obs->data = UbxAckAck(); | |
| 34 | 46 | std::get<UbxAckAck>(obs->data).clsID = packet.extractUint8(); | |
| 35 | 46 | std::get<UbxAckAck>(obs->data).msgID = packet.extractUint8(); | |
| 36 | |||
| 37 | LOG_DATA("{}: UBX: ACK-ACK, clsID {}, msgID {}", nameId, std::get<UbxAckAck>(obs->data).clsID, std::get<UbxAckAck>(obs->data).msgID); | ||
| 38 | } | ||
| 39 | ✗ | else if (msgId == UbxAckMessages::UBX_ACK_NAK) | |
| 40 | { | ||
| 41 | ✗ | obs->data = UbxAckNak(); | |
| 42 | ✗ | std::get<UbxAckNak>(obs->data).clsID = packet.extractUint8(); | |
| 43 | ✗ | std::get<UbxAckNak>(obs->data).msgID = packet.extractUint8(); | |
| 44 | |||
| 45 | LOG_DATA("{}: UBX: ACK-NAK, Size {}", nameId, packet.getRawDataLength()); | ||
| 46 | } | ||
| 47 | else | ||
| 48 | { | ||
| 49 | LOG_DATA("{}: UBX: ACK-{:x}, Size {}, not implemented yet!", nameId, obs->msgId, packet.getRawDataLength()); | ||
| 50 | ✗ | return false; | |
| 51 | } | ||
| 52 | } | ||
| 53 | // Configuration Input Messages: Configure the receiver | ||
| 54 |
2/2✓ Branch 1 taken 93 times.
✓ Branch 2 taken 16708 times.
|
16801 | else if (obs->msgClass == UbxClass::UBX_CLASS_CFG) |
| 55 | { | ||
| 56 | 93 | [[maybe_unused]] auto msgId = static_cast<UbxCfgMessages>(obs->msgId); | |
| 57 | LOG_DATA("{}: UBX: CFG-{:x}, Size {}, not implemented yet!", nameId, obs->msgId, packet.getRawDataLength()); | ||
| 58 | 93 | return false; | |
| 59 | } | ||
| 60 | // External Sensor Fusion Messages: External Sensor Measurements and Status Information | ||
| 61 |
1/2✗ Branch 1 not taken.
✓ Branch 2 taken 16708 times.
|
16708 | else if (obs->msgClass == UbxClass::UBX_CLASS_ESF) |
| 62 | { | ||
| 63 | ✗ | auto msgId = static_cast<UbxEsfMessages>(obs->msgId); | |
| 64 | ✗ | if (msgId == UbxEsfMessages::UBX_ESF_INS) | |
| 65 | { | ||
| 66 | LOG_DATA("{}: UBX: ESF-INS, Size {}, not implemented yet!", nameId, packet.getRawDataLength()); | ||
| 67 | ✗ | return false; | |
| 68 | } | ||
| 69 | ✗ | if (msgId == UbxEsfMessages::UBX_ESF_MEAS) | |
| 70 | { | ||
| 71 | LOG_DATA("{}: UBX: ESF-MEAS, Size {}, not implemented yet!", nameId, packet.getRawDataLength()); | ||
| 72 | ✗ | return false; | |
| 73 | } | ||
| 74 | ✗ | if (msgId == UbxEsfMessages::UBX_ESF_RAW) | |
| 75 | { | ||
| 76 | ✗ | obs->data = UbxEsfRaw(); | |
| 77 | ✗ | for (auto& reserved1 : std::get<UbxEsfRaw>(obs->data).reserved1) | |
| 78 | { | ||
| 79 | ✗ | reserved1 = packet.extractUint8(); | |
| 80 | } | ||
| 81 | ✗ | for (int i = 0; i < (obs->payloadLength - 4) / 8; i++) | |
| 82 | { | ||
| 83 | ✗ | NAV::vendor::ublox::UbxEsfRaw::UbxEsfRawData ubxEsfRawData; | |
| 84 | ✗ | ubxEsfRawData.data = packet.extractUint32(); | |
| 85 | ✗ | ubxEsfRawData.sTtag = packet.extractUint32(); | |
| 86 | ✗ | std::get<UbxEsfRaw>(obs->data).data.push_back(ubxEsfRawData); | |
| 87 | } | ||
| 88 | |||
| 89 | // TODO: - UBX_ESF_RAW: Calculate the insTime somehow from the sensor time tag (sTtag) | ||
| 90 | |||
| 91 | LOG_DATA("{}: UBX: ESF-RAW, {} measurements", nameId, (obs->payloadLength - 4) / 8); | ||
| 92 | } | ||
| 93 | ✗ | else if (msgId == UbxEsfMessages::UBX_ESF_STATUS) | |
| 94 | { | ||
| 95 | LOG_DATA("{}: UBX: ESF-STATUS, Size {}, not implemented yet!", nameId, packet.getRawDataLength()); | ||
| 96 | ✗ | return false; | |
| 97 | } | ||
| 98 | else | ||
| 99 | { | ||
| 100 | LOG_DATA("{}: UBX: ESF-{:x}, Size {}, not implemented yet!", nameId, obs->msgId, packet.getRawDataLength()); | ||
| 101 | ✗ | return false; | |
| 102 | } | ||
| 103 | } | ||
| 104 | // High Rate Navigation Results Messages: High rate time, position, speed, heading | ||
| 105 |
1/2✗ Branch 1 not taken.
✓ Branch 2 taken 16708 times.
|
16708 | else if (obs->msgClass == UbxClass::UBX_CLASS_HNR) |
| 106 | { | ||
| 107 | ✗ | [[maybe_unused]] auto msgId = static_cast<UbxHnrMessages>(obs->msgId); | |
| 108 | LOG_DATA("{}: UBX: HNR-{:x}, Size {}, not implemented yet!", nameId, obs->msgId, packet.getRawDataLength()); | ||
| 109 | ✗ | return false; | |
| 110 | } | ||
| 111 | // Information Messages: Printf-Style Messages, with IDs such as Error, Warning, Notice | ||
| 112 |
1/2✗ Branch 1 not taken.
✓ Branch 2 taken 16708 times.
|
16708 | else if (obs->msgClass == UbxClass::UBX_CLASS_INF) |
| 113 | { | ||
| 114 | ✗ | [[maybe_unused]] auto msgId = static_cast<UbxInfMessages>(obs->msgId); | |
| 115 | LOG_DATA("{}: UBX: INF-{:x}, Size {}, not implemented yet!", nameId, obs->msgId, packet.getRawDataLength()); | ||
| 116 | ✗ | return false; | |
| 117 | } | ||
| 118 | // Logging Messages: Log creation, deletion, info and retrieval | ||
| 119 |
1/2✗ Branch 1 not taken.
✓ Branch 2 taken 16708 times.
|
16708 | else if (obs->msgClass == UbxClass::UBX_CLASS_LOG) |
| 120 | { | ||
| 121 | ✗ | [[maybe_unused]] auto msgId = static_cast<UbxLogMessages>(obs->msgId); | |
| 122 | LOG_DATA("{}: UBX: LOG-{:x}, Size {}, not implemented yet!", nameId, obs->msgId, packet.getRawDataLength()); | ||
| 123 | ✗ | return false; | |
| 124 | } | ||
| 125 | // Multiple GNSS Assistance Messages: Assistance data for various GNSS | ||
| 126 |
1/2✗ Branch 1 not taken.
✓ Branch 2 taken 16708 times.
|
16708 | else if (obs->msgClass == UbxClass::UBX_CLASS_MGA) |
| 127 | { | ||
| 128 | ✗ | [[maybe_unused]] auto msgId = static_cast<UbxMgaMessages>(obs->msgId); | |
| 129 | LOG_DATA("{}: UBX: MGA-{:x}, Size {}, not implemented yet!", nameId, obs->msgId, packet.getRawDataLength()); | ||
| 130 | ✗ | return false; | |
| 131 | } | ||
| 132 | // Monitoring Messages: Communication Status, CPU Load, Stack Usage, Task Status | ||
| 133 |
2/2✓ Branch 1 taken 14 times.
✓ Branch 2 taken 16694 times.
|
16708 | else if (obs->msgClass == UbxClass::UBX_CLASS_MON) |
| 134 | { | ||
| 135 | 14 | [[maybe_unused]] auto msgId = static_cast<UbxMonMessages>(obs->msgId); | |
| 136 | LOG_DATA("{}: UBX: MON-{:x}, Size {}, not implemented yet!", nameId, obs->msgId, packet.getRawDataLength()); | ||
| 137 | 14 | return false; | |
| 138 | } | ||
| 139 | // Navigation Results Messages: Position, Speed, Time, Acceleration, Heading, DOP, SVs used | ||
| 140 |
1/2✗ Branch 1 not taken.
✓ Branch 2 taken 16694 times.
|
16694 | else if (obs->msgClass == UbxClass::UBX_CLASS_NAV) |
| 141 | { | ||
| 142 | ✗ | auto msgId = static_cast<UbxNavMessages>(obs->msgId); | |
| 143 | ✗ | if (msgId == UbxNavMessages::UBX_NAV_ATT) | |
| 144 | { | ||
| 145 | ✗ | obs->data = UbxNavAtt(); | |
| 146 | |||
| 147 | ✗ | std::get<UbxNavAtt>(obs->data).iTOW = packet.extractUint32(); | |
| 148 | ✗ | std::get<UbxNavAtt>(obs->data).version = packet.extractUint8(); | |
| 149 | ✗ | for (auto& reserved1 : std::get<UbxNavAtt>(obs->data).reserved1) | |
| 150 | { | ||
| 151 | ✗ | reserved1 = packet.extractUint8(); | |
| 152 | } | ||
| 153 | ✗ | std::get<UbxNavAtt>(obs->data).roll = packet.extractInt32(); | |
| 154 | ✗ | std::get<UbxNavAtt>(obs->data).pitch = packet.extractInt32(); | |
| 155 | ✗ | std::get<UbxNavAtt>(obs->data).heading = packet.extractInt32(); | |
| 156 | ✗ | std::get<UbxNavAtt>(obs->data).accRoll = packet.extractUint32(); | |
| 157 | ✗ | std::get<UbxNavAtt>(obs->data).accPitch = packet.extractUint32(); | |
| 158 | ✗ | std::get<UbxNavAtt>(obs->data).accHeading = packet.extractUint32(); | |
| 159 | |||
| 160 | // TODO: Calculate the insTime with the iTOW | ||
| 161 | // auto currentTime = util::time::GetCurrentInsTime(); | ||
| 162 | // if (!currentTime.empty()) | ||
| 163 | // { | ||
| 164 | // auto gpst = currentTime.toGPSweekTow(); | ||
| 165 | // currentTime = InsTime(gpst.gpsCycle, | ||
| 166 | // gpst.gpsWeek, | ||
| 167 | // static_cast<long double>(std::get<UbxNavAtt>(obs->data).iTOW) / 1000.0L); | ||
| 168 | // obs->insTime = currentTime; | ||
| 169 | // } | ||
| 170 | |||
| 171 | LOG_DATA("{}: UBX: NAV-ATT, iTOW {}, roll {}, pitch {}, heading {}", nameId, std::get<UbxNavAtt>(obs->data).iTOW, std::get<UbxNavAtt>(obs->data).roll, std::get<UbxNavAtt>(obs->data).pitch, std::get<UbxNavAtt>(obs->data).heading); | ||
| 172 | } | ||
| 173 | ✗ | else if (msgId == UbxNavMessages::UBX_NAV_POSECEF) | |
| 174 | { | ||
| 175 | ✗ | obs->data = UbxNavPosecef(); | |
| 176 | |||
| 177 | ✗ | std::get<UbxNavPosecef>(obs->data).iTOW = packet.extractUint32(); | |
| 178 | ✗ | std::get<UbxNavPosecef>(obs->data).ecefX = packet.extractInt32(); | |
| 179 | ✗ | std::get<UbxNavPosecef>(obs->data).ecefY = packet.extractInt32(); | |
| 180 | ✗ | std::get<UbxNavPosecef>(obs->data).ecefZ = packet.extractInt32(); | |
| 181 | ✗ | std::get<UbxNavPosecef>(obs->data).pAcc = packet.extractUint32(); | |
| 182 | |||
| 183 | // TODO: Calculate the insTime with the iTOW | ||
| 184 | // auto currentTime = util::time::GetCurrentInsTime(); | ||
| 185 | // if (!currentTime.empty()) | ||
| 186 | // { | ||
| 187 | // auto gpst = currentTime.toGPSweekTow(); | ||
| 188 | // currentTime = InsTime(gpst.gpsCycle, | ||
| 189 | // gpst.gpsWeek, | ||
| 190 | // static_cast<long double>(std::get<UbxNavPosecef>(obs->data).iTOW) / 1000.0L); | ||
| 191 | // obs->insTime = currentTime; | ||
| 192 | // } | ||
| 193 | |||
| 194 | LOG_DATA("{}: UBX: NAV-POSECEF, iTOW {}, x {}, y {}, z {}", nameId, std::get<UbxNavPosecef>(obs->data).iTOW, std::get<UbxNavPosecef>(obs->data).ecefX, std::get<UbxNavPosecef>(obs->data).ecefY, std::get<UbxNavPosecef>(obs->data).ecefZ); | ||
| 195 | } | ||
| 196 | ✗ | else if (msgId == UbxNavMessages::UBX_NAV_POSLLH) | |
| 197 | { | ||
| 198 | ✗ | obs->data = UbxNavPosllh(); | |
| 199 | |||
| 200 | ✗ | std::get<UbxNavPosllh>(obs->data).iTOW = packet.extractUint32(); | |
| 201 | ✗ | std::get<UbxNavPosllh>(obs->data).lon = packet.extractInt32(); | |
| 202 | ✗ | std::get<UbxNavPosllh>(obs->data).lat = packet.extractInt32(); | |
| 203 | ✗ | std::get<UbxNavPosllh>(obs->data).height = packet.extractInt32(); | |
| 204 | ✗ | std::get<UbxNavPosllh>(obs->data).hMSL = packet.extractInt32(); | |
| 205 | ✗ | std::get<UbxNavPosllh>(obs->data).hAcc = packet.extractUint32(); | |
| 206 | ✗ | std::get<UbxNavPosllh>(obs->data).vAcc = packet.extractUint32(); | |
| 207 | |||
| 208 | // TODO: Calculate the insTime with the iTOW | ||
| 209 | // auto currentTime = util::time::GetCurrentInsTime(); | ||
| 210 | // if (!currentTime.empty()) | ||
| 211 | // { | ||
| 212 | // auto gpst = currentTime.toGPSweekTow(); | ||
| 213 | // currentTime = InsTime(gpst.gpsCycle, | ||
| 214 | // gpst.gpsWeek, | ||
| 215 | // static_cast<long double>(std::get<UbxNavPosllh>(obs->data).iTOW) / 1000.0L); | ||
| 216 | // obs->insTime = currentTime; | ||
| 217 | // } | ||
| 218 | |||
| 219 | LOG_DATA("{}: UBX: NAV-POSLLH, iTOW {}, lon {}, lat {}, height {}", nameId, std::get<UbxNavPosllh>(obs->data).iTOW, std::get<UbxNavPosllh>(obs->data).lon, std::get<UbxNavPosllh>(obs->data).lat, std::get<UbxNavPosllh>(obs->data).height); | ||
| 220 | } | ||
| 221 | ✗ | else if (msgId == UbxNavMessages::UBX_NAV_VELNED) | |
| 222 | { | ||
| 223 | ✗ | obs->data = UbxNavVelned(); | |
| 224 | |||
| 225 | ✗ | std::get<UbxNavVelned>(obs->data).iTOW = packet.extractUint32(); | |
| 226 | ✗ | std::get<UbxNavVelned>(obs->data).velN = packet.extractInt32(); | |
| 227 | ✗ | std::get<UbxNavVelned>(obs->data).velE = packet.extractInt32(); | |
| 228 | ✗ | std::get<UbxNavVelned>(obs->data).velD = packet.extractInt32(); | |
| 229 | ✗ | std::get<UbxNavVelned>(obs->data).speed = packet.extractUint32(); | |
| 230 | ✗ | std::get<UbxNavVelned>(obs->data).gSpeed = packet.extractUint32(); | |
| 231 | ✗ | std::get<UbxNavVelned>(obs->data).heading = packet.extractInt32(); | |
| 232 | ✗ | std::get<UbxNavVelned>(obs->data).sAcc = packet.extractUint32(); | |
| 233 | ✗ | std::get<UbxNavVelned>(obs->data).cAcc = packet.extractUint32(); | |
| 234 | |||
| 235 | // TODO: Calculate the insTime with the iTOW | ||
| 236 | // auto currentTime = util::time::GetCurrentInsTime(); | ||
| 237 | // if (!currentTime.empty()) | ||
| 238 | // { | ||
| 239 | // auto gpst = currentTime.toGPSweekTow(); | ||
| 240 | // currentTime = InsTime(gpst.gpsCycle, | ||
| 241 | // gpst.gpsWeek, | ||
| 242 | // static_cast<long double>(std::get<UbxNavVelned>(obs->data).iTOW) / 1000.0L); | ||
| 243 | // obs->insTime = currentTime; | ||
| 244 | // } | ||
| 245 | |||
| 246 | LOG_DATA("{}: UBX: NAV-VELNED, iTOW {}, gSpeed {} [cm/s], heading {} [deg*1e-5], velD {} [cm/s]", nameId, std::get<UbxNavVelned>(obs->data).iTOW, std::get<UbxNavVelned>(obs->data).gSpeed, std::get<UbxNavVelned>(obs->data).heading, std::get<UbxNavVelned>(obs->data).velD); | ||
| 247 | } | ||
| 248 | else | ||
| 249 | { | ||
| 250 | LOG_DATA("{}: UBX: NAV-{:x}, Size {}, not implemented yet!", nameId, obs->msgId, packet.getRawDataLength()); | ||
| 251 | ✗ | return false; | |
| 252 | } | ||
| 253 | } | ||
| 254 | // Receiver Manager Messages: Satellite Status, RTC Status | ||
| 255 |
1/2✓ Branch 1 taken 16694 times.
✗ Branch 2 not taken.
|
16694 | else if (obs->msgClass == UbxClass::UBX_CLASS_RXM) |
| 256 | { | ||
| 257 | 16694 | auto msgId = static_cast<UbxRxmMessages>(obs->msgId); | |
| 258 |
2/2✓ Branch 0 taken 3289 times.
✓ Branch 1 taken 13405 times.
|
16694 | if (msgId == UbxRxmMessages::UBX_RXM_RAWX) |
| 259 | { | ||
| 260 | 3289 | obs->data = UbxRxmRawx(); | |
| 261 | |||
| 262 |
2/4✓ Branch 1 taken 3289 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 3289 times.
✗ Branch 6 not taken.
|
3289 | std::get<UbxRxmRawx>(obs->data).rcvTow = packet.extractDouble(); |
| 263 |
2/4✓ Branch 1 taken 3289 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 3289 times.
✗ Branch 6 not taken.
|
3289 | std::get<UbxRxmRawx>(obs->data).week = packet.extractUint16(); |
| 264 |
2/4✓ Branch 1 taken 3289 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 3289 times.
✗ Branch 6 not taken.
|
3289 | std::get<UbxRxmRawx>(obs->data).leapS = packet.extractInt8(); |
| 265 |
2/4✓ Branch 1 taken 3289 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 3289 times.
✗ Branch 6 not taken.
|
3289 | std::get<UbxRxmRawx>(obs->data).numMeas = packet.extractUint8(); |
| 266 |
2/4✓ Branch 1 taken 3289 times.
✗ Branch 2 not taken.
✓ Branch 6 taken 3289 times.
✗ Branch 7 not taken.
|
3289 | std::get<UbxRxmRawx>(obs->data).recStat = packet.extractUint8(); |
| 267 |
2/4✓ Branch 1 taken 3289 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 3289 times.
✗ Branch 6 not taken.
|
3289 | std::get<UbxRxmRawx>(obs->data).version = packet.extractUint8(); |
| 268 |
3/4✓ Branch 2 taken 3289 times.
✗ Branch 3 not taken.
✓ Branch 4 taken 6578 times.
✓ Branch 5 taken 3289 times.
|
9867 | for (auto& reserved1 : std::get<UbxRxmRawx>(obs->data).reserved1) |
| 269 | { | ||
| 270 |
1/2✓ Branch 1 taken 6578 times.
✗ Branch 2 not taken.
|
6578 | reserved1 = packet.extractUint8(); |
| 271 | } | ||
| 272 |
3/4✓ Branch 2 taken 60655 times.
✗ Branch 3 not taken.
✓ Branch 4 taken 57366 times.
✓ Branch 5 taken 3289 times.
|
60655 | for (size_t i = 0; i < std::get<UbxRxmRawx>(obs->data).numMeas; i++) |
| 273 | { | ||
| 274 | 57366 | NAV::vendor::ublox::UbxRxmRawx::UbxRxmRawxData ubxRxmRawxData; | |
| 275 |
1/2✓ Branch 1 taken 57366 times.
✗ Branch 2 not taken.
|
57366 | ubxRxmRawxData.prMes = packet.extractDouble(); |
| 276 |
1/2✓ Branch 1 taken 57366 times.
✗ Branch 2 not taken.
|
57366 | ubxRxmRawxData.cpMes = packet.extractDouble(); |
| 277 |
1/2✓ Branch 1 taken 57366 times.
✗ Branch 2 not taken.
|
57366 | ubxRxmRawxData.doMes = packet.extractFloat(); |
| 278 |
1/2✓ Branch 1 taken 57366 times.
✗ Branch 2 not taken.
|
57366 | ubxRxmRawxData.gnssId = packet.extractUint8(); |
| 279 |
1/2✓ Branch 1 taken 57366 times.
✗ Branch 2 not taken.
|
57366 | ubxRxmRawxData.svId = packet.extractUint8(); |
| 280 |
1/2✓ Branch 1 taken 57366 times.
✗ Branch 2 not taken.
|
57366 | ubxRxmRawxData.sigId = packet.extractUint8(); |
| 281 |
1/2✓ Branch 1 taken 57366 times.
✗ Branch 2 not taken.
|
57366 | ubxRxmRawxData.freqId = packet.extractUint8(); |
| 282 |
1/2✓ Branch 1 taken 57366 times.
✗ Branch 2 not taken.
|
57366 | ubxRxmRawxData.locktime = packet.extractUint16(); |
| 283 |
1/2✓ Branch 1 taken 57366 times.
✗ Branch 2 not taken.
|
57366 | ubxRxmRawxData.cno = packet.extractUint8(); |
| 284 |
1/2✓ Branch 1 taken 57366 times.
✗ Branch 2 not taken.
|
57366 | ubxRxmRawxData.prStdev = packet.extractUint8(); |
| 285 |
1/2✓ Branch 1 taken 57366 times.
✗ Branch 2 not taken.
|
57366 | ubxRxmRawxData.cpStdev = packet.extractUint8(); |
| 286 |
1/2✓ Branch 1 taken 57366 times.
✗ Branch 2 not taken.
|
57366 | ubxRxmRawxData.doStdev = packet.extractUint8(); |
| 287 |
1/2✓ Branch 1 taken 57366 times.
✗ Branch 2 not taken.
|
57366 | ubxRxmRawxData.trkStat = packet.extractUint8(); |
| 288 |
1/2✓ Branch 1 taken 57366 times.
✗ Branch 2 not taken.
|
57366 | ubxRxmRawxData.reserved2 = packet.extractUint8(); |
| 289 |
2/4✓ Branch 2 taken 57366 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 57366 times.
✗ Branch 6 not taken.
|
57366 | std::get<UbxRxmRawx>(obs->data).data.push_back(ubxRxmRawxData); |
| 290 | } | ||
| 291 | |||
| 292 | 3289 | obs->insTime = InsTime(0, | |
| 293 |
2/4✓ Branch 1 taken 3289 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 3289 times.
✗ Branch 5 not taken.
|
3289 | std::get<UbxRxmRawx>(obs->data).week, |
| 294 |
1/2✓ Branch 3 taken 3289 times.
✗ Branch 4 not taken.
|
3289 | static_cast<long double>(std::get<UbxRxmRawx>(obs->data).rcvTow)); |
| 295 | |||
| 296 | 3289 | std::string satInfo; | |
| 297 |
3/4✓ Branch 2 taken 3289 times.
✗ Branch 3 not taken.
✓ Branch 8 taken 57366 times.
✓ Branch 9 taken 3289 times.
|
60655 | for (const auto& sat : std::get<UbxRxmRawx>(obs->data).data) |
| 298 | { | ||
| 299 |
2/4✓ Branch 2 taken 57366 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 57366 times.
✗ Branch 6 not taken.
|
57366 | satInfo += "[" + std::to_string(sat.gnssId); |
| 300 |
2/4✓ Branch 2 taken 57366 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 57366 times.
✗ Branch 6 not taken.
|
57366 | satInfo += ", " + std::to_string(sat.svId); |
| 301 |
3/6✓ Branch 2 taken 57366 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 57366 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 57366 times.
✗ Branch 9 not taken.
|
57366 | satInfo += ", " + std::to_string(sat.sigId) + "], "; |
| 302 | } | ||
| 303 | |||
| 304 | LOG_DATA("{}: UBX: RXM-RAWX, Size {}, rcvWeek {}, rcvTow {}, numMeas {}, satInfo {}.{}", nameId, | ||
| 305 | packet.getRawDataLength(), std::get<UbxRxmRawx>(obs->data).week, std::get<UbxRxmRawx>(obs->data).rcvTow, | ||
| 306 | std::get<UbxRxmRawx>(obs->data).numMeas, satInfo, std::get<UbxRxmRawx>(obs->data).week == 0 ? " Skipped because no valid time." : ""); | ||
| 307 |
3/4✓ Branch 2 taken 3289 times.
✗ Branch 3 not taken.
✓ Branch 4 taken 88 times.
✓ Branch 5 taken 3201 times.
|
3289 | if (std::get<UbxRxmRawx>(obs->data).week == 0) |
| 308 | { | ||
| 309 | 88 | return false; | |
| 310 | } | ||
| 311 | 3289 | } | |
| 312 |
1/2✓ Branch 0 taken 13405 times.
✗ Branch 1 not taken.
|
13405 | else if (msgId == UbxRxmMessages::UBX_RXM_SFRBX) |
| 313 | { | ||
| 314 | 13405 | obs->data = UbxRxmSfrbx(); | |
| 315 | |||
| 316 | 13405 | std::get<UbxRxmSfrbx>(obs->data).gnssId = packet.extractUint8(); | |
| 317 | 13405 | std::get<UbxRxmSfrbx>(obs->data).svId = packet.extractUint8(); | |
| 318 | 13405 | std::get<UbxRxmSfrbx>(obs->data).sigId = packet.extractUint8(); | |
| 319 | 13405 | std::get<UbxRxmSfrbx>(obs->data).freqId = packet.extractUint8(); | |
| 320 | 13405 | std::get<UbxRxmSfrbx>(obs->data).numWords = packet.extractUint8(); | |
| 321 | 13405 | std::get<UbxRxmSfrbx>(obs->data).chn = packet.extractUint8(); | |
| 322 | 13405 | std::get<UbxRxmSfrbx>(obs->data).version = packet.extractUint8(); | |
| 323 | 13405 | std::get<UbxRxmSfrbx>(obs->data).reserved0 = packet.extractUint8(); | |
| 324 | |||
| 325 |
2/2✓ Branch 2 taken 116920 times.
✓ Branch 3 taken 13405 times.
|
130325 | for (size_t i = 0; i < std::get<UbxRxmSfrbx>(obs->data).numWords; i++) |
| 326 | { | ||
| 327 |
2/4✓ Branch 3 taken 116920 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 116920 times.
✗ Branch 7 not taken.
|
116920 | std::get<UbxRxmSfrbx>(obs->data).dwrd.emplace_back(packet.extractUint32()); |
| 328 | } | ||
| 329 | |||
| 330 | LOG_DATA("{}: UBX: RXM-SFRBX, gnssId {}, svId {}, freqId {}, numWords {}, chn {}, version {}", nameId, | ||
| 331 | std::get<UbxRxmSfrbx>(obs->data).gnssId, | ||
| 332 | std::get<UbxRxmSfrbx>(obs->data).svId, | ||
| 333 | std::get<UbxRxmSfrbx>(obs->data).freqId, | ||
| 334 | std::get<UbxRxmSfrbx>(obs->data).numWords, | ||
| 335 | std::get<UbxRxmSfrbx>(obs->data).chn, | ||
| 336 | std::get<UbxRxmSfrbx>(obs->data).version); | ||
| 337 | } | ||
| 338 | else | ||
| 339 | { | ||
| 340 | LOG_DATA("{}: UBX: RXM-{:x}, Size {}, not implemented yet!", nameId, obs->msgId, packet.getRawDataLength()); | ||
| 341 | ✗ | return false; | |
| 342 | } | ||
| 343 | } | ||
| 344 | // Security Feature Messages | ||
| 345 | ✗ | else if (obs->msgClass == UbxClass::UBX_CLASS_SEC) | |
| 346 | { | ||
| 347 | ✗ | [[maybe_unused]] auto msgId = static_cast<UbxSecMessages>(obs->msgId); | |
| 348 | LOG_DATA("{}: UBX: SEC-{:x}, Size {}, not implemented yet!", nameId, obs->msgId, packet.getRawDataLength()); | ||
| 349 | ✗ | return false; | |
| 350 | } | ||
| 351 | // Timing Messages: Time Pulse Output, Time Mark Results | ||
| 352 | ✗ | else if (obs->msgClass == UbxClass::UBX_CLASS_TIM) | |
| 353 | { | ||
| 354 | ✗ | [[maybe_unused]] auto msgId = static_cast<UbxTimMessages>(obs->msgId); | |
| 355 | LOG_DATA("{}: UBX: TIM-{:x}, Size {}, not implemented yet!", nameId, obs->msgId, packet.getRawDataLength()); | ||
| 356 | ✗ | return false; | |
| 357 | } | ||
| 358 | // Firmware Update Messages: Memory/Flash erase/write, Reboot, Flash identification, etc. | ||
| 359 | ✗ | else if (obs->msgClass == UbxClass::UBX_CLASS_UPD) | |
| 360 | { | ||
| 361 | ✗ | [[maybe_unused]] auto msgId = static_cast<UbxUpdMessages>(obs->msgId); | |
| 362 | LOG_DATA("{}: UBX: UPD-{:x}, Size {}, not implemented yet!", nameId, obs->msgId, packet.getRawDataLength()); | ||
| 363 | ✗ | return false; | |
| 364 | } | ||
| 365 | else | ||
| 366 | { | ||
| 367 | LOG_DATA("{}: UBX: {:x}-{:x}, Size {}, not implemented yet!", nameId, static_cast<int>(obs->msgClass), static_cast<int>(obs->msgId), packet.getRawDataLength()); | ||
| 368 | ✗ | return false; | |
| 369 | } | ||
| 370 | } | ||
| 371 | 46854 | else if (packet.type() == uart::protocol::Packet::Type::TYPE_ASCII) | |
| 372 | { | ||
| 373 | LOG_DATA("{}: NMEA: {}", nameId, packet.datastr().substr(0, packet.datastr().size() - 2)); | ||
| 374 | } | ||
| 375 | |||
| 376 | 63506 | return true; | |
| 377 | } | ||
| 378 | |||
| 379 | 16847 | std::pair<uint8_t, uint8_t> NAV::vendor::ublox::checksumUBX(const std::vector<uint8_t>& data) | |
| 380 | { | ||
| 381 | 16847 | uint8_t cka = 0; | |
| 382 | 16847 | uint8_t ckb = 0; | |
| 383 | |||
| 384 |
2/2✓ Branch 1 taken 2550572 times.
✓ Branch 2 taken 16847 times.
|
2567419 | for (size_t i = 2; i < data.size() - 2; i++) |
| 385 | { | ||
| 386 |
1/2✓ Branch 1 taken 2550572 times.
✗ Branch 2 not taken.
|
2550572 | cka += data.at(i); |
| 387 | 2550572 | ckb += cka; | |
| 388 | } | ||
| 389 | 33694 | return std::make_pair(cka, ckb); | |
| 390 | } | ||
| 391 | |||
| 392 | 46861 | uint8_t NAV::vendor::ublox::checksumNMEA(const std::vector<uint8_t>& data) | |
| 393 | { | ||
| 394 | 46861 | uint8_t calcChecksum = 0; | |
| 395 | // |-> <-| Checksum without first $ sign and till the * | ||
| 396 | // $--ZDA,hhmmss.ss,xx,xx,xxxx,xx,xx*hh<CR><LF> | ||
| 397 |
2/2✓ Branch 1 taken 2407924 times.
✓ Branch 2 taken 46861 times.
|
2454785 | for (size_t i = 1; i < data.size() - 5; i++) |
| 398 | { | ||
| 399 | 2407924 | calcChecksum ^= data.at(i); | |
| 400 | } | ||
| 401 | 46861 | return calcChecksum; | |
| 402 | } | ||
| 403 |