Protocol.hpp File Reference

#include <vector>
#include <cstdint>
#include <algorithm>
#include <stdexcept>
#include <cstring>
#include <map>
#include <type_traits>
#include <base/Timeout.hpp>
#include <iodrivers_base/Exceptions.hpp>
#include <imu_advanced_navigation_anpp/Constants.hpp>
#include <imu_advanced_navigation_anpp/DeviceInformation.hpp>
#include <imu_advanced_navigation_anpp/Exceptions.hpp>

Go to the source code of this file.

Classes
struct	imu_advanced_navigation_anpp::protocol::Header
struct	imu_advanced_navigation_anpp::protocol::Acknowledge
struct	imu_advanced_navigation_anpp::protocol::Request
struct	imu_advanced_navigation_anpp::protocol::BootMode
struct	imu_advanced_navigation_anpp::protocol::DeviceInformation
struct	imu_advanced_navigation_anpp::protocol::RestoreFactorySettings
struct	imu_advanced_navigation_anpp::protocol::HotStartReset
struct	imu_advanced_navigation_anpp::protocol::ColdStartReset
struct	imu_advanced_navigation_anpp::protocol::SystemState
struct	imu_advanced_navigation_anpp::protocol::UnixTime
struct	imu_advanced_navigation_anpp::protocol::Status
struct	imu_advanced_navigation_anpp::protocol::GeodeticPositionStandardDeviation
struct	imu_advanced_navigation_anpp::protocol::NEDVelocityStandardDeviation
struct	imu_advanced_navigation_anpp::protocol::EulerOrientationStandardDeviation
struct	imu_advanced_navigation_anpp::protocol::RawSensors
struct	imu_advanced_navigation_anpp::protocol::RawGNSS
struct	imu_advanced_navigation_anpp::protocol::Satellites
struct	imu_advanced_navigation_anpp::protocol::SatelliteInfo
struct	imu_advanced_navigation_anpp::protocol::DetailedSatellites
struct	imu_advanced_navigation_anpp::protocol::GeodeticPosition
struct	imu_advanced_navigation_anpp::protocol::NEDVelocity
struct	imu_advanced_navigation_anpp::protocol::BodyVelocity
struct	imu_advanced_navigation_anpp::protocol::Acceleration
struct	imu_advanced_navigation_anpp::protocol::BodyAcceleration
struct	imu_advanced_navigation_anpp::protocol::QuaternionOrientation
struct	imu_advanced_navigation_anpp::protocol::AngularVelocity
struct	imu_advanced_navigation_anpp::protocol::AngularAcceleration
struct	imu_advanced_navigation_anpp::protocol::LocalMagneticField
struct	imu_advanced_navigation_anpp::protocol::NorthSeekingInitializationStatus
struct	imu_advanced_navigation_anpp::protocol::PacketTimerPeriod
struct	imu_advanced_navigation_anpp::protocol::PacketPeriods
struct	imu_advanced_navigation_anpp::protocol::BaudRates
struct	imu_advanced_navigation_anpp::protocol::Alignment
struct	imu_advanced_navigation_anpp::protocol::FilterOptions
struct	imu_advanced_navigation_anpp::protocol::MagneticCalibrationValues
struct	imu_advanced_navigation_anpp::protocol::MagneticCalibrationConfiguration
struct	imu_advanced_navigation_anpp::protocol::MagneticCalibrationStatus

Namespaces
	imu_advanced_navigation_anpp
	imu_advanced_navigation_anpp::protocol

Typedefs
typedef std::map< uint8_t, uint32_t >	Periods

Enumerations
enum	imu_advanced_navigation_anpp::protocol::BOOT_MODES { imu_advanced_navigation_anpp::protocol::BOOT_TO_BOOTLOADER, imu_advanced_navigation_anpp::protocol::BOOT_TO_PROGRAM }
enum	imu_advanced_navigation_anpp::protocol::RAW_GNSS_STATUS {   imu_advanced_navigation_anpp::protocol::RAW_GNSS_FIX_STATUS_MASK = 0x07, imu_advanced_navigation_anpp::protocol::RAW_GNSS_NO_FIX = 0x00, imu_advanced_navigation_anpp::protocol::RAW_GNSS_2D = 0x01, imu_advanced_navigation_anpp::protocol::RAW_GNSS_3D = 0x02,   imu_advanced_navigation_anpp::protocol::RAW_GNSS_SBAS = 0x03, imu_advanced_navigation_anpp::protocol::RAW_GNSS_DGPS = 0x04, imu_advanced_navigation_anpp::protocol::RAW_GNSS_OMNISTAR = 0x05, imu_advanced_navigation_anpp::protocol::RAW_GNSS_RTK_FLOAT = 0x06,   imu_advanced_navigation_anpp::protocol::RAW_GNSS_RTK_FIXED = 0x07, imu_advanced_navigation_anpp::protocol::RAW_GNSS_HAS_DOPPLER_VELOCITY = 0x08, imu_advanced_navigation_anpp::protocol::RAW_GNSS_HAS_TIME = 0x10, imu_advanced_navigation_anpp::protocol::RAW_GNSS_EXTERNAL = 0x20,   imu_advanced_navigation_anpp::protocol::RAW_GNSS_HAS_TILT = 0x40, imu_advanced_navigation_anpp::protocol::RAW_GNSS_HAS_HEADING = 0x80, imu_advanced_navigation_anpp::protocol::RAW_GNSS_HAS_FLOATING_AMBIGUITY_HEADING = 0x100 }
enum	imu_advanced_navigation_anpp::protocol::SATELLITE_SYSTEM {   imu_advanced_navigation_anpp::protocol::SATELLITE_SYSTEM_UNKNOWN, imu_advanced_navigation_anpp::protocol::SATELLITE_SYSTEM_GPS, imu_advanced_navigation_anpp::protocol::SATELLITE_SYSTEM_GLONASS, imu_advanced_navigation_anpp::protocol::SATELLITE_SYSTEM_BEIDOU,   imu_advanced_navigation_anpp::protocol::SATELLITE_SYSTEM_GALILEO, imu_advanced_navigation_anpp::protocol::SATELLITE_SYSTEM_SBAS, imu_advanced_navigation_anpp::protocol::SATELLITE_SYSTEM_QZSS, imu_advanced_navigation_anpp::protocol::SATELLITE_SYSTEM_STARFIRE,   imu_advanced_navigation_anpp::protocol::SATELLITE_SYSTEM_OMNISTAR }
enum	imu_advanced_navigation_anpp::protocol::SATELLITE_FREQUENCIES {   imu_advanced_navigation_anpp::protocol::SATELLITE_FREQUENCY_L1CA = 0x01, imu_advanced_navigation_anpp::protocol::SATELLITE_FREQUENCY_L1C = 0x02, imu_advanced_navigation_anpp::protocol::SATELLITE_FREQUENCY_L1P = 0x04, imu_advanced_navigation_anpp::protocol::SATELLITE_FREQUENCY_L1M = 0x08,   imu_advanced_navigation_anpp::protocol::SATELLITE_FREQUENCY_L2C = 0x10, imu_advanced_navigation_anpp::protocol::SATELLITE_FREQUENCY_L2P = 0x20, imu_advanced_navigation_anpp::protocol::SATELLITE_FREQUENCY_L2M = 0x40, imu_advanced_navigation_anpp::protocol::SATELLITE_FREQUENCY_L5 = 0x80 }
enum	imu_advanced_navigation_anpp::protocol::MAGNETIC_CALIBRATION_ACTIONS { imu_advanced_navigation_anpp::protocol::MAGNETIC_CALIBRATION_CANCEL, imu_advanced_navigation_anpp::protocol::MAGNETIC_CALIBRATION_START_2D, imu_advanced_navigation_anpp::protocol::MAGNETIC_CALIBRATION_START_3D, imu_advanced_navigation_anpp::protocol::MAGNETIC_CALIBRATION_RESET }

Functions
template<typename T , typename InputIterator >
T	imu_advanced_navigation_anpp::protocol::read16 (InputIterator it)
template<typename T , typename InputIterator >
T	imu_advanced_navigation_anpp::protocol::read32 (InputIterator it)
template<typename T , typename InputIterator >
T	imu_advanced_navigation_anpp::protocol::read64 (InputIterator it)
template<typename T , typename Out >
void	imu_advanced_navigation_anpp::protocol::write16 (Out out, T sample)
template<typename T , typename Out >
void	imu_advanced_navigation_anpp::protocol::write32 (Out out, T sample)
template<typename T , typename Out >
void	imu_advanced_navigation_anpp::protocol::write64 (Out out, T sample)
struct imu_advanced_navigation_anpp::protocol::Header	imu_advanced_navigation_anpp::protocol::__attribute__ ((packed))
	Header ()
	Header (uint8_t packet_id, uint8_t const *begin, uint8_t const *end)
size_t	getPacketLength () const
bool	isValid () const
bool	isPacketValid (uint8_t const *begin, uint8_t const *end) const
uint8_t	computeHeaderChecksum () const
uint16_t	imu_advanced_navigation_anpp::protocol::crc (uint8_t const *begin, uint8_t const *end)
bool	isMatching (Header const &header) const
bool	isSuccess () const
bool	isPacketValidationFailure () const
bool	isProtocolError () const
bool	isSystemError () const
bool	isNotReady () const
template<typename OutputIterator , typename InputIterator >
OutputIterator	marshal (OutputIterator out, InputIterator begin, InputIterator end) const
template<typename OutputIterator >
OutputIterator	marshal (OutputIterator out, uint8_t packet_id) const
template<typename OutputIterator >
OutputIterator	marshal (OutputIterator out) const
template<typename OutputIterator >
OutputIterator	marshal (OutputIterator out, uint8_t packet_id, uint32_t period) const
template<typename Packet , typename Driver >
Header	imu_advanced_navigation_anpp::protocol::writePacket (Driver &driver, Packet const &packet)
template<typename Packet , typename Driver >
Packet	imu_advanced_navigation_anpp::protocol::waitForPacket (Driver &driver, base::Time const &_timeout)
template<typename Driver >
ACK_RESULTS	imu_advanced_navigation_anpp::protocol::waitForAck (Driver &driver, Header const &header, base::Time const &_timeout)
template<typename Driver >
void	imu_advanced_navigation_anpp::protocol::validateAck (Driver &driver, Header const &header, base::Time const &_timeout)
template<typename Packet , typename Driver >
Packet	imu_advanced_navigation_anpp::protocol::query (Driver &driver)
template<typename Driver >
Header	imu_advanced_navigation_anpp::protocol::writePacketPeriod (Driver &driver, uint8_t packet_id, int period, bool clear_existing)

Variables
uint8_t	header_checksum
uint8_t	packet_id
uint8_t	payload_length
uint8_t	payload_checksum_lsb
uint8_t	payload_checksum_msb
uint8_t	acked_packet_id
uint8_t	acked_payload_checksum_lsb
uint8_t	acked_payload_checksum_msb
uint8_t	result
enum imu_advanced_navigation_anpp::protocol::BOOT_MODES	imu_advanced_navigation_anpp::protocol::__attribute__
uint8_t	boot_mode
uint8_t	verification_sequence [4] = { 0x1C, 0x9E, 0x42, 0x85 }
uint16_t	system_status
uint16_t	filter_status
uint32_t	unix_time_seconds
uint32_t	unix_time_microseconds
double	lat_lon_z [3]
float	velocity_ned [3]
float	body_acceleration_xyz [3]
float	g
float	rpy [3]
float	angular_velocity [3]
float	lat_lon_z_stddev [3]
uint32_t	seconds
uint32_t	microseconds
float	ned [3]
float	accelerometers_xyz [3]
float	gyroscopes_xyz [3]
float	magnetometers_xyz [3]
float	imu_temperature_C
float	pressure
float	pressure_temperature_C
float	pitch
float	yaw
float	pitch_stddev
float	yaw_stddev
uint16_t	status
float	hdop
float	vdop
uint8_t	gps_satellite_count
uint8_t	glonass_satellite_count
uint8_t	beidou_satellite_count
uint8_t	galileo_satellite_count
uint8_t	sbas_satellite_count
uint8_t	system
uint8_t	prn
uint8_t	frequencies
uint8_t	elevation
uint16_t	azimuth
uint8_t	snr
float	xyz [3]
float	im
uint16_t	flags
uint16_t	reserved = 0
uint8_t	progress [4]
float	current_rotation_angle
float	gyroscope_bias_solution_xyz [3]
float	gyroscope_bias_solution_error
uint8_t	permanent
uint8_t	utc_synchronization
uint16_t	period
uint8_t	clear_existing
uint32_t	primary_port
uint32_t	gpio
uint32_t	auxiliary_rs232
float	dcm [9]
float	gnss_antenna_offset_xyz [3]
float	odometer_offset_xyz [3]
float	external_data_offset_xyz [3]
uint8_t	vehicle_type
uint8_t	enabled_internal_gnss
uint8_t	reserved_0 = 0
uint8_t	enabled_atmospheric_altitude
uint8_t	enabled_velocity_heading
uint8_t	enabled_reversing_detection
uint8_t	enabled_motion_analysis
uint8_t	reserved_1 [9] = { 0, 0, 0, 0, 0, 0, 0, 0, 0 }
float	hard_iron_bias_xyz [3]
float	soft_iron_transformation [9]
uint8_t	action
uint8_t	error

Typedef Documentation

Periods

typedef std::map<uint8_t, uint32_t> Periods

Function Documentation

computeHeaderChecksum()

uint8_t __attribute__::computeHeaderChecksum

(

)

const

Compute the checksum of the header

getPacketLength()

size_t __attribute__::getPacketLength

(

)

const

The length of the whole packet (header + payload)

Header() [1/2]

__attribute__::Header

(

)

Construct an uninitialized header

The header and payload checksums won't validate

Header() [2/2]

__attribute__::Header	(	uint8_t	packet_id,
		uint8_t const *	begin,
		uint8_t const *	end
	)

Initialize a header by filling all the fields based on data in the packet

isMatching()

bool __attribute__::isMatching

(

Header const &

header

)

const

Tests whether this acknowledgment matches the given packet header

isNotReady()

bool __attribute__::isNotReady

(

)

const

True if this ack indicates that the system is not ready

isPacketValid()

bool __attribute__::isPacketValid	(	uint8_t const *	begin,
		uint8_t const *	end
	)		const

Check if the data in the header validates the packet data

isPacketValidationFailure()

bool __attribute__::isPacketValidationFailure

(

)

const

True if this acknowledge is a failure-to-validate-packet error

isProtocolError()

bool __attribute__::isProtocolError

(

)

const

True if this acknowledge indicates a protocol error on the driver side

Packet validation failures are not reported as they might be a communication error as well. Check against sent packets with isMatching to make the difference

isSuccess()

bool __attribute__::isSuccess

(

)

const

True if this indicates a success

isSystemError()

bool __attribute__::isSystemError

(

)

const

True if this acknowledge indicates a system error on the IMU side

isValid()

bool __attribute__::isValid

(

)

const

Check if the data in the header validates the header checksum

marshal() [1/4]

template<typename OutputIterator , typename InputIterator >

OutputIterator marshal	(	OutputIterator	out,
		InputIterator	begin,
		InputIterator	end
	)		const

marshal() [2/4]

template<typename OutputIterator >

OutputIterator marshal

(

OutputIterator

out

)

const

marshal() [3/4]

template<typename OutputIterator >

OutputIterator __attribute__::marshal	(	OutputIterator	out,
		uint8_t	packet_id
	)		const

marshal() [4/4]

template<typename OutputIterator >

OutputIterator __attribute__::marshal	(	OutputIterator	out,
		uint8_t	packet_id,
		uint32_t	period
	)		const

Variable Documentation

accelerometers_xyz

float accelerometers_xyz[3]

acked_packet_id

uint8_t acked_packet_id

acked_payload_checksum_lsb

uint8_t acked_payload_checksum_lsb

acked_payload_checksum_msb

uint8_t acked_payload_checksum_msb

action

uint8_t action

Action as one of MAGNETIC_CALIBRATION_ACTIONS

angular_velocity

float angular_velocity[3]

auxiliary_rs232

uint32_t auxiliary_rs232

azimuth

uint16_t azimuth

Azimuth in degrees

beidou_satellite_count

uint8_t beidou_satellite_count

body_acceleration_xyz

float body_acceleration_xyz[3]

boot_mode

uint8_t boot_mode

clear_existing

uint8_t clear_existing

current_rotation_angle

float current_rotation_angle

dcm

float dcm[9]

elevation

uint8_t elevation

Elevation in degrees

enabled_atmospheric_altitude

uint8_t enabled_atmospheric_altitude

enabled_internal_gnss

uint8_t enabled_internal_gnss

enabled_motion_analysis

uint8_t enabled_motion_analysis

enabled_reversing_detection

uint8_t enabled_reversing_detection

enabled_velocity_heading

uint8_t enabled_velocity_heading

error

uint8_t error

external_data_offset_xyz

float external_data_offset_xyz[3]

filter_status

uint16_t filter_status

Bitfield of FILTER_STATUS

flags

uint16_t flags

Status as one of NORTH_SEEKING_INITIALIZATION_FLAGS

frequencies

uint8_t frequencies

Satellite frequencies

Bitfield represented by the SATELLITE_FREQUENCIES enum

g

float g

galileo_satellite_count

uint8_t galileo_satellite_count

glonass_satellite_count

uint8_t glonass_satellite_count

gnss_antenna_offset_xyz

float gnss_antenna_offset_xyz[3]

gpio

uint32_t gpio

gps_satellite_count

uint8_t gps_satellite_count

gyroscope_bias_solution_error

float gyroscope_bias_solution_error

gyroscope_bias_solution_xyz

float gyroscope_bias_solution_xyz[3]

gyroscopes_xyz

float gyroscopes_xyz[3]

hard_iron_bias_xyz

float hard_iron_bias_xyz[3]

hdop

float hdop

header_checksum

uint8_t header_checksum

Longitudinal redundancy check for the header

LRC = ((packet_id + packet_length + crc[0] + crc[1])^0xFF) + 1

im

float im

imu_temperature_C

float imu_temperature_C

lat_lon_z

double lat_lon_z

lat_lon_z_stddev

float lat_lon_z_stddev

magnetometers_xyz

float magnetometers_xyz[3]

microseconds

uint32_t microseconds

ned

float ned

odometer_offset_xyz

float odometer_offset_xyz[3]

packet_id

uint8_t packet_id

payload_checksum_lsb

uint8_t payload_checksum_lsb

Least significant byte of a crc-CCITT with starting value 0xFFFF calculated over the packet data only

payload_checksum_msb

uint8_t payload_checksum_msb

Most significant byte of a crc-CCITT with starting value 0xFFFF calculated over the packet data only

payload_length

uint8_t payload_length

period

uint16_t period

permanent

uint8_t permanent

pitch

float pitch

pitch_stddev

float pitch_stddev

pressure

float pressure

pressure_temperature_C

float pressure_temperature_C

primary_port

uint32_t primary_port

prn

uint8_t prn

The satellite ID number

progress

uint8_t progress

reserved

uint32_t reserved = 0

reserved_0

uint8_t reserved_0 = 0

reserved_1

uint8_t reserved_1[9] = { 0, 0, 0, 0, 0, 0, 0, 0, 0 }

result

uint8_t result

rpy

float rpy

sbas_satellite_count

uint8_t sbas_satellite_count

seconds

uint32_t seconds

snr

uint8_t snr

Signal to noise ratio in dB

soft_iron_transformation

float soft_iron_transformation[9]

status

uint8_t status

Bitfield described by RAW_GNSS_STATUS

Status as one of MAGNETIC_CALIBRATION_STATUS

system

uint8_t system

The satellite system as represented by SATELLITE_SYSTEM

system_status

uint16_t system_status

Bitfield of SYSTEM_STATUS

unix_time_microseconds

uint32_t unix_time_microseconds

unix_time_seconds

uint32_t unix_time_seconds

utc_synchronization

uint8_t utc_synchronization

vdop

float vdop

vehicle_type

uint8_t vehicle_type

The vehicle type to tune the filter dynamics

See VEHICLE_TYPES

velocity_ned

float velocity_ned

verification_sequence

uint8_t verification_sequence = { 0x1C, 0x9E, 0x42, 0x85 }

xyz

float xyz

yaw

float yaw

yaw_stddev

float yaw_stddev