ROSaic
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Handles callbacks when reading NMEA/SBF messages. More...
#include <boost/foreach.hpp>
#include <boost/function.hpp>
#include <boost/thread.hpp>
#include <boost/thread/condition.hpp>
#include <boost/tokenizer.hpp>
#include <boost/algorithm/string/join.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/asio.hpp>
#include <boost/bind.hpp>
#include <boost/format.hpp>
#include <boost/asio/serial_port.hpp>
#include <boost/thread/mutex.hpp>
#include <septentrio_gnss_driver/communication/rx_message.hpp>
#include <algorithm>
Go to the source code of this file.
Data Structures | |
class | io_comm_rx::AbstractCallbackHandler |
class | io_comm_rx::CallbackHandler< T > |
Abstract class representing a generic callback handler, includes high-level functionality such as wait. More... | |
class | io_comm_rx::CallbackHandlers |
Represents ensemble of (to be constructed) ROS messages, to be handled at once by this class. More... | |
Namespaces | |
io_comm_rx | |
Macros | |
#define | MIN_NMEA_SIZE 9 |
#define | MAX_NMEA_SIZE 89 |
Variables | |
bool | g_channelstatus_has_arrived_gpsfix |
For GPSFix: Whether the ChannelStatus block of the current epoch has arrived or not. More... | |
bool | g_measepoch_has_arrived_gpsfix |
For GPSFix: Whether the MeasEpoch block of the current epoch has arrived or not. More... | |
bool | g_dop_has_arrived_gpsfix |
For GPSFix: Whether the DOP block of the current epoch has arrived or not. More... | |
bool | g_pvtgeodetic_has_arrived_gpsfix |
For GPSFix: Whether the PVTGeodetic block of the current epoch has arrived or not. More... | |
bool | g_pvtgeodetic_has_arrived_navsatfix |
For NavSatFix: Whether the PVTGeodetic block of the current epoch has arrived or not. More... | |
bool | g_pvtgeodetic_has_arrived_pose |
For PoseWithCovarianceStamped: Whether the PVTGeodetic block of the current epoch has arrived or not. More... | |
bool | g_poscovgeodetic_has_arrived_gpsfix |
For GPSFix: Whether the PosCovGeodetic block of the current epoch has arrived or not. More... | |
bool | g_poscovgeodetic_has_arrived_navsatfix |
For NavSatFix: Whether the PosCovGeodetic block of the current epoch has arrived or not. More... | |
bool | g_poscovgeodetic_has_arrived_pose |
For PoseWithCovarianceStamped: Whether the PosCovGeodetic block of the current epoch has arrived or not. More... | |
bool | g_velcovgeodetic_has_arrived_gpsfix |
For GPSFix: Whether the VelCovGeodetic block of the current epoch has arrived or not. More... | |
bool | g_atteuler_has_arrived_gpsfix |
For GPSFix: Whether the AttEuler block of the current epoch has arrived or not. More... | |
bool | g_atteuler_has_arrived_pose |
For PoseWithCovarianceStamped: Whether the AttEuler block of the current epoch has arrived or not. More... | |
bool | g_attcoveuler_has_arrived_gpsfix |
For GPSFix: Whether the AttCovEuler block of the current epoch has arrived or not. More... | |
bool | g_attcoveuler_has_arrived_pose |
For PoseWithCovarianceStamped: Whether the AttCovEuler block of the current epoch has arrived or not. More... | |
bool | g_receiverstatus_has_arrived_diagnostics |
For DiagnosticArray: Whether the ReceiverStatus block of the current epoch has arrived or not. More... | |
bool | g_qualityind_has_arrived_diagnostics |
For DiagnosticArray: Whether the QualityInd block of the current epoch has arrived or not. More... | |
bool | g_publish_navsatfix |
Whether or not to publish the sensor_msgs::NavSatFix message. More... | |
bool | g_publish_gpsfix |
Whether or not to publish the gps_common::GPSFix message. More... | |
bool | g_publish_gpst |
Whether or not to publish the sensor_msgs::TimeReference message with GPST. More... | |
bool | g_publish_pose |
Whether or not to publish the geometry_msgs::PoseWithCovarianceStamped message. More... | |
bool | g_publish_diagnostics |
Whether or not to publish the diagnostic_msgs::DiagnosticArray message. More... | |
bool | g_response_received |
Determines whether a command reply was received from the Rx. More... | |
boost::mutex | g_response_mutex |
Mutex to control changes of global variable "g_response_received". More... | |
boost::condition_variable | g_response_condition |
Condition variable complementing "g_response_mutex". More... | |
bool | g_cd_received |
Determines whether the connection descriptor was received from the Rx. More... | |
boost::mutex | g_cd_mutex |
Mutex to control changes of global variable "g_cd_received". More... | |
boost::condition_variable | g_cd_condition |
Condition variable complementing "g_cd_mutex". More... | |
uint32_t | g_cd_count |
Since after SSSSSSSSSSS we need to wait for second connection descriptor, we have to count the connection descriptors. More... | |
std::string | g_rx_tcp_port |
Rx TCP port, e.g. IP10 or IP11, to which ROSaic is connected to. More... | |
Handles callbacks when reading NMEA/SBF messages.
Definition in file callback_handlers.hpp.
#define MAX_NMEA_SIZE 89 |
Definition at line 67 of file callback_handlers.hpp.
Referenced by io_comm_rx::CallbackHandlers::readCallback().
#define MIN_NMEA_SIZE 9 |
Definition at line 63 of file callback_handlers.hpp.
bool g_attcoveuler_has_arrived_gpsfix |
For GPSFix: Whether the AttCovEuler block of the current epoch has arrived or not.
Definition at line 714 of file rosaic_node.cpp.
bool g_attcoveuler_has_arrived_pose |
For PoseWithCovarianceStamped: Whether the AttCovEuler block of the current epoch has arrived or not.
Definition at line 726 of file rosaic_node.cpp.
bool g_atteuler_has_arrived_gpsfix |
For GPSFix: Whether the AttEuler block of the current epoch has arrived or not.
Definition at line 712 of file rosaic_node.cpp.
bool g_atteuler_has_arrived_pose |
For PoseWithCovarianceStamped: Whether the AttEuler block of the current epoch has arrived or not.
Definition at line 724 of file rosaic_node.cpp.
boost::condition_variable g_cd_condition |
Condition variable complementing "g_cd_mutex".
Definition at line 691 of file rosaic_node.cpp.
Referenced by rosaic_node::ROSaicNode::configureRx(), and io_comm_rx::CallbackHandlers::readCallback().
uint32_t g_cd_count |
Since after SSSSSSSSSSS we need to wait for second connection descriptor, we have to count the connection descriptors.
Definition at line 698 of file rosaic_node.cpp.
boost::mutex g_cd_mutex |
Mutex to control changes of global variable "g_cd_received".
Definition at line 687 of file rosaic_node.cpp.
Referenced by rosaic_node::ROSaicNode::configureRx(), and io_comm_rx::CallbackHandlers::readCallback().
bool g_cd_received |
Determines whether the connection descriptor was received from the Rx.
Definition at line 689 of file rosaic_node.cpp.
Referenced by rosaic_node::ROSaicNode::configureRx(), main(), and io_comm_rx::CallbackHandlers::readCallback().
bool g_channelstatus_has_arrived_gpsfix |
For GPSFix: Whether the ChannelStatus block of the current epoch has arrived or not.
Definition at line 700 of file rosaic_node.cpp.
bool g_dop_has_arrived_gpsfix |
For GPSFix: Whether the DOP block of the current epoch has arrived or not.
Definition at line 704 of file rosaic_node.cpp.
bool g_measepoch_has_arrived_gpsfix |
For GPSFix: Whether the MeasEpoch block of the current epoch has arrived or not.
Definition at line 702 of file rosaic_node.cpp.
bool g_poscovgeodetic_has_arrived_gpsfix |
For GPSFix: Whether the PosCovGeodetic block of the current epoch has arrived or not.
Definition at line 708 of file rosaic_node.cpp.
bool g_poscovgeodetic_has_arrived_navsatfix |
For NavSatFix: Whether the PosCovGeodetic block of the current epoch has arrived or not.
Definition at line 718 of file rosaic_node.cpp.
bool g_poscovgeodetic_has_arrived_pose |
For PoseWithCovarianceStamped: Whether the PosCovGeodetic block of the current epoch has arrived or not.
Definition at line 722 of file rosaic_node.cpp.
bool g_publish_diagnostics |
Whether or not to publish the diagnostic_msgs::DiagnosticArray message.
Definition at line 675 of file rosaic_node.cpp.
Referenced by rosaic_node::ROSaicNode::configureRx(), rosaic_node::ROSaicNode::defineMessages(), io_comm_rx::CallbackHandlers::handle(), main(), and io_comm_rx::CallbackHandlers::readCallback().
bool g_publish_gpsfix |
Whether or not to publish the gps_common::GPSFix message.
Definition at line 671 of file rosaic_node.cpp.
Referenced by rosaic_node::ROSaicNode::configureRx(), rosaic_node::ROSaicNode::defineMessages(), io_comm_rx::CallbackHandlers::handle(), main(), and io_comm_rx::CallbackHandlers::readCallback().
bool g_publish_gpst |
Whether or not to publish the sensor_msgs::TimeReference message with GPST.
Definition at line 667 of file rosaic_node.cpp.
bool g_publish_navsatfix |
Whether or not to publish the sensor_msgs::NavSatFix message.
Definition at line 669 of file rosaic_node.cpp.
bool g_publish_pose |
Whether or not to publish the geometry_msgs::PoseWithCovarianceStamped message.
Definition at line 673 of file rosaic_node.cpp.
Referenced by rosaic_node::ROSaicNode::defineMessages(), io_comm_rx::CallbackHandlers::handle(), main(), and io_comm_rx::CallbackHandlers::readCallback().
bool g_pvtgeodetic_has_arrived_gpsfix |
For GPSFix: Whether the PVTGeodetic block of the current epoch has arrived or not.
Definition at line 706 of file rosaic_node.cpp.
bool g_pvtgeodetic_has_arrived_navsatfix |
For NavSatFix: Whether the PVTGeodetic block of the current epoch has arrived or not.
Definition at line 716 of file rosaic_node.cpp.
bool g_pvtgeodetic_has_arrived_pose |
For PoseWithCovarianceStamped: Whether the PVTGeodetic block of the current epoch has arrived or not.
Definition at line 720 of file rosaic_node.cpp.
bool g_qualityind_has_arrived_diagnostics |
For DiagnosticArray: Whether the QualityInd block of the current epoch has arrived or not.
Definition at line 730 of file rosaic_node.cpp.
bool g_receiverstatus_has_arrived_diagnostics |
For DiagnosticArray: Whether the ReceiverStatus block of the current epoch has arrived or not.
Definition at line 728 of file rosaic_node.cpp.
boost::condition_variable g_response_condition |
Condition variable complementing "g_response_mutex".
Definition at line 685 of file rosaic_node.cpp.
Referenced by rosaic_node::ROSaicNode::configureRx(), and io_comm_rx::CallbackHandlers::readCallback().
boost::mutex g_response_mutex |
Mutex to control changes of global variable "g_response_received".
Definition at line 681 of file rosaic_node.cpp.
Referenced by rosaic_node::ROSaicNode::configureRx(), and io_comm_rx::CallbackHandlers::readCallback().
bool g_response_received |
Determines whether a command reply was received from the Rx.
Definition at line 683 of file rosaic_node.cpp.
Referenced by rosaic_node::ROSaicNode::configureRx(), main(), and io_comm_rx::CallbackHandlers::readCallback().
std::string g_rx_tcp_port |
Rx TCP port, e.g. IP10 or IP11, to which ROSaic is connected to.
Definition at line 696 of file rosaic_node.cpp.
Referenced by rosaic_node::ROSaicNode::configureRx(), and io_comm_rx::CallbackHandlers::readCallback().
bool g_velcovgeodetic_has_arrived_gpsfix |
For GPSFix: Whether the VelCovGeodetic block of the current epoch has arrived or not.
Definition at line 710 of file rosaic_node.cpp.