ROSaic
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Data Structures | |
class | AbstractCallbackHandler |
class | AsyncManager |
This is the central interface between ROSaic and the Rx(s), managing I/O operations such as reading messages and sending commands.. More... | |
class | CallbackHandler |
Abstract class representing a generic callback handler, includes high-level functionality such as wait. More... | |
class | CallbackHandlers |
Represents ensemble of (to be constructed) ROS messages, to be handled at once by this class. More... | |
class | Comm_IO |
Handles communication with and configuration of the mosaic (and beyond) receiver(s) More... | |
class | Manager |
Interface (in C++ terms), that could be used for any I/O manager, synchronous and asynchronous alike. More... | |
class | RxMessage |
Can search buffer for messages, read/parse them, and so on. More... | |
Functions | |
ros::Time | timestampSBF (uint32_t tow, bool use_gnss) |
Calculates the timestamp, in the Unix Epoch time format This is either done using the TOW as transmitted with the SBF block (if "use_gnss" is true), or using the current time. More... | |
Variables | |
static const uint32_t | BAUDRATES [] |
Possible baudrates for the Rx. More... | |
This namespace is for the communication interface, handling all aspects related to serial and TCP/IP communication..
ros::Time io_comm_rx::timestampSBF | ( | uint32_t | tow, |
bool | use_gnss | ||
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Calculates the timestamp, in the Unix Epoch time format This is either done using the TOW as transmitted with the SBF block (if "use_gnss" is true), or using the current time.
[in] | tow | (Time of Week) Number of milliseconds that elapsed since the beginning of the current GPS week as transmitted by the SBF block |
[in] | use_gnss | If true, the TOW as transmitted with the SBF block is used, otherwise the current time |
If the current time shall be employed, it is calculated via the time(NULL) function found in the <ctime> library At the time of writing the code (2020), the GPS time was ahead of UTC time by 18 (leap) seconds. Adapt the g_leap_seconds ROSaic parameter accordingly as soon as the next leap second is inserted into the UTC time.
Definition at line 768 of file rx_message.cpp.
References parsing_utilities::convertUTCtoUnix(), g_leap_seconds, and string_utilities::toDouble().
Referenced by io_comm_rx::RxMessage::read().
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static |
Possible baudrates for the Rx.
Definition at line 93 of file communication_core.hpp.
Referenced by io_comm_rx::Comm_IO::initializeSerial().