Detailed Description

A class capable of reading GPS/GNSS/GNSS+IMU receiver data, from a serial port or from any input stream, and parsing the ASCII/binary stream into indivual messages stored in mrpt::obs::CObservationGPS objects.

Typical input streams are serial ports or raw GPS log files. By default, the serial port selected by CGPSInterface::setSerialPortName() or as set in the configuration file will be open upon call to CGenericSensor::initialize(). Alternatively, an external stream can be bound with CGPSInterface::bindStream() before calling CGenericSensor::initialize(). This feature can be used to parse commands from a file, a TCP/IP stream, a memory block, etc.

The parsers in the enum type CGPSInterface::PARSERS are supported as parameter parser in the configuration file below or in method CGPSInterface::setParser():

NONE: Do not try to parse the messages into CObservation's. Only useful if combined with raw_dump_file_prefix
AUTO: Try to automatically identify the format of incomming data.
NMEA (NMEA 0183, ASCII messages): Default parser. Supported frames: GGA, RMC,... See full list of messages in children of mrpt::obs::gnss::gnss_message
NOVATEL_OEM6 (Novatel OEM6, binary frames): Supported frames: BESTPOS,... Note that receiving a correct IONUTC msg is required for a correct timestamping of subsequent frames. See full list of messages in children of mrpt::obs::gnss::gnss_message

See available parameters below, and an example config file for rawlog-grabber here

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
 # Serial port configuration:
 COM_port_WIN = COM3
 COM_port_LIN = ttyUSB0
 baudRate     = 4800   // The baudrate of the communications (typ. 4800 or
9600 bauds)
 # (Default:true) Whether to append the GNNS message type to CObservation
`sensorLabel` field
 sensor_label_append_msg_type = true
 # Select a parser for GNSS data:
 # Up-to-date list of supported parsers available in
https://reference.mrpt.org/devel/classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html
 parser =  AUTO
 # If uncommented and non-empty, raw binary/ascii data received from the
serial port will be also dumped
 # into a file named after this prefix, plus date/time and extension `.gps`.
 #raw_dump_file_prefix = RAWGPS
 # 3D position (and orientation, for GNSS+IMUs) of the sensed point (antenna
phase center) relative to the vehicle/robot frame:
 pose_x       = 0      // (meters)
 pose_y       = 0
 pose_z       = 0
 pose_yaw     = 0      // (deg)
 pose_pitch   = 0
 pose_roll    = 0
 # Optional: list of custom commands to be sent to the GNSS receiver to set
it up.
 # An arbitrary number of commands can be defined, but their names must be
"setup_cmd%d" starting at "1".
 # Commands will be sent by index order. Binary commands instead of ASCII
strings can be set programmatically, not from a config file.
 # custom_cmds_delay   = 0.1   // (Default=0.1) Delay in seconds between
consecutive set-up commands
 # custom_cmds_append_CRLF = true    // (Default:true) Append "\r\n" to each
command
 # setup_cmd1 = XXXXX
 # setup_cmd2 = XXXXX
 # setup_cmd3 = XXXXX
 # Optional: list of commands to be sent upon disconnection (e.g. object
destructor)
 # shutdown_cmd1 = XXXX
 # shutdown_cmd2 = XXXX

Note that the customInit field, supported in MRPT <1.4.0 will be still parsed and obeyed, but since it has been superseded by the new mechanism to establish set-up commands, it is no further documented here.

The next picture summarizes existing MRPT classes related to GPS / GNSS devices (CGPSInterface, CNTRIPEmitter, CGPS_NTRIP):

VERSIONS HISTORY:

09/JUN/2006: First version (JLBC)
04/JUN/2008: Added virtual methods for device-specific initialization commands.
10/JUN/2008: Converted into CGenericSensor class (there are no inhirited classes anymore).
07/DEC/2012: Added public static method to parse NMEA strings.
17/JUN/2014: Added GGA feedback.
01/FEB/2016: API changed for MTPT 1.4.0

Note
Verbose debug info will be dumped to cout if the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1", or if you call CGenericSensor::enableVerbose(true)

[API changed in MRPT 1.4.0] mrpt::hwdrivers::CGPSInterface API clean-up and made more generic so any stream can be used to parse GNSS messages, not only serial ports.

See also
CGPS_NTRIP, CNTRIPEmitter, mrpt::obs::CObservationGPS

Definition at line 142 of file CGPSInterface.h.

#include <mrpt/hwdrivers/CGPSInterface.h>

Inheritance diagram for mrpt::hwdrivers::CGPSInterface:

Public Types
enum	PARSERS { NONE = -2, AUTO = -1, NMEA = 0, NOVATEL_OEM6 }
	Read about parser selection in the documentation for CGPSInterface. More...

using	ptr_parser_t = bool(CGPSInterface::*)(size_t &out_minimum_rx_buf_to_decide)

enum	TSensorState { ssInitializing = 0, ssWorking, ssError, ssUninitialized }
	The current state of the sensor. More...

using	Ptr = std::shared_ptr< CGenericSensor >

using	TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

using	TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

Public Member Functions
	CGPSInterface ()
	Default ctor. More...

	~CGPSInterface () override
	Dtor. More...

void	doProcess () override
	This method will be invoked at a minimum rate of "process_rate" (Hz) More...

bool	isGPS_connected ()
	Returns true if communications work, i.e. More...

bool	isGPS_signalAcquired ()
	Returns true if the last message from the GPS indicates that the signal from sats has been acquired. More...

bool	isAIMConfigured ()

std::string	getLastGGA (bool reset=true)
	Gets the latest GGA command or an empty string if no newer GGA command was received since the last call to this method. More...

virtual const mrpt::hwdrivers::TSensorClassId *	GetRuntimeClass () const =0

TSensorState	getState () const
	The current state of the sensor. More...

double	getProcessRate () const

std::string	getSensorLabel () const

void	setSensorLabel (const std::string &sensorLabel)

void	enableVerbose (bool enabled=true)
	Enable or disable extra debug info dumped to std::cout during sensor operation. More...

bool	isVerboseEnabled () const

void	loadConfig (const mrpt::config::CConfigFileBase &configSource, const std::string &section)
	Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...

virtual void	initialize ()
	This method can or cannot be implemented in the derived class, depending on the need for it. More...

void	getObservations (TListObservations &lstObjects)
	Returns a list of enqueued objects, emptying it (thread-safe). More...

virtual void	setPathForExternalImages ([[maybe_unused]] const std::string &directory)
	Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). More...

void	setExternalImageFormat (const std::string &ext)
	Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More...

void	setExternalImageJPEGQuality (const unsigned int quality)
	The quality of JPEG compression, when external images is enabled and the format is "jpg". More...

unsigned int	getExternalImageJPEGQuality () const

Set-up and configuration
void	setSerialPortName (const std::string &COM_port)
	Set the serial port to use (COM1, ttyUSB0, etc). More...

std::string	getSerialPortName () const
	Get the serial port to use (COM1, ttyUSB0, etc). More...

void	setParser (PARSERS parser)
	Select the parser for incomming data, among the options enumerated in CGPSInterface. More...

PARSERS	getParser () const

void	bindStream (const std::shared_ptr< mrpt::io::CStream > &external_stream, const std::shared_ptr< std::mutex > &csOptionalExternalStream=std::shared_ptr< std::mutex >())
	This enforces the use of a given user stream, instead of trying to open the serial port set in this class parameters. More...

bool	useExternalStream () const

void	setSetupCommandsDelay (const double delay_secs)

double	getSetupCommandsDelay () const

void	setSetupCommands (const std::vector< std::string > &cmds)

const std::vector< std::string > &	getSetupCommands () const

void	setShutdownCommands (const std::vector< std::string > &cmds)

const std::vector< std::string > &	getShutdownCommands () const

void	enableSetupCommandsAppendCRLF (const bool enable)

bool	isEnabledSetupCommandsAppendCRLF () const

void	enableAppendMsgTypeToSensorLabel (bool enable)

void	setRawDumpFilePrefix (const std::string &filePrefix)
	If set to non-empty, RAW GPS serial data will be also dumped to a separate file. More...

std::string	getRawDumpFilePrefix () const

bool	sendCustomCommand (const void *data, const size_t datalen)
	Send a custom data block to the GNSS device right now. More...

Parser implementations: each method must try to parse the first
bytes in the incoming buffer, and return false if the available data does not match the expected format, so we must skip 1 byte and try again.
bool	implement_parser_NMEA (size_t &out_minimum_rx_buf_to_decide)

bool	implement_parser_NOVATEL_OEM6 (size_t &out_minimum_rx_buf_to_decide)

Static Public Member Functions
static bool	parse_NMEA (const std::string &cmd_line, mrpt::obs::CObservationGPS &out_obs, const bool verbose=false)
	Parses one line of NMEA data from a GPS receiver, and writes the recognized fields (if any) into an observation object. More...

static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...

static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

static void	registerClass (const TSensorClassId *pNewClass)
	Register a class into the internal list of "CGenericSensor" descendents. More...

static CGenericSensor *	createSensor (const std::string &className)
	Creates a sensor by a name of the class. More...

static Ptr	createSensorPtr (const std::string &className)
	Just like createSensor, but returning a smart pointer to the newly created sensor object. More...

Protected Member Functions
bool	OnConnectionEstablished ()
	Implements custom messages to be sent to the GPS unit just after connection and before normal use. More...

bool	OnConnectionShutdown ()
	Like OnConnectionEstablished() for sending optional shutdown commands. More...

bool	legacy_topcon_setup_commands ()

void	loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override
	See the class documentation at the top for expected parameters. More...

void	setJAVAD_rtk_src_port (const std::string &s)
	If not empty, will send a cmd "set,/par/pos/pd/port,...". More...

void	setJAVAD_rtk_src_baud (unsigned int baud)
	Only used when "m_JAVAD_rtk_src_port" is not empty. More...

void	setJAVAD_rtk_format (const std::string &s)
	Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc. More...

bool	setJAVAD_AIM_mode ()
	Set Advanced Input Mode for the primary port. More...

bool	unsetJAVAD_AIM_mode ()
	Unset Advanced Input Mode for the primary port and use it only as a command port. More...

void	appendObservations (const std::vector< mrpt::serialization::CSerializable::Ptr > &obj)
	This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. More...

void	appendObservation (const mrpt::serialization::CSerializable::Ptr &obj)
	Like appendObservations() but for just one observation. More...

Protected Attributes
std::shared_ptr< mrpt::io::CStream >	m_data_stream
	Typically a CSerialPort created by this class, but may be set externally. More...

std::shared_ptr< std::mutex >	m_data_stream_cs

std::shared_ptr< std::mutex >	m_data_stream_mine_cs

bool	m_data_stream_is_external {false}

poses::CPose3D	m_sensorPose

std::string	m_customInit

VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

size_t	m_grab_decimation_counter {0}
	Used when "m_grab_decimation" is enabled. More...

TSensorState	m_state {ssInitializing}

bool	m_verbose {false}

std::string	m_path_for_external_images
	The path where to save off-rawlog images: empty means save images embedded in the rawlog. More...

std::string	m_external_images_format
	The extension ("jpg","gif","png",...) that determines the format of images saved externally. More...

unsigned int	m_external_images_jpeg_quality {95}
	For JPEG images, the quality (default=95%). More...

Common settings to any sensor, loaded in "loadConfig"
double	m_process_rate {0}
	See CGenericSensor. More...

size_t	m_max_queue_len {200}
	See CGenericSensor. More...

size_t	m_grab_decimation {0}
	If set to N>=2, only 1 out of N observations will be saved to m_objList. More...

std::string	m_sensorLabel
	See CGenericSensor. More...

Private Member Functions
bool	tryToOpenTheCOM ()
	Returns true if the COM port is already open, or try to open it in other case. More...

void	parseBuffer ()
	Process data in "m_buffer" to extract GPS messages, and remove them from the buffer. More...

void	flushParsedMessagesNow ()
	Queue out now the messages in m_just_parsed_messages, leaving it empty. More...

Private Attributes
mrpt::containers::circular_buffer< uint8_t >	m_rx_buffer
	Auxiliary buffer for readings. More...

PARSERS	m_parser {CGPSInterface::AUTO}

std::string	m_raw_dump_file_prefix

std::string	m_COMname

int	m_COMbauds {4800}

bool	m_sensorLabelAppendMsgType {true}

bool	m_GPS_comsWork {false}

mrpt::system::TTimeStamp	m_last_timestamp

mrpt::io::CFileOutputStream	m_raw_output_file

double	m_custom_cmds_delay {0.1}

bool	m_custom_cmds_append_CRLF {true}

std::vector< std::string >	m_setup_cmds

std::vector< std::string >	m_shutdown_cmds

mrpt::obs::CObservationGPS	m_just_parsed_messages
	A private copy of the last received gps datum. More...

std::string	m_last_GGA
	Used in getLastGGA() More...

Legacy support for TopCon RTK configuration
std::string	m_JAVAD_rtk_src_port
	If not empty, will send a cmd "set,/par/pos/pd/port,...". More...

unsigned int	m_JAVAD_rtk_src_baud {0}
	Only used when "m_JAVAD_rtk_src_port" is not empty. More...

std::string	m_JAVAD_rtk_format
	Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc. More...

bool	m_topcon_useAIMMode {false}
	Use this mode for receive RTK corrections from a external source through the primary port. More...

bool	m_topcon_AIMConfigured {false}
	Indicates if the AIM has been properly set up. More...

double	m_topcon_data_period {0.2}
	The period in seconds which the data should be provided by the GPS. More...

void	JAVAD_sendMessage (const char *str, bool waitForAnswer=true)
	Private auxiliary method. More...

Logging methods
void	logStr (const VerbosityLevel level, std::string_view msg_str) const
	Main method to add the specified message string to the logger. More...

void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...

void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...

void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...

std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...

void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...

void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...

VerbosityLevel	getMinLoggingLevel () const

bool	isLoggingLevelVisible (VerbosityLevel level) const

void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...

std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...

void	writeLogToFile (const std::string *fname_in=nullptr) const
	Write the contents of the COutputLogger instance to an external file. More...

void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...

std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...

void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...

void	loggerReset ()
	Reset the contents of the logger instance. More...

void	logRegisterCallback (output_logger_callback_t userFunc)

bool	logDeregisterCallback (output_logger_callback_t userFunc)

bool	logging_enable_console_output {true}
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...

bool	logging_enable_keep_record {false}
	[Default=false] Enables storing all messages into an internal list. More...

Member Typedef Documentation

◆ Ptr

using mrpt::hwdrivers::CGenericSensor::Ptr = std::shared_ptr<CGenericSensor>

inherited

Definition at line 73 of file CGenericSensor.h.

◆ ptr_parser_t

using mrpt::hwdrivers::CGPSInterface::ptr_parser_t = bool (CGPSInterface::*)(size_t& out_minimum_rx_buf_to_decide)

Definition at line 246 of file CGPSInterface.h.

◆ TListObservations

using mrpt::hwdrivers::CGenericSensor::TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 77 of file CGenericSensor.h.

◆ TListObsPair

using mrpt::hwdrivers::CGenericSensor::TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 79 of file CGenericSensor.h.

Member Enumeration Documentation

◆ PARSERS

enum mrpt::hwdrivers::CGPSInterface::PARSERS

Read about parser selection in the documentation for CGPSInterface.

Enumerator
NONE
AUTO
NMEA
NOVATEL_OEM6

Definition at line 148 of file CGPSInterface.h.

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See also: CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError
ssUninitialized

Definition at line 84 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CGPSInterface()

CGPSInterface::CGPSInterface ( )

Default ctor.

Definition at line 51 of file CGPSInterface.cpp.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ ~CGPSInterface()

CGPSInterface::~CGPSInterface ( )

override

Dtor.

Definition at line 142 of file CGPSInterface.cpp.

References OnConnectionShutdown().

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Member Function Documentation

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::serialization::CSerializable::Ptr & obj )

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 180 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::appendObservations().

Referenced by mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CCANBusReader::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and flushParsedMessagesNow().

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◆ appendObservations()

void CGenericSensor::appendObservations ( const std::vector< mrpt::serialization::CSerializable::Ptr > & obj )

protectedinherited

This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.

Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:

  mrpt::obs::CObservationGPS::Ptr  o = CObservationGPS::Ptr( new
CObservationGPS() );
  o-> .... // Set data
  appendObservation(o);

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

Definition at line 48 of file CGenericSensor.cpp.

References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

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◆ bindStream()

void CGPSInterface::bindStream	(	const std::shared_ptr< mrpt::io::CStream > &	external_stream,
		const std::shared_ptr< std::mutex > &	csOptionalExternalStream = `std::shared_ptr<std::mutex>()`
	)

This enforces the use of a given user stream, instead of trying to open the serial port set in this class parameters.

Parameters

[in] csExternalStream If not NULL, read/write operations to the stream will be guarded by this critical section. The stream object is not deleted. It is the user responsibility to keep that object allocated during the entire life of this object.

Note: Call before CGenericSensor::initialize()

Definition at line 149 of file CGPSInterface.cpp.

References m_data_stream, m_data_stream_cs, m_data_stream_is_external, and m_data_stream_mine_cs.

Referenced by TEST().

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◆ createSensor()

CGenericSensor * CGenericSensor::createSensor ( const std::string & className )

staticinherited

Creates a sensor by a name of the class.

Typically the user may want to create a smart pointer around the returned pointer, whis is made with:

CGenericSensor::Ptr sensor = CGenericSensor::Ptr(

CGenericSensor::createSensor("XXX") );

Returns: A pointer to a new class, or nullptr if class name is unknown.

Definition at line 97 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Referenced by mrpt::hwdrivers::CGenericSensor::createSensorPtr().

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◆ createSensorPtr()

static Ptr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string & className )

inlinestaticinherited

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 210 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::createSensor().

Referenced by mrpt::apps::RawlogGrabberApp::SensorThread().

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◆ doProcess()

void CGPSInterface::doProcess ( )

overridevirtual

This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions

This	method must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 280 of file CGPSInterface.cpp.

References ASSERT_, mrpt::containers::circular_buffer< T >::available(), mrpt::system::TTimeParts::day, mrpt::system::fileNameStripInvalidChars(), mrpt::io::CFileOutputStream::fileOpenCorrectly(), flushParsedMessagesNow(), mrpt::format(), mrpt::obs::CObservationGPS::has_GGA_datum(), mrpt::obs::CObservationGPS::has_RMC_datum(), mrpt::system::TTimeParts::hour, INVALID_TIMESTAMP, m_customInit, m_data_stream, m_data_stream_cs, m_GPS_comsWork, m_just_parsed_messages, m_last_timestamp, m_raw_dump_file_prefix, m_raw_output_file, m_rx_buffer, mrpt::hwdrivers::CGenericSensor::m_state, m_topcon_data_period, mrpt::hwdrivers::CGenericSensor::m_verbose, mrpt::system::TTimeParts::minute, mrpt::system::TTimeParts::month, MRPT_LOG_ERROR, mrpt::system::now(), mrpt::io::CFileOutputStream::open(), parseBuffer(), mrpt::containers::circular_buffer< T >::push_many(), mrpt::system::TTimeParts::second, mrpt::hwdrivers::CGenericSensor::ssError, THROW_EXCEPTION, mrpt::system::timeDifference(), mrpt::obs::CObservation::timestamp, mrpt::system::timestampToParts(), mrpt::system::timeToString(), tryToOpenTheCOM(), mrpt::io::CFileOutputStream::Write(), and mrpt::system::TTimeParts::year.

Referenced by TEST().

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◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also: writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ enableAppendMsgTypeToSensorLabel()

void mrpt::hwdrivers::CGPSInterface::enableAppendMsgTypeToSensorLabel ( bool enable )

inline

Definition at line 208 of file CGPSInterface.h.

References m_sensorLabelAppendMsgType.

◆ enableSetupCommandsAppendCRLF()

void CGPSInterface::enableSetupCommandsAppendCRLF ( const bool enable )

Definition at line 182 of file CGPSInterface.cpp.

References m_custom_cmds_append_CRLF.

◆ enableVerbose()

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool enabled = true )

inlineinherited

Enable or disable extra debug info dumped to std::cout during sensor operation.

Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.

Definition at line 106 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ flushParsedMessagesNow()

void CGPSInterface::flushParsedMessagesNow ( )

private

Queue out now the messages in m_just_parsed_messages, leaving it empty.

Definition at line 431 of file CGPSInterface.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::obs::CObservationGPS::clear(), m_GPS_comsWork, m_just_parsed_messages, m_last_timestamp, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_sensorLabelAppendMsgType, m_sensorPose, mrpt::hwdrivers::CGenericSensor::m_state, mrpt::obs::CObservation::sensorLabel, mrpt::obs::CObservationGPS::sensorPose, mrpt::hwdrivers::CGenericSensor::ssWorking, mrpt::obs::CObservationGPS::swap(), and mrpt::obs::CObservation::timestamp.

Referenced by doProcess(), and parseBuffer().

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◆ getExternalImageJPEGQuality()

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const

inlineinherited

Definition at line 279 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ getLastGGA()

std::string CGPSInterface::getLastGGA ( bool reset = true )

Gets the latest GGA command or an empty string if no newer GGA command was received since the last call to this method.

Parameters

[in] reset If set to true, will empty the GGA cache so next calls will return an empty string if no new frame is received.

Definition at line 769 of file CGPSInterface.cpp.

References m_last_GGA.

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string & log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string & msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also: setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also: setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ getObservations()

void CGenericSensor::getObservations ( TListObservations & lstObjects )

inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

Definition at line 85 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.

Referenced by TEST().

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◆ getParser()

CGPSInterface::PARSERS CGPSInterface::getParser ( ) const

Definition at line 148 of file CGPSInterface.cpp.

References m_parser.

◆ getProcessRate()

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const

inlineinherited

Definition at line 94 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_process_rate.

◆ getRawDumpFilePrefix()

std::string mrpt::hwdrivers::CGPSInterface::getRawDumpFilePrefix ( ) const

inline

Definition at line 219 of file CGPSInterface.h.

References m_raw_dump_file_prefix.

◆ GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const

pure virtualinherited

◆ getSensorLabel()

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const

inlineinherited

Definition at line 95 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ getSerialPortName()

std::string CGPSInterface::getSerialPortName ( ) const

Get the serial port to use (COM1, ttyUSB0, etc).

Definition at line 219 of file CGPSInterface.cpp.

References m_COMname.

◆ getSetupCommands()

const std::vector< std::string > & CGPSInterface::getSetupCommands ( ) const

Definition at line 170 of file CGPSInterface.cpp.

References m_setup_cmds.

◆ getSetupCommandsDelay()

double CGPSInterface::getSetupCommandsDelay ( ) const

Definition at line 162 of file CGPSInterface.cpp.

References m_custom_cmds_delay.

◆ getShutdownCommands()

const std::vector< std::string > & CGPSInterface::getShutdownCommands ( ) const

Definition at line 178 of file CGPSInterface.cpp.

References m_shutdown_cmds.

◆ getState()

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const

inlineinherited

The current state of the sensor.

Definition at line 93 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_state.

◆ implement_parser_NMEA()

bool CGPSInterface::implement_parser_NMEA ( size_t & out_minimum_rx_buf_to_decide )

Definition at line 24 of file CGPSInterface_parser_NMEA.cpp.

References MAX_NMEA_LINE_LENGTH, parse_NMEA(), and val.

Referenced by parseBuffer(), and TParsersRegistry::TParsersRegistry().

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◆ implement_parser_NOVATEL_OEM6()

bool CGPSInterface::implement_parser_NOVATEL_OEM6 ( size_t & out_minimum_rx_buf_to_decide )

Definition at line 23 of file CGPSInterface_parser_NOVATEL_OEM6.cpp.

Referenced by parseBuffer(), and TParsersRegistry::TParsersRegistry().

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◆ initialize()

virtual void mrpt::hwdrivers::CGenericSensor::initialize ( )

inlinevirtualinherited

This method can or cannot be implemented in the derived class, depending on the need for it.

Exceptions

This	method must throw an exception with a descriptive message if some critical error is found.

Definition at line 238 of file CGenericSensor.h.

Referenced by TEST().

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◆ isAIMConfigured()

bool mrpt::hwdrivers::CGPSInterface::isAIMConfigured ( )

inline

Definition at line 226 of file CGPSInterface.h.

References m_topcon_AIMConfigured.

◆ isEnabledSetupCommandsAppendCRLF()

bool CGPSInterface::isEnabledSetupCommandsAppendCRLF ( ) const

Definition at line 186 of file CGPSInterface.cpp.

References m_custom_cmds_append_CRLF.

◆ isGPS_connected()

bool CGPSInterface::isGPS_connected ( )

Returns true if communications work, i.e.

if some message has been received.

Definition at line 276 of file CGPSInterface.cpp.

References m_GPS_comsWork.

◆ isGPS_signalAcquired()

bool mrpt::hwdrivers::CGPSInterface::isGPS_signalAcquired ( )

Returns true if the last message from the GPS indicates that the signal from sats has been acquired.

◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel level ) const

inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ isVerboseEnabled()

bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const

inlineinherited

Definition at line 107 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ JAVAD_sendMessage()

void CGPSInterface::JAVAD_sendMessage	(	const char *	str,
		bool	waitForAnswer = `true`
	)

private

Private auxiliary method.

Raises exception on error.

Definition at line 522 of file CGPSInterface.cpp.

References mrpt::format(), m_data_stream, m_data_stream_cs, and mrpt::hwdrivers::CGenericSensor::m_verbose.

Referenced by legacy_topcon_setup_commands(), setJAVAD_AIM_mode(), and unsetJAVAD_AIM_mode().

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◆ legacy_topcon_setup_commands()

bool CGPSInterface::legacy_topcon_setup_commands ( )

protected

Definition at line 776 of file CGPSInterface.cpp.

References mrpt::format(), JAVAD_sendMessage(), m_data_stream, m_data_stream_cs, m_JAVAD_rtk_format, m_JAVAD_rtk_src_baud, m_JAVAD_rtk_src_port, m_topcon_AIMConfigured, m_topcon_data_period, m_topcon_useAIMMode, mrpt::hwdrivers::CGenericSensor::m_verbose, setJAVAD_AIM_mode(), and mrpt::system::strCmp().

Referenced by OnConnectionEstablished().

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◆ loadConfig()

void CGenericSensor::loadConfig	(	const mrpt::config::CConfigFileBase &	cfg,
		const std::string &	sect
	)

inherited

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".

Exceptions

This	method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Definition at line 126 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_max_queue_len, mrpt::hwdrivers::CGenericSensor::m_process_rate, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, MRPT_END, MRPT_START, mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), and sect.

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◆ loadConfig_sensorSpecific()

void CGPSInterface::loadConfig_sensorSpecific	(	const mrpt::config::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)

overrideprotectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 67 of file CGPSInterface.cpp.

References mrpt::DEG2RAD(), mrpt::format(), m_COMbauds, m_COMname, m_custom_cmds_append_CRLF, m_custom_cmds_delay, m_customInit, m_JAVAD_rtk_format, m_JAVAD_rtk_src_baud, m_JAVAD_rtk_src_port, m_parser, m_raw_dump_file_prefix, m_sensorLabelAppendMsgType, m_sensorPose, m_setup_cmds, m_shutdown_cmds, m_topcon_data_period, m_topcon_useAIMMode, mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_enum(), mrpt::config::CConfigFileBase::read_float(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), mrpt::poses::CPose3D::setFromValues(), and mrpt::system::trim().

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◆ logCond()

void COutputLogger::logCond	(	const VerbosityLevel	level,
		bool	cond,
		const std::string &	msg_str
	)		const

inherited

Log the given message only if the condition is satisfied.

See also: log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t userFunc )

inherited

Returns: true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt	(	const VerbosityLevel	level,
		const char *	fmt,
			...
	)		const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also: logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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◆ loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t userFunc )

inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr	(	const VerbosityLevel	level,
		std::string_view	msg_str
	)		const

inherited

Main method to add the specified message string to the logger.

See also: logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ OnConnectionEstablished()

bool CGPSInterface::OnConnectionEstablished ( )

protected

Implements custom messages to be sent to the GPS unit just after connection and before normal use.

Returns false or raise an exception if something goes wrong.

Definition at line 608 of file CGPSInterface.cpp.

References mrpt::system::os::_strcmpi(), mrpt::obs::CObservationGPS::clear(), legacy_topcon_setup_commands(), m_custom_cmds_append_CRLF, m_custom_cmds_delay, m_customInit, m_data_stream, m_data_stream_cs, m_just_parsed_messages, m_last_GGA, m_setup_cmds, and mrpt::hwdrivers::CGenericSensor::m_verbose.

Referenced by tryToOpenTheCOM().

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◆ OnConnectionShutdown()

bool CGPSInterface::OnConnectionShutdown ( )

protected

Like OnConnectionEstablished() for sending optional shutdown commands.

Definition at line 574 of file CGPSInterface.cpp.

References m_custom_cmds_append_CRLF, m_custom_cmds_delay, m_data_stream, m_data_stream_cs, m_shutdown_cmds, and mrpt::hwdrivers::CGenericSensor::m_verbose.

Referenced by ~CGPSInterface().

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◆ parse_NMEA()

bool CGPSInterface::parse_NMEA	(	const std::string &	cmd_line,
		mrpt::obs::CObservationGPS &	out_obs,
		const bool	verbose = `false`
	)

static

Parses one line of NMEA data from a GPS receiver, and writes the recognized fields (if any) into an observation object.

Recognized frame types are those listed for the NMEA parser in the documentation of CGPSInterface

Returns: true if some new data field has been correctly parsed and inserted into out_obs

Definition at line 109 of file CGPSInterface_parser_NMEA.cpp.

Referenced by mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), implement_parser_NMEA(), and TEST().

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◆ parseBuffer()

void CGPSInterface::parseBuffer ( )

private

Process data in "m_buffer" to extract GPS messages, and remove them from the buffer.

Definition at line 455 of file CGPSInterface.cpp.

References TParsersRegistry::all_parsers, AUTO, flushParsedMessagesNow(), TParsersRegistry::getInstance(), implement_parser_NMEA(), implement_parser_NOVATEL_OEM6(), mrpt::keep_max(), m_customInit, m_just_parsed_messages, m_parser, m_rx_buffer, mrpt::obs::CObservationGPS::messages, NMEA, NONE, NOVATEL_OEM6, mrpt::containers::circular_buffer< T >::pop(), and mrpt::containers::circular_buffer< T >::size().

Referenced by doProcess().

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◆ registerClass()

void CGenericSensor::registerClass ( const TSensorClassId * pNewClass )

staticinherited

Register a class into the internal list of "CGenericSensor" descendents.

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.

Definition at line 115 of file CGenericSensor.cpp.

References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

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◆ sendCustomCommand()

bool CGPSInterface::sendCustomCommand	(	const void *	data,
		const size_t	datalen
	)

Send a custom data block to the GNSS device right now.

Can be used to change its behavior online as needed.

Returns: false on communication error

Can be used to change its behavior online as needed.

Definition at line 890 of file CGPSInterface.cpp.

References mrpt::opengl::internal::data, m_data_stream, and m_data_stream_cs.

◆ setExternalImageFormat()

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string & ext )

inlineinherited

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See also: setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 268 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_format.

◆ setExternalImageJPEGQuality()

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int quality )

inlineinherited

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See also: setExternalImageFormat

Definition at line 275 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ setJAVAD_AIM_mode()

bool CGPSInterface::setJAVAD_AIM_mode ( )

protected

Set Advanced Input Mode for the primary port.

This can be used to send RTK corrections to the device using the same port that it's used for the commands. The RTK correction stream must be re-packaged into a special frame with prefix ">>"

Definition at line 692 of file CGPSInterface.cpp.

References mrpt::system::os::_strcmpi(), ASSERT_, mrpt::format(), JAVAD_sendMessage(), m_customInit, m_JAVAD_rtk_format, m_JAVAD_rtk_src_port, MRPT_END, and MRPT_START.

Referenced by legacy_topcon_setup_commands().

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◆ setJAVAD_rtk_format()

void mrpt::hwdrivers::CGPSInterface::setJAVAD_rtk_format ( const std::string & s )

inlineprotected

Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc.

Definition at line 298 of file CGPSInterface.h.

References m_JAVAD_rtk_format.

◆ setJAVAD_rtk_src_baud()

void mrpt::hwdrivers::CGPSInterface::setJAVAD_rtk_src_baud ( unsigned int baud )

inlineprotected

Only used when "m_JAVAD_rtk_src_port" is not empty.

Definition at line 291 of file CGPSInterface.h.

References m_JAVAD_rtk_src_baud.

◆ setJAVAD_rtk_src_port()

void mrpt::hwdrivers::CGPSInterface::setJAVAD_rtk_src_port ( const std::string & s )

inlineprotected

If not empty, will send a cmd "set,/par/pos/pd/port,...".

Example value: "/dev/ser/b"

Definition at line 285 of file CGPSInterface.h.

References m_JAVAD_rtk_src_port.

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string & name )

inherited

Set the name of the COutputLogger instance.

See also: getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ setParser()

void CGPSInterface::setParser ( CGPSInterface::PARSERS parser )

Select the parser for incomming data, among the options enumerated in CGPSInterface.

Definition at line 144 of file CGPSInterface.cpp.

References m_parser.

◆ setPathForExternalImages()

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( [ [maybe_unused] ] const std::string & directory )

inlinevirtualinherited

Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).

An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.

Exceptions

std::exception If the directory doesn't exists and cannot be created.

Definition at line 257 of file CGenericSensor.h.

◆ setRawDumpFilePrefix()

void mrpt::hwdrivers::CGPSInterface::setRawDumpFilePrefix ( const std::string & filePrefix )

inline

If set to non-empty, RAW GPS serial data will be also dumped to a separate file.

Definition at line 215 of file CGPSInterface.h.

References m_raw_dump_file_prefix.

◆ setSensorLabel()

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string & sensorLabel )

inlineinherited

Definition at line 96 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ setSerialPortName()

void CGPSInterface::setSerialPortName ( const std::string & COM_port )

Set the serial port to use (COM1, ttyUSB0, etc).

Definition at line 194 of file CGPSInterface.cpp.

References m_COMname, m_data_stream, m_data_stream_cs, m_data_stream_is_external, and THROW_EXCEPTION.

◆ setSetupCommands()

void CGPSInterface::setSetupCommands ( const std::vector< std::string > & cmds )

Definition at line 166 of file CGPSInterface.cpp.

References m_setup_cmds.

◆ setSetupCommandsDelay()

void CGPSInterface::setSetupCommandsDelay ( const double delay_secs )

Definition at line 158 of file CGPSInterface.cpp.

References m_custom_cmds_delay.

◆ setShutdownCommands()

void CGPSInterface::setShutdownCommands ( const std::vector< std::string > & cmds )

Definition at line 174 of file CGPSInterface.cpp.

References m_shutdown_cmds.

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ tryToOpenTheCOM()

bool CGPSInterface::tryToOpenTheCOM ( )

private

Returns true if the COM port is already open, or try to open it in other case.

Returns: true if everything goes OK, or false if there are problems opening the port.

Definition at line 223 of file CGPSInterface.cpp.

References m_COMbauds, m_COMname, m_data_stream, m_data_stream_cs, m_data_stream_is_external, m_data_stream_mine_cs, mrpt::hwdrivers::CGenericSensor::m_verbose, and OnConnectionEstablished().

Referenced by doProcess().

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◆ unsetJAVAD_AIM_mode()

bool CGPSInterface::unsetJAVAD_AIM_mode ( )

protected

Unset Advanced Input Mode for the primary port and use it only as a command port.

Definition at line 661 of file CGPSInterface.cpp.

References mrpt::system::os::_strcmpi(), JAVAD_sendMessage(), m_customInit, m_data_stream, m_data_stream_cs, MRPT_END, and MRPT_START.

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◆ useExternalStream()

bool mrpt::hwdrivers::CGPSInterface::useExternalStream ( ) const

inline

Definition at line 195 of file CGPSInterface.h.

References m_data_stream_is_external.

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string * fname_in = nullptr ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also: dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}

inherited

[Default=false] Enables storing all messages into an internal list.

See also: writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ m_COMbauds

int mrpt::hwdrivers::CGPSInterface::m_COMbauds {4800}

private

Definition at line 316 of file CGPSInterface.h.

Referenced by loadConfig_sensorSpecific(), and tryToOpenTheCOM().

◆ m_COMname

std::string mrpt::hwdrivers::CGPSInterface::m_COMname

private

Definition at line 315 of file CGPSInterface.h.

Referenced by getSerialPortName(), loadConfig_sensorSpecific(), setSerialPortName(), and tryToOpenTheCOM().

◆ m_custom_cmds_append_CRLF

bool mrpt::hwdrivers::CGPSInterface::m_custom_cmds_append_CRLF {true}

private

Definition at line 322 of file CGPSInterface.h.

Referenced by enableSetupCommandsAppendCRLF(), isEnabledSetupCommandsAppendCRLF(), loadConfig_sensorSpecific(), OnConnectionEstablished(), and OnConnectionShutdown().

◆ m_custom_cmds_delay

double mrpt::hwdrivers::CGPSInterface::m_custom_cmds_delay {0.1}

private

Definition at line 321 of file CGPSInterface.h.

Referenced by getSetupCommandsDelay(), loadConfig_sensorSpecific(), OnConnectionEstablished(), OnConnectionShutdown(), and setSetupCommandsDelay().

◆ m_customInit

std::string mrpt::hwdrivers::CGPSInterface::m_customInit

protected

Definition at line 276 of file CGPSInterface.h.

Referenced by doProcess(), loadConfig_sensorSpecific(), OnConnectionEstablished(), parseBuffer(), setJAVAD_AIM_mode(), and unsetJAVAD_AIM_mode().

◆ m_data_stream

std::shared_ptr<mrpt::io::CStream> mrpt::hwdrivers::CGPSInterface::m_data_stream

protected

Typically a CSerialPort created by this class, but may be set externally.

Definition at line 269 of file CGPSInterface.h.

Referenced by bindStream(), doProcess(), JAVAD_sendMessage(), legacy_topcon_setup_commands(), OnConnectionEstablished(), OnConnectionShutdown(), sendCustomCommand(), setSerialPortName(), tryToOpenTheCOM(), and unsetJAVAD_AIM_mode().

◆ m_data_stream_cs

std::shared_ptr<std::mutex> mrpt::hwdrivers::CGPSInterface::m_data_stream_cs

protected

Definition at line 270 of file CGPSInterface.h.

Referenced by bindStream(), doProcess(), JAVAD_sendMessage(), legacy_topcon_setup_commands(), OnConnectionEstablished(), OnConnectionShutdown(), sendCustomCommand(), setSerialPortName(), tryToOpenTheCOM(), and unsetJAVAD_AIM_mode().

◆ m_data_stream_is_external

bool mrpt::hwdrivers::CGPSInterface::m_data_stream_is_external {false}

protected

Definition at line 273 of file CGPSInterface.h.

Referenced by bindStream(), setSerialPortName(), tryToOpenTheCOM(), and useExternalStream().

◆ m_data_stream_mine_cs

std::shared_ptr<std::mutex> mrpt::hwdrivers::CGPSInterface::m_data_stream_mine_cs

protected

Initial value:

=

std::make_shared<std::mutex>()

Definition at line 271 of file CGPSInterface.h.

Referenced by bindStream(), and tryToOpenTheCOM().

◆ m_external_images_format

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format

protectedinherited

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See also: setPathForExternalImages

Definition at line 158 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageFormat().

◆ m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality {95}

protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 160 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality().

◆ m_GPS_comsWork

bool mrpt::hwdrivers::CGPSInterface::m_GPS_comsWork {false}

private

Definition at line 318 of file CGPSInterface.h.

Referenced by doProcess(), flushParsedMessagesNow(), and isGPS_connected().

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation {0}

protectedinherited

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 139 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter {0}

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 146 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_JAVAD_rtk_format

std::string mrpt::hwdrivers::CGPSInterface::m_JAVAD_rtk_format

private

Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc.

Definition at line 335 of file CGPSInterface.h.

Referenced by legacy_topcon_setup_commands(), loadConfig_sensorSpecific(), setJAVAD_AIM_mode(), and setJAVAD_rtk_format().

◆ m_JAVAD_rtk_src_baud

unsigned int mrpt::hwdrivers::CGPSInterface::m_JAVAD_rtk_src_baud {0}

private

Only used when "m_JAVAD_rtk_src_port" is not empty.

Definition at line 332 of file CGPSInterface.h.

Referenced by legacy_topcon_setup_commands(), loadConfig_sensorSpecific(), and setJAVAD_rtk_src_baud().

◆ m_JAVAD_rtk_src_port

std::string mrpt::hwdrivers::CGPSInterface::m_JAVAD_rtk_src_port

private

If not empty, will send a cmd "set,/par/pos/pd/port,...".

Example value: "/dev/ser/b"

Definition at line 330 of file CGPSInterface.h.

Referenced by legacy_topcon_setup_commands(), loadConfig_sensorSpecific(), setJAVAD_AIM_mode(), and setJAVAD_rtk_src_port().

◆ m_just_parsed_messages

mrpt::obs::CObservationGPS mrpt::hwdrivers::CGPSInterface::m_just_parsed_messages

private

A private copy of the last received gps datum.

Definition at line 362 of file CGPSInterface.h.

Referenced by doProcess(), flushParsedMessagesNow(), OnConnectionEstablished(), and parseBuffer().

◆ m_last_GGA

std::string mrpt::hwdrivers::CGPSInterface::m_last_GGA

private

Used in getLastGGA()

Definition at line 364 of file CGPSInterface.h.

Referenced by getLastGGA(), and OnConnectionEstablished().

◆ m_last_timestamp

mrpt::system::TTimeStamp mrpt::hwdrivers::CGPSInterface::m_last_timestamp

private

Definition at line 319 of file CGPSInterface.h.

Referenced by doProcess(), and flushParsedMessagesNow().

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len {200}

protectedinherited

See CGenericSensor.

Definition at line 136 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_parser

PARSERS mrpt::hwdrivers::CGPSInterface::m_parser {CGPSInterface::AUTO}

private

Definition at line 313 of file CGPSInterface.h.

Referenced by getParser(), loadConfig_sensorSpecific(), parseBuffer(), and setParser().

◆ m_path_for_external_images

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images

protectedinherited

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 155 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate {0}

protectedinherited

See CGenericSensor.

Definition at line 134 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getProcessRate(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_raw_dump_file_prefix

std::string mrpt::hwdrivers::CGPSInterface::m_raw_dump_file_prefix

private

Definition at line 314 of file CGPSInterface.h.

Referenced by doProcess(), getRawDumpFilePrefix(), loadConfig_sensorSpecific(), and setRawDumpFilePrefix().

◆ m_raw_output_file

mrpt::io::CFileOutputStream mrpt::hwdrivers::CGPSInterface::m_raw_output_file

private

Definition at line 320 of file CGPSInterface.h.

Referenced by doProcess().

◆ m_rx_buffer

mrpt::containers::circular_buffer<uint8_t> mrpt::hwdrivers::CGPSInterface::m_rx_buffer

private

Auxiliary buffer for readings.

Definition at line 312 of file CGPSInterface.h.

Referenced by doProcess(), and parseBuffer().

◆ m_sensorLabel

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel

protectedinherited

See CGenericSensor.

Definition at line 141 of file CGenericSensor.h.

◆ m_sensorLabelAppendMsgType

bool mrpt::hwdrivers::CGPSInterface::m_sensorLabelAppendMsgType {true}

private

Definition at line 317 of file CGPSInterface.h.

Referenced by enableAppendMsgTypeToSensorLabel(), flushParsedMessagesNow(), and loadConfig_sensorSpecific().

◆ m_sensorPose

poses::CPose3D mrpt::hwdrivers::CGPSInterface::m_sensorPose

protected

Definition at line 275 of file CGPSInterface.h.

Referenced by flushParsedMessagesNow(), and loadConfig_sensorSpecific().

◆ m_setup_cmds

std::vector<std::string> mrpt::hwdrivers::CGPSInterface::m_setup_cmds

private

Definition at line 323 of file CGPSInterface.h.

Referenced by getSetupCommands(), loadConfig_sensorSpecific(), OnConnectionEstablished(), and setSetupCommands().

◆ m_shutdown_cmds

std::vector<std::string> mrpt::hwdrivers::CGPSInterface::m_shutdown_cmds

private

Definition at line 324 of file CGPSInterface.h.

Referenced by getShutdownCommands(), loadConfig_sensorSpecific(), OnConnectionShutdown(), and setShutdownCommands().

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state {ssInitializing}

protectedinherited

Definition at line 148 of file CGenericSensor.h.

◆ m_topcon_AIMConfigured

bool mrpt::hwdrivers::CGPSInterface::m_topcon_AIMConfigured {false}

private

Indicates if the AIM has been properly set up.

Definition at line 341 of file CGPSInterface.h.

Referenced by isAIMConfigured(), and legacy_topcon_setup_commands().

◆ m_topcon_data_period

double mrpt::hwdrivers::CGPSInterface::m_topcon_data_period {0.2}

private

The period in seconds which the data should be provided by the GPS.

Definition at line 343 of file CGPSInterface.h.

Referenced by doProcess(), legacy_topcon_setup_commands(), and loadConfig_sensorSpecific().

◆ m_topcon_useAIMMode

bool mrpt::hwdrivers::CGPSInterface::m_topcon_useAIMMode {false}

private

Use this mode for receive RTK corrections from a external source through the primary port.

Definition at line 339 of file CGPSInterface.h.

Referenced by legacy_topcon_setup_commands(), and loadConfig_sensorSpecific().

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose {false}

protectedinherited

Definition at line 149 of file CGenericSensor.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Legacy support for TopCon RTK configuration

Logging methods

Member Typedef Documentation

◆ Ptr

◆ ptr_parser_t

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ PARSERS

◆ TSensorState

Constructor & Destructor Documentation

◆ CGPSInterface()

◆ ~CGPSInterface()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ bindStream()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ dumpLogToConsole()

◆ enableAppendMsgTypeToSensorLabel()

◆ enableSetupCommandsAppendCRLF()

◆ enableVerbose()

◆ flushParsedMessagesNow()

◆ getExternalImageJPEGQuality()

◆ getLastGGA()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ getObservations()

◆ getParser()

◆ getProcessRate()

◆ getRawDumpFilePrefix()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getSerialPortName()

◆ getSetupCommands()

◆ getSetupCommandsDelay()

◆ getShutdownCommands()

◆ getState()

◆ implement_parser_NMEA()

◆ implement_parser_NOVATEL_OEM6()

◆ initialize()

◆ isAIMConfigured()

◆ isEnabledSetupCommandsAppendCRLF()

◆ isGPS_connected()

◆ isGPS_signalAcquired()

◆ isLoggingLevelVisible()

◆ isVerboseEnabled()

◆ JAVAD_sendMessage()

◆ legacy_topcon_setup_commands()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ OnConnectionEstablished()

◆ OnConnectionShutdown()

◆ parse_NMEA()

◆ parseBuffer()

◆ registerClass()

◆ sendCustomCommand()

◆ setExternalImageFormat()