#include <UBXProtocol.h>

Inheritance diagram for UBX::Protocol:

Collaboration diagram for UBX::Protocol:

Public Member Functions
bool	configure (GPSCommandChannel &channel, GPSConfig config, unsigned &baud) override

bool	probe (GPSCommandChannel &channel) override
	The MON-VER poll Protocol::configure() identifies receivers with, under the same label and timeout.

GPSReceiveUpdates	onFrame (const GPSFrame &frame, GPSDecodeContext &context) override

void	flush (GPSDecodeContext &context) override
	Publishes epochs past their deadline.

bool	receiverReady () const override

QString	identity () const override
	Model and firmware reported during configuration; empty when unknown.

bool	armDecodeOnly (const GPSConfig &config, GPSDecodeContext &context) override
	The decoder state a successful configure() leaves: navigation, survey and corrections decoding.

bool	armNavigationDecode (GPSNavigationDecode decode, GPSDecodeContext &context) override

bool	completeReceiveCycle (GPSReceiveUpdates handled) override
	Whether a receive cycle has what it waits for: a pending readback, or else a navigation update.

std::chrono::milliseconds	nextReadSlice (std::chrono::milliseconds timeout) const override
	Reads briefly once part of an epoch has arrived, as the rest follows back to back.

void	serviceStreaming (GPSCommandChannel &channel) override
	RTCM activation after survey-in and disabling unexpected output, as decoding requested.

Public Member Functions inherited from GPSFamilyProtocol
virtual	~GPSFamilyProtocol ()=default

virtual GPSReceiveUpdates	receive (GPSCommandChannel &channel, std::chrono::milliseconds timeout)
	One streaming receive. The default runs GPSCommandChannel::receiveCycle() and then the streaming services.

Static Public Attributes
static constexpr std::array	NAVIGATION_MESSAGES

static constexpr std::chrono::seconds	REPEATED_WARNING_INTERVAL {60}
	A receiver warning or error repeated within this interval is logged at debug level.

Additional Inherited Members
Protected Member Functions inherited from GPSFamilyProtocol
	GPSFamilyProtocol ()=default

Detailed Description

The u-blox family protocol. Configuration takes its receiver settings from UBX::Plan and holds the control flow that depends on replies: baud detection and the UART handoff, jamming-detection fallback, time mode, survey-in and RTCM activation. Decoding turns UBX frames and forwarded RTCM3 frames into events without I/O: it records acknowledgements and readbacks for configuration, and requests the streaming commands that decoded traffic calls for.

Definition at line 50 of file UBXProtocol.h.

Member Function Documentation

◆ armDecodeOnly()

bool UBX::Protocol::armDecodeOnly	(	const GPSConfig &	config,
		GPSDecodeContext &	context
	)

overridevirtual

The decoder state a successful configure() leaves: navigation, survey and corrections decoding.

Reimplemented from GPSFamilyProtocol.

Definition at line 130 of file UBXDecoder.cc.

References config, and GPSDecodeContext::stream().

◆ armNavigationDecode()

bool UBX::Protocol::armNavigationDecode	(	GPSNavigationDecode	decode,
		GPSDecodeContext &	context
	)

overridevirtual

Decode-only use without a configuration, such as passive input or fuzzing: decodes the navigation output (positions, satellites, integrity) of a receiver configured elsewhere, as decode asks, without I/O or events.

Returns: false, as by default, when the family decodes that output without being armed.

Reimplemented from GPSFamilyProtocol.

Definition at line 138 of file UBXDecoder.cc.

References GPSDecodeContext::stream().

◆ completeReceiveCycle()

bool UBX::Protocol::completeReceiveCycle ( GPSReceiveUpdates handled )

overridevirtual

Whether a receive cycle has what it waits for: a pending readback, or else a navigation update.

Reimplemented from GPSFamilyProtocol.

Definition at line 151 of file UBXDecoder.cc.

References Position, UBX::ReceiverController::readbackPending(), and UBX::ReceiverController::readbackReady().

◆ configure()

bool UBX::Protocol::configure	(	GPSCommandChannel &	channel,
		GPSConfig	config,
		unsigned &	baud
	)

overridevirtual

Configures the receiver. A zero baud requests detection; set it to the rate the link ends at. Any sticky failure has been cleared before this starts. A failed configuration records its reason with GPSCommandChannel::failControl(), failSequence() or failNoAnswer() and returns false; GPSDriver logs it, so the family does not.

Returns: true when the receiver is ready.

Implements GPSFamilyProtocol.

Definition at line 40 of file UBXConfigurator.cc.

References Ashtech::Plan::BAUD_RATES, config, GPSCommandChannel::detectBaud(), GPSCommandChannel::failControl(), GPSCommandChannel::failed(), GPSCommandChannel::failNoAnswer(), Found, GPSCommandChannel::receiveCycle(), GPSStreamDemux::reset(), Stop, GPSCommandChannel::stream(), TryNext, UBX, and UBX::unknown.

◆ flush()

void UBX::Protocol::flush ( GPSDecodeContext & context )

overridevirtual

Publishes epochs past their deadline.

Reimplemented from GPSFamilyProtocol.

Definition at line 123 of file UBXDecoder.cc.

References UBX::EpochAssembler::expire().

◆ identity()

QString UBX::Protocol::identity ( ) const

inlineoverridevirtual

Model and firmware reported during configuration; empty when unknown.

Reimplemented from GPSFamilyProtocol.

Definition at line 74 of file UBXProtocol.h.

References UBX::Identity::firmware, gpsReceiverIdentity(), and UBX::Identity::model.

◆ nextReadSlice()

std::chrono::milliseconds UBX::Protocol::nextReadSlice ( std::chrono::milliseconds timeout ) const

overridevirtual

Reads briefly once part of an epoch has arrived, as the rest follows back to back.

Reimplemented from GPSFamilyProtocol.

Definition at line 162 of file UBXDecoder.cc.

◆ onFrame()

GPSReceiveUpdates UBX::Protocol::onFrame	(	const GPSFrame &	frame,
		GPSDecodeContext &	context
	)

overridevirtual

Decodes one frame, publishing events to the context.

Returns: updates beyond the published events, such as protocol activity for an acknowledgement.

Implements GPSFamilyProtocol.

Definition at line 114 of file UBXDecoder.cc.

References GPSDecodeContext::publishRTCM(), and RTCM3.

◆ probe()

bool UBX::Protocol::probe ( GPSCommandChannel & channel )

overridevirtual

The MON-VER poll Protocol::configure() identifies receivers with, under the same label and timeout.

Reimplemented from GPSFamilyProtocol.

Definition at line 692 of file UBXConfigurator.cc.

References Acknowledged, UBX::messageName(), UBX::Msg::MON_VER, Pending, GPSConfigurationEvidence::succeeded(), GPSCommandChannel::transact(), UBX, and UBX::MessageId::value().

◆ receiverReady()

bool UBX::Protocol::receiverReady ( ) const

inlineoverridevirtual

Whether the receiver runs as the latest configure() set it up, such as a base sending corrections; false before and while configuring. The runtime reports a receiver with a sticky failure as not ready.

Reimplemented from GPSFamilyProtocol.

Definition at line 72 of file UBXProtocol.h.

◆ serviceStreaming()

void UBX::Protocol::serviceStreaming ( GPSCommandChannel & channel )

overridevirtual

RTCM activation after survey-in and disabling unexpected output, as decoding requested.

Reimplemented from GPSFamilyProtocol.

Definition at line 409 of file UBXConfigurator.cc.

References GPSCommandChannel::failControl().

Member Data Documentation

◆ NAVIGATION_MESSAGES

constexpr std::array UBX::Protocol::NAVIGATION_MESSAGES

staticconstexpr

Initial value:

{Msg::NAV_PVT,    Msg::NAV_HPPOSLLH, Msg::NAV_DOP,
                                                    Msg::NAV_STATUS, Msg::MON_HW,       Msg::MON_RF,
                                                    Msg::SEC_SIG,    Msg::NAV_SAT,      Msg::NAV_SVINFO}

Output decoded in navigation mode, besides NAV-EOE and NAV-SVIN. Other output is dropped and the streaming services ask the receiver to stop it (any message on legacy receivers, Plan::UNEXPECTED_OUTPUT from protocol 27), so every message the configuration plan enables must be listed.

Definition at line 56 of file UBXProtocol.h.

◆ REPEATED_WARNING_INTERVAL

constexpr std::chrono::seconds UBX::Protocol::REPEATED_WARNING_INTERVAL {60}

staticconstexpr

A receiver warning or error repeated within this interval is logged at debug level.

Definition at line 61 of file UBXProtocol.h.

The documentation for this class was generated from the following files:

src/GPS/Core/Protocols/UBX/UBXProtocol.h
src/GPS/Core/Protocols/UBX/UBXConfigurator.cc
src/GPS/Core/Protocols/UBX/UBXDecoder.cc

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ armDecodeOnly()

◆ armNavigationDecode()

◆ completeReceiveCycle()

◆ configure()

◆ flush()

◆ identity()

◆ nextReadSlice()

◆ onFrame()

◆ probe()

◆ receiverReady()

◆ serviceStreaming()

Member Data Documentation

◆ NAVIGATION_MESSAGES

◆ REPEATED_WARNING_INTERVAL