Unicore::Plan Namespace Reference

Classes
struct	BaseStation
	The commands after identification. More...
struct	Command

Enumerations
enum class	Reply : uint8_t {   Acknowledgement , Version , RoverMode , AveragingMode ,   FixedMode , FixedPosition }

Functions
Command	identify ()
	Sent at each candidate rate. Nothing changes before a supported receiver answers.
BaseStation	averagingBase (std::chrono::seconds maximum)
	Receiver-managed averaging for at most maximum.
BaseStation	fixedBase (const GPSProtocolMath::Ecef &position)
	A fixed base at position, in ECEF metres.

Variables
constexpr std::chrono::milliseconds	COMMAND_TIMEOUT {1500}
	Per command.
constexpr std::chrono::milliseconds	CONFIGURATION_TIMEOUT {45000}
	For the whole configuration after validation.
constexpr std::array	BAUD_RATES {115200u, 230400u, 460800u, 921600u, 57600u, 38400u, 19200u, 9600u}
	Rates the identity query probes, in order.

Detailed Description

UM980/UM982 base-station configuration as command lists, in the order they are sent, from the Unicore N4 Commands and Logs Reference Book EN R1.6 (sections 3, 7.3.1, 7.3.27 and 7.3.44). Each command is one "<text>\r\n" line for the current port. Nothing is saved: the plan never sends SAVECONFIG or FRESET.

Enumeration Type Documentation

Reply

enum class Unicore::Plan::Reply : uint8_t

strong

What completes a command: its "$command,<text>,response: OK" acknowledgement, or the log it queries. Any other response status rejects the command.

Enumerator
Acknowledgement
Version	#VERSIONA names a UM980 from R4.10Build7923 or a UM982 from R4.10Build7650 (section 3.6).
RoverMode	#MODE reports MODE ROVER.
AveragingMode	#MODE reports MODE BASE TIME.
FixedMode	#MODE reports MODE BASE.
FixedPosition	#BESTNAVXYZA reports FIXEDPOS at the commanded coordinates.

Definition at line 22 of file UnicorePlan.h.

Function Documentation

averagingBase()

BaseStation Unicore::Plan::averagingBase

(

std::chrono::seconds

maximum

)

Receiver-managed averaging for at most maximum.

Definition at line 42 of file UnicorePlan.cc.

References AveragingMode, and Unicore::Plan::BaseStation::role.

fixedBase()

BaseStation Unicore::Plan::fixedBase

(

const GPSProtocolMath::Ecef &

position

)

A fixed base at position, in ECEF metres.

Definition at line 49 of file UnicorePlan.cc.

References FixedMode, FixedPosition, and gpsFixedDecimal().

identify()

Command Unicore::Plan::identify

(

)

Sent at each candidate rate. Nothing changes before a supported receiver answers.

Definition at line 37 of file UnicorePlan.cc.

References Version.

Variable Documentation

BAUD_RATES

constexpr std::array Unicore::Plan::BAUD_RATES {115200u, 230400u, 460800u, 921600u, 57600u, 38400u, 19200u, 9600u}

inlineconstexpr

Rates the identity query probes, in order.

Definition at line 43 of file UnicorePlan.h.

COMMAND_TIMEOUT

constexpr std::chrono::milliseconds Unicore::Plan::COMMAND_TIMEOUT {1500}

inlineconstexpr

Per command.

Definition at line 18 of file UnicorePlan.h.

CONFIGURATION_TIMEOUT

constexpr std::chrono::milliseconds Unicore::Plan::CONFIGURATION_TIMEOUT {45000}

inlineconstexpr

For the whole configuration after validation.

Definition at line 41 of file UnicorePlan.h.