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| virtual bool | initDevice () |
| | Subclasses may override to send device initialization/configuration commands and set up device-specific message handlers. More...
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| bool | waitForData (unsigned long timeout) |
| | Block until data is read from GPS. More...
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| enum | FixType {
NoFix,
BadFix,
GPSFix,
DGPSFix,
PPSFix,
RTKinFix,
FloatRTKinFix,
DeadReckFix,
ManualFix,
SimulatedFix,
UnknownFixType,
OmnistarConverging = FloatRTKinFix,
OmnistarConverged = RTKinFix
} |
| | Data accessors. More...
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Data | myData |
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ArMutex | myMutex |
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ArDeviceConnection * | myDevice |
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bool | myCreatedOwnDeviceCon |
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ArRetFunctorC< bool, ArGPS > | myParseArgsCallback |
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ArArgumentParser * | myArgParser |
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ArNMEAParser | myNMEAParser |
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ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPRMCHandler |
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ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPGGAHandler |
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ArFunctor1C< ArGPS, ArNMEAParser::Message > | myPGRMEHandler |
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ArFunctor1C< ArGPS, ArNMEAParser::Message > | myPGRMZHandler |
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ArFunctor1C< ArGPS, ArNMEAParser::Message > | myHCHDxHandler |
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ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPGSAHandler |
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ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPGSVHandler |
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unsigned int | mySNRSum |
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unsigned short | mySNRNum |
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ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPMSSHandler |
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ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPGSTHandler |
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| const ArGPS::Data & | getCurrentDataRef () const |
| | Access all of the internally stored data directly. More...
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FixType | getFixType () const |
| | (from NMEA GPGGA)
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const char * | getFixTypeName () const |
| | (from NMEA GPGGA)
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bool | havePosition () const |
| | (from NMEA GPRMC)
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bool | haveLatitude () const |
| | (from NMEA GPRMC)
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bool | haveLongitude () const |
| | (from NMEA GPRMC)
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| double | getLatitude () const |
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| double | getLongitude () const |
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| ArTime | getTimeReceivedPosition () const |
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bool | haveSpeed () const |
| | (from NMEA GPRMC)
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| double | getSpeed () const |
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| ArTime | getGPSPositionTimestamp () const |
| | Timestamp provided by GPS device along with position. More...
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int | getNumSatellitesTracked () const |
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bool | haveDGPSStation () const |
| | (from NMEA GPGGA)
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unsigned short | getDGPSStationID () const |
| | (from NMEA GPGGA)
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| bool | haveGarminPositionError () const |
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double | getGarminPositionError () const |
| | GPS device's error estimation in meters (from a Garmin-specific message PGRME, most GPS receivers will not provide this)
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| bool | haveGarminVerticalPositionError () const |
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| double | getGarminVerticalPositionError () const |
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| bool | haveCompassHeadingMag () const |
| | Have a compass heading value relative to magnetic north. More...
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| bool | haveCompassHeadingTrue () const |
| | Have a compass heading value relative to true north (using GPS/compass device's configured declination). More...
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| double | getCompassHeadingMag () const |
| | Heading from magnetic north. More...
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| double | getCompassHeadingTrue () const |
| | Heading from true north. More...
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| void | setCompassHeadingMag (double val) |
| | Manually set compass value. More...
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| void | setCompassHeadingTrue (double val) |
| | Manually set compass value. More...
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| void | setCompassHeadingMagWithLock (double val) |
| | Manually set compass value. More...
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| void | setCompassHeadingTrueWithLock (double val) |
| | Manually set compass value. More...
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bool | haveAltitude () const |
| | Altitude above sea level calculated from satellite positions (see also haveAltimiter()) (from NMEA GPGGA, if provided)
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double | getAltitude () const |
| | Altitude above sea level (meters), calculated from satellite positions (see also getAltimiter()) (from NMEA GPGGA, if provided)
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bool | haveAltimeter () const |
| | Some receivers may have an additional altitude from an altimiter (meters above sea level) (from PGRMZ, if receiver provides it)
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double | getAltimeter () const |
| | Some receivers may have an additional altitude from an altimiter (meters above sea level) (from PGRMZ, if receiver provides it)
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bool | haveHDOP () const |
| | (from NMEA GPGGA)
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double | getHDOP () const |
| | (from NMEA GPGGA)
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bool | haveVDOP () const |
| | (from NMEA GPGGA)
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double | getVDOP () const |
| | (from NMEA GPGGA)
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bool | havePDOP () const |
| | (from NMEA GPGGA)
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double | getPDOP () const |
| | (from NMEA GPGGA)
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bool | haveSNR () const |
| | (from NMEA GPGSV)
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double | getMeanSNR () const |
| | dB (from NMEA GPGSV)
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bool | haveBeaconInfo () const |
| | Whether we have any DGPS stationary beacon info (from NMEA GPMSS)
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double | getBeaconSignalStrength () const |
| | DGPS stationary beacon signal strength (dB) (from NMEA GPMSS)
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double | getBeaconSNR () const |
| | DGPS stationary beacon signal to noise (dB) (from NMEA GPMSS)
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double | getBeaconFreq () const |
| | DGPS stationary beacon frequency (kHz) (from NMEA GPMSS)
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unsigned short | getBecaonBPS () const |
| | DGPS stationary beacon bitrate (bits per second) (from NMEA GPMSS)
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unsigned short | getBeaconChannel () const |
| | DGPS stationary beacon channel (from NMEA GPMSS)
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bool | haveErrorEllipse () const |
| | Whether we have a position error estimate (as standard deviations in latitude and longitude) (from NMEA GPGST)
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| ArPose | getErrorEllipse () const |
| | Standard deviation of position error (latitude and longitude), meters. More...
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bool | haveLatLonError () const |
| | Whether we have latitude or longitude error estimates (from NMEA GPGST)
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| ArPose | getLatLonError () const |
| | Standard deviation of latitude and longitude error, meters. More...
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| double | getLatitudeError () const |
| | Standard deviation of latitude and longitude error, meters. More...
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| double | getLongitudeError () const |
| | Standard deviation of latitude and longitude error, meters. More...
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bool | haveAltitudeError () const |
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double | getAltitudeError () const |
| | Standard deviation of altitude error, meters. (from NMEA GPGST, if provided)
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bool | haveInputsRMS () const |
| | (from NMEA GPGST)
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double | getInputsRMS () const |
| | (from NMEA GPGST)
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| void | addNMEAHandler (const char *message, ArNMEAParser::Handler *handler) |
| | Set a handler for an NMEA message. More...
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void | removeNMEAHandler (const char *message) |
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void | replaceNMEAHandler (const char *message, ArNMEAParser::Handler *handler) |
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bool | readFloatFromString (const std::string &str, double *target, double(*convf)(double)=NULL) const |
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bool | readUShortFromString (const std::string &str, unsigned short *target, unsigned short(*convf)(unsigned short)=NULL) const |
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bool | readFloatFromStringVec (const std::vector< std::string > *vec, size_t i, double *target, double(*convf)(double)=NULL) const |
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bool | readUShortFromStringVec (const std::vector< std::string > *vec, size_t i, unsigned short *target, unsigned short(*convf)(unsigned short)=NULL) const |
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void | handleGPRMC (ArNMEAParser::Message msg) |
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void | handleGPGGA (ArNMEAParser::Message msg) |
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void | handlePGRME (ArNMEAParser::Message msg) |
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void | handlePGRMZ (ArNMEAParser::Message msg) |
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void | handleHCHDx (ArNMEAParser::Message msg) |
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void | handleGPGSA (ArNMEAParser::Message msg) |
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void | handleGPGSV (ArNMEAParser::Message msg) |
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void | handleGPMSS (ArNMEAParser::Message msg) |
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void | handleGPGST (ArNMEAParser::Message msg) |
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bool | readTimeFromString (const std::string &s, ArTime *time) const |
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| void | parseGPRMC (const ArNMEAParser::Message &msg, double &latitudeResult, double &longitudeResult, bool &qualityFlagResult, bool &gotPosition, ArTime &timeGotPositionResult, ArTime &gpsTimestampResult, bool &gotSpeedResult, double &speedResult) |
| | Parse a GPRMC message (in msg) and place results in provided variables. More...
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static const char * | getFixTypeName (FixType type) |
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static double | gpsDegminToDegrees (double degmin) |
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static double | knotsToMPS (double knots) |
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static double | mpsToMph (const double mps) |
| | Convert meters per second to miles per hour.
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static double | metersToFeet (double m) |
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static double | feetToMeters (double f) |
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GPS Device Interface.
Connects to GPS device over a serial port or other device connection and reads data. Supports GPS devices sending standard NMEA format data (specifically the GPRMC, GPGGA, GPGSA, GPGRME, and optionally GPGSV, PGRMZ, PGRME, HCHDG/T/M and GPHDG/T/M messages). If your GPS device supports several data formats or modes, select NMEA output in its configuration.
The preferred method of creating and setting up a new ArGPS object is to use ArGPSConnector, which creates an instance of ArGPS or a subclass, and creates and opens its device connection, based on command-line parameters. (To manually create an ArGPS object, create an ArDeviceConnection instance and call setDeviceConnection(), then open that device connection and call connect().
For either method, to get new data from the GPS, must call read() or readWithLock() periodically, ideally at a rate equal to or faster than your GPS sends data (usually one second). You can do this from a Sensor Intetrpretation Task in ArRobot, or a seperate thread. If you are calling read() from a loop in a new thread,
Here is an example of calling readWithLock() from a sensor interpretation task. The integer argument given to the functor constructor is a milisecond timeout that is passed to readWithLock() and prevents it from blocking too long if it doesn't read any data. It is important to do this in a robot task, or the robot task cycle will be blocked and cause problems.
myRobot->addSensorInterpretationTask("GPS read", 100, &gpsReadFunc);
If you use your own loop or thread, then it ought to include a call to ArUtil::sleep() for at least several hundred miliseconds to avoid starving other threads, since read() will return immediately if there is no data to read rather than blocking.
For each piece of data provided by this class, there is a flag indicating whether it was received from the GPS and set. Not all GPS models return all kinds of information, or it may be disabled in some way in a GPS's internal configuration, or the GPS may not yet have started sending the data (e.g. still acquiring satellites). Also, not all data will be received by one call to read(), and especially immediately after connecting and starting to read data, it may take a few seconds for data to be obtained. Furthermore, it may take some time for the GPS to calculate data with full accuracy.
- See also
- gpsExample.cpp
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gpsRobotTaskExample.cpp
This class is not inherently thread safe. Stored data is updated by read(), so if accessing from multiple threads, call lock() before calling any data accessor methods (methods starting with "get"), or read(), and call unlock() when done. You can also call readWithLock() to do a locked read in one function call.
- Note
- ArGPS only provides access to the data reported by a GPS. The position reported by a GPS is in degrees on the surface of the earth (WGS84 datum), not in the cartesian coordinate system used by the robot odometry or ArMap. You can use the subclasses of Ar3DPoint (ArLLACoords, etc) to convert between different geographical coordinate systems, which may help you match GPS coordinates to the robot pose coordinate system.
- Examples:
- gpsExample.cpp, and gpsRobotTaskExample.cpp.
1.8.13