ArTrimbleGPS Class Reference
GPS subclass to support the Trimble AgGPS and other Trimble GPS devices. More...
#include <ArTrimbleGPS.h>
Inherits ArGPS.
Public Member Functions | |
| bool | sendTSIPCommand (char command, const char *data, size_t dataLen) |
| Send a TSIP command to the Trimble GPS. More... | |
 Public Member Functions inherited from ArGPS | |
| bool | blockingConnect (unsigned long connectTimeout=20000) |
| Same as connect(). More... | |
| virtual bool | connect (unsigned long connectTimeout=20000) |
| Check that the device connection (e.g. More... | |
| ArDeviceConnection * | getDeviceConnection () const |
| Return device connection in use (or NULL if none) | |
| void | lock () |
| Locks a mutex object contained by this class. More... | |
| void | logData () const |
| Log last received data using ArLog. More... | |
| void | printData (bool labels=true) const |
| Print basic navigation data on one line to standard output, with no newline at end. More... | |
| void | printDataLabelsHeader () const |
| virtual int | read (unsigned long maxTime=0) |
| Read some data from the device connection, and update stored data as complete messages are received. More... | |
| int | readWithLock (unsigned int maxTime) |
| Calls lock(), calls read(maxTime), then calls unlock(). More... | |
| void | setDeviceConnection (ArDeviceConnection *deviceConn) |
| Set device connection to use. | |
| void | setIgnoreChecksum (bool ignore) |
| Set whether checksum sent with NMEA messages is ignored. | |
| void | unlock () |
| Unlocks a mutex object contained by this class. More... | |
| const ArGPS::Data & | getCurrentDataRef () const |
| Access all of the internally stored data directly. More... | |
| FixType | getFixType () const |
| (from NMEA GPGGA) | |
| const char * | getFixTypeName () const |
| (from NMEA GPGGA) | |
| bool | havePosition () const |
| (from NMEA GPRMC) | |
| bool | haveLatitude () const |
| (from NMEA GPRMC) | |
| bool | haveLongitude () const |
| (from NMEA GPRMC) | |
| double | getLatitude () const |
| double | getLongitude () const |
| ArTime | getTimeReceivedPosition () const |
| bool | haveSpeed () const |
| (from NMEA GPRMC) | |
| double | getSpeed () const |
| ArTime | getGPSPositionTimestamp () const |
| Timestamp provided by GPS device along with position. More... | |
| int | getNumSatellitesTracked () const |
| bool | haveDGPSStation () const |
| (from NMEA GPGGA) | |
| unsigned short | getDGPSStationID () const |
| (from NMEA GPGGA) | |
| bool | haveGarminPositionError () const |
| double | getGarminPositionError () const |
| GPS device's error estimation in meters (from a Garmin-specific message PGRME, most GPS receivers will not provide this) | |
| bool | haveGarminVerticalPositionError () const |
| double | getGarminVerticalPositionError () const |
| bool | haveCompassHeadingMag () const |
| Have a compass heading value relative to magnetic north. More... | |
| bool | haveCompassHeadingTrue () const |
| Have a compass heading value relative to true north (using GPS/compass device's configured declination). More... | |
| double | getCompassHeadingMag () const |
| Heading from magnetic north. More... | |
| double | getCompassHeadingTrue () const |
| Heading from true north. More... | |
| void | setCompassHeadingMag (double val) |
| Manually set compass value. More... | |
| void | setCompassHeadingTrue (double val) |
| Manually set compass value. More... | |
| void | setCompassHeadingMagWithLock (double val) |
| Manually set compass value. More... | |
| void | setCompassHeadingTrueWithLock (double val) |
| Manually set compass value. More... | |
| bool | haveAltitude () const |
| Altitude above sea level calculated from satellite positions (see also haveAltimiter()) (from NMEA GPGGA, if provided) | |
| double | getAltitude () const |
| Altitude above sea level (meters), calculated from satellite positions (see also getAltimiter()) (from NMEA GPGGA, if provided) | |
| bool | haveAltimeter () const |
| Some receivers may have an additional altitude from an altimiter (meters above sea level) (from PGRMZ, if receiver provides it) | |
| double | getAltimeter () const |
| Some receivers may have an additional altitude from an altimiter (meters above sea level) (from PGRMZ, if receiver provides it) | |
| bool | haveHDOP () const |
| (from NMEA GPGGA) | |
| double | getHDOP () const |
| (from NMEA GPGGA) | |
| bool | haveVDOP () const |
| (from NMEA GPGGA) | |
| double | getVDOP () const |
| (from NMEA GPGGA) | |
| bool | havePDOP () const |
| (from NMEA GPGGA) | |
| double | getPDOP () const |
| (from NMEA GPGGA) | |
| bool | haveSNR () const |
| (from NMEA GPGSV) | |
| double | getMeanSNR () const |
| dB (from NMEA GPGSV) | |
| bool | haveBeaconInfo () const |
| Whether we have any DGPS stationary beacon info (from NMEA GPMSS) | |
| double | getBeaconSignalStrength () const |
| DGPS stationary beacon signal strength (dB) (from NMEA GPMSS) | |
| double | getBeaconSNR () const |
| DGPS stationary beacon signal to noise (dB) (from NMEA GPMSS) | |
| double | getBeaconFreq () const |
| DGPS stationary beacon frequency (kHz) (from NMEA GPMSS) | |
| unsigned short | getBecaonBPS () const |
| DGPS stationary beacon bitrate (bits per second) (from NMEA GPMSS) | |
| unsigned short | getBeaconChannel () const |
| DGPS stationary beacon channel (from NMEA GPMSS) | |
| bool | haveErrorEllipse () const |
| Whether we have a position error estimate (as standard deviations in latitude and longitude) (from NMEA GPGST) | |
| ArPose | getErrorEllipse () const |
| Standard deviation of position error (latitude and longitude), meters. More... | |
| bool | haveLatLonError () const |
| Whether we have latitude or longitude error estimates (from NMEA GPGST) | |
| ArPose | getLatLonError () const |
| Standard deviation of latitude and longitude error, meters. More... | |
| double | getLatitudeError () const |
| Standard deviation of latitude and longitude error, meters. More... | |
| double | getLongitudeError () const |
| Standard deviation of latitude and longitude error, meters. More... | |
| bool | haveAltitudeError () const |
| double | getAltitudeError () const |
| Standard deviation of altitude error, meters. (from NMEA GPGST, if provided) | |
| bool | haveInputsRMS () const |
| (from NMEA GPGST) | |
| double | getInputsRMS () const |
| (from NMEA GPGST) | |
| void | addNMEAHandler (const char *message, ArNMEAParser::Handler *handler) |
| Set a handler for an NMEA message. More... | |
| void | removeNMEAHandler (const char *message) |
| void | replaceNMEAHandler (const char *message, ArNMEAParser::Handler *handler) |
Protected Member Functions | |
| virtual bool | initDevice () |
| Protected Member Functions inherited from ArGPS | |
| bool | waitForData (unsigned long timeout) |
| Block until data is read from GPS. More... | |
| bool | readFloatFromString (const std::string &str, double *target, double(*convf)(double)=NULL) const |
| bool | readUShortFromString (const std::string &str, unsigned short *target, unsigned short(*convf)(unsigned short)=NULL) const |
| bool | readFloatFromStringVec (const std::vector< std::string > *vec, size_t i, double *target, double(*convf)(double)=NULL) const |
| bool | readUShortFromStringVec (const std::vector< std::string > *vec, size_t i, unsigned short *target, unsigned short(*convf)(unsigned short)=NULL) const |
| void | handleGPRMC (ArNMEAParser::Message msg) |
| void | handleGPGGA (ArNMEAParser::Message msg) |
| void | handlePGRME (ArNMEAParser::Message msg) |
| void | handlePGRMZ (ArNMEAParser::Message msg) |
| void | handleHCHDx (ArNMEAParser::Message msg) |
| void | handleGPGSA (ArNMEAParser::Message msg) |
| void | handleGPGSV (ArNMEAParser::Message msg) |
| void | handleGPMSS (ArNMEAParser::Message msg) |
| void | handleGPGST (ArNMEAParser::Message msg) |
| bool | readTimeFromString (const std::string &s, ArTime *time) const |
| 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... | |
Additional Inherited Members | |
| Public Types inherited from ArGPS | |
| enum | { ReadFinished = ArNMEAParser::ParseFinished, ReadError = ArNMEAParser::ParseError, ReadData = ArNMEAParser::ParseData, ReadUpdated = ArNMEAParser::ParseUpdated } |
| Flags to indicates what the read() method did. More... | |
| enum | FixType { NoFix, BadFix, GPSFix, DGPSFix, PPSFix, RTKinFix, FloatRTKinFix, DeadReckFix, ManualFix, SimulatedFix, UnknownFixType, OmnistarConverging = FloatRTKinFix, OmnistarConverged = RTKinFix } |
| Data accessors. More... | |
| Static Public Member Functions inherited from ArGPS | |
| static const char * | getFixTypeName (FixType type) |
| Public Attributes inherited from ArGPS | |
| enum ArGPS:: { ... } | ReadFlags |
| Flags to indicates what the read() method did. More... | |
| Static Protected Member Functions inherited from ArGPS | |
| static double | gpsDegminToDegrees (double degmin) |
| static double | knotsToMPS (double knots) |
| static double | mpsToMph (const double mps) |
| Convert meters per second to miles per hour. | |
| static double | metersToFeet (double m) |
| static double | feetToMeters (double f) |
| Protected Attributes inherited from ArGPS | |
| Data | myData |
| ArMutex | myMutex |
| ArDeviceConnection * | myDevice |
| bool | myCreatedOwnDeviceCon |
| ArRetFunctorC< bool, ArGPS > | myParseArgsCallback |
| ArArgumentParser * | myArgParser |
| ArNMEAParser | myNMEAParser |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPRMCHandler |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPGGAHandler |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myPGRMEHandler |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myPGRMZHandler |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myHCHDxHandler |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPGSAHandler |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPGSVHandler |
| unsigned int | mySNRSum |
| unsigned short | mySNRNum |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPMSSHandler |
| ArFunctor1C< ArGPS, ArNMEAParser::Message > | myGPGSTHandler |
Detailed Description
GPS subclass to support the Trimble AgGPS and other Trimble GPS devices.
This subclass extends ArGPS to send initialization commands specific to Trimble GPS devices, and to handle the PTNLAG001 message which is specific to the Trimble GPS (this message contains data received from an auxilliary device connected to the GPS; ArTrimbleGPS simply parses its contents as a new NMEA message; i.e. data received by the Trimble is assumed to be NMEA messages that it forwards via the PTNLAG001 message.)
- Note
- You must also configure the ports using the Trimble AgRemote program (http://www.trimble.com/support_trl.asp?pt=AgRemote&Nav=Collection-1545). Enable the following messages on whichever GPS port the computer is connected to: GPRMC, GPGGA, GPGSA, GPGSV, GPGST, GPMSS, and set input (I) protocol to TSIP 38k baud, and output protocol (O) to NMEA 38k baud. This configuration is done by MobileRobots when shipping a Trimble AgGPS but you may need to do this if the GPS loses its configuration or after changing any other settings (Note that AgRemote resets the port settings each time it connects, so you must reset them each time before exiting AgRemote!)
- Since
- 2.6.0
Member Function Documentation
◆ sendTSIPCommand()
| bool ArTrimbleGPS::sendTSIPCommand | ( | char | command, |
| const char * | data, | ||
| size_t | dataLen | ||
| ) |
Send a TSIP command to the Trimble GPS.
See the TSIP Reference guide for details. Note, the data must be 66 characters or less.
The documentation for this class was generated from the following files:
- ArTrimbleGPS.h
- ArTrimbleGPS.cpp
