Parser FP_A routines and types. More...

Classes
struct	FpaCorrimuPayload
	FP_A-CORRIMU (version 1) message payload. More...

struct	FpaEoePayload
	FP_A-EOE (version 1) message payload. More...

struct	FpaFloat
	FP_A float value. More...

struct	FpaFloat3
	FP_A three float values. More...

struct	FpaFloat4
	FP_A four float values. More...

struct	FpaFloat6
	FP_A six float values. More...

struct	FpaGnssantPayload
	FP_A-GNSSANT (version 1) message payload. More...

struct	FpaGnsscorrPayload
	FP_A-GNSSCORR (version 1) message payload. More...

struct	FpaGpsTime
	FP_A GPS time. More...

struct	FpaImubiasPayload
	FP_A-IMUBIAS (version 1) message payload. More...

struct	FpaImuPayload
	FP_A-...IMU (version 1) messages payload. More...

struct	FpaInt
	FP_A integer value. More...

struct	FpaLlhPayload
	FP_A-LLH (version 1) message payload. More...

struct	FpaMessageMeta
	FP_A message meta data. More...

struct	FpaOdomenuPayload
	FP_A-ODOMENU (version 1) messages payload (ENU0) More...

struct	FpaOdometryPayload
	FP_A-ODOMETRY (version 2) messages payload (ECEF) More...

struct	FpaOdomPayload
	FP_A-ODOM... (version 1) messages payload. More...

struct	FpaOdomshPayload
	FP_A-ODOMSH (version 1) messages payload (ECEF) More...

struct	FpaOdomstatusPayload
	FP_A-ODOMSTATUS (version 1) messages payload. More...

struct	FpaPayload
	FP_A payload base class. More...

struct	FpaRawimuPayload
	FP_A-RAWIMU (version 1) message payload. More...

struct	FpaTextPayload
	FP_A-TEXT (version 1) message payload. More...

struct	FpaTfPayload
	FP_A-TF (version 2) message payload. More...

struct	FpaTpPayload
	FP_A-TP (versions 1 and 2) message payload. More...

Enumerations
enum class	FpaInitStatus : int { UNSPECIFIED = '!' , NOT_INIT = '0' , LOCAL_INIT = '1' , GLOBAL_INIT = '2' }
	FP_A fusion initialisation status. More...

enum class	FpaFusionStatusLegacy : int { UNSPECIFIED = '!' , NONE = '0' , VISION = '1' , VIO = '2' , IMU_GNSS = '3' , VIO_GNSS = '4' }
	FP_A legacy fusion status. More...

enum class	FpaMeasStatus : int { UNSPECIFIED = '!' , NOT_USED = '0' , USED = '1' , DEGRADED = '2' }
	FP_A fusion measurement status. More...

enum class	FpaImuStatus : int { UNSPECIFIED = '!' , NOT_CONVERGED = '0' , WARMSTARTED = '1' , ROUGH_CONVERGED = '2' , FINE_CONVERGED = '3' }
	FP_A IMU bias status. More...

enum class	FpaImuStatusLegacy : int { UNSPECIFIED = '!' , NOT_CONVERGED = '0' , CONVERGED = '1' }
	FP_A Legacy IMU bias status. More...

enum class	FpaImuNoise : int { UNSPECIFIED = '!' , LOW_NOISE = '1' , MEDIUM_NOISE = '2' , HIGH_NOISE = '3' , RESERVED4 = '4' , RESERVED5 = '5' , RESERVED6 = '6' , RESERVED7 = '7' }
	FP_A IMU variance. More...

enum class	FpaImuConv : int { UNSPECIFIED = '!' , RESERVED0 = '0' , WAIT_IMU_MEAS = '1' , WAIT_GLOBAL_MEAS = '2' , WAIT_MOTION = '3' , CONVERGING = '4' , RESERVED5 = '5' , RESERVED6 = '6' , IDLE = '7' }
	FP_A IMU accelerometer and gyroscope convergence. More...

enum class	FpaGnssStatus : int { UNSPECIFIED = '!' , NO_FIX = '0' , SPP = '1' , RTK_MB = '2' , RESERVED3 = '3' , RESERVED4 = '4' , RTK_FLOAT = '5' , RESERVED6 = '6' , RESERVED7 = '7' , RTK_FIXED = '8' , RESERVED9 = '9' }
	FP_A GNSS fix status. More...

enum class	FpaCorrStatus : int { UNSPECIFIED = '!' , WAITING_FUSION = '0' , NO_GNSS = '1' , NO_CORR = '2' , LIMITED_CORR = '3' , OLD_CORR = '4' , GOOD_CORR = '5' , RESERVED6 = '6' , RESERVED7 = '7' , RESERVED8 = '8' , RESERVED9 = '9' }
	FP_A GNSS correction status. More...

enum class	FpaBaselineStatus : int { UNSPECIFIED = '!' , WAITING_FUSION = '0' , NO_FIX = '1' , FAILING = '2' , PASSING = '3' }
	FP_A baseline status. More...

enum class	FpaCamStatus : int { UNSPECIFIED = '!' , CAM_UNAVL = '0' , BAD_FEAT = '1' , RESERVED2 = '2' , RESERVED3 = '3' , RESERVED4 = '4' , GOOD = '5' }
	FP_A camera status. More...

enum class	FpaWsStatus : int { UNSPECIFIED = '!' , NOT_ENABLED = '0' , MISS_MEAS = '1' , NONE_CONVERGED = '2' , ONE_CONVERGED = '3' , ALL_CONVERGED = '4' }
	FP_A wheelspeed status. More...

enum class	FpaWsStatusLegacy : int { UNSPECIFIED = '!' , NOT_ENABLED = '-' , NONE_CONVERGED = '0' , ONE_OR_MORE_CONVERGED = '1' }
	FP_A Legacy wheelspeed status. More...

enum class	FpaWsConv : int { UNSPECIFIED = '!' , WAIT_FUSION = '0' , WAIT_WS_MEAS = '1' , WAIT_GLOBAL_MEAS = '2' , WAIT_MOTION = '3' , WAIT_IMU_BIAS = '4' , CONVERGING = '5' , IDLE = '6' }
	FP_A wheelspeed convergence status. More...

enum class	FpaMarkersStatus : int { UNSPECIFIED = '!' , NOT_ENABLED = '0' , NONE_CONVERGED = '1' , ONE_CONVERGED = '2' , ALL_CONVERGED = '3' }
	FP_A markers status. More...

enum class	FpaMarkersConv : int { UNSPECIFIED = '!' , WAIT_FUSION = '0' , WAIT_MARKER_MEAS = '1' , WAIT_GLOBAL_MEAS = '2' , CONVERGING = '3' , IDLE = '4' }
	FP_A markers convergence status. More...

enum class	FpaGnssFix : int { UNSPECIFIED = '!' , UNKNOWN = '0' , NOFIX = '1' , DRONLY = '2' , TIME = '3' , S2D = '4' , S3D = '5' , S3D_DR = '6' , RTK_FLOAT = '7' , RTK_FIXED = '8' }
	FP_A GNSS fix type. More...

enum class	FpaEpoch : int { UNSPECIFIED = 0 , GNSS1 , GNSS2 , GNSS , FUSION }
	FP_A epoch type. More...

enum class	FpaAntState : int { UNSPECIFIED = 0 , OPEN , OK , SHORT }
	FP_A GNSS antenna state. More...

enum class	FpaAntPower : int { UNSPECIFIED = 0 , ON , OFF }
	FP_A GNSS antenna power. More...

enum class	FpaTextLevel : int { UNSPECIFIED = 0 , ERROR = types::EnumToVal(logging::LoggingLevel::ERROR) , WARNING = types::EnumToVal(logging::LoggingLevel::WARNING) , INFO = types::EnumToVal(logging::LoggingLevel::INFO) , DEBUG = types::EnumToVal(logging::LoggingLevel::DEBUG) }
	FP_A text levels. More...

enum class	FpaTimebase : int { UNSPECIFIED = 0 , NONE , GNSS , UTC }
	FP_A time base. More...

enum class	FpaTimeref : int { UNSPECIFIED = 0 , UTC_NONE , UTC_CRL , UTC_NIST , UTC_USNO , UTC_BIPM , UTC_EU , UTC_SU , UTC_NTSC , GNSS_GPS , GNSS_GAL , GNSS_BDS , GNSS_GLO , GNSS_NVC , OTHER }
	FP_A time reference. More...

Functions
bool	FpaGetMessageMeta (FpaMessageMeta &meta, const uint8_t *msg, const std::size_t msg_size)
	Get FP_A message meta data.

bool	FpaGetMessageName (char name, const std::size_t size, const uint8_t msg, const std::size_t msg_size)
	Get FP_A message name.

bool	FpaGetMessageInfo (char info, const std::size_t size, const uint8_t msg, const std::size_t msg_size)
	Get FP_A message info.

Variables
static constexpr uint8_t	FP_A_PREAMBLE = '$'
	FP_A framing preamble.

static constexpr int	FP_A_FRAME_SIZE = 6
	FP_A frame size ("$*cc\r\n")

Detailed Description

Parser FP_A routines and types.

Enumeration Type Documentation

◆ FpaInitStatus

enum class fpsdk::common::parser::fpa::FpaInitStatus : int

strong

FP_A fusion initialisation status.

Enumerator
UNSPECIFIED	Unspecified.
NOT_INIT	Not initialised.
LOCAL_INIT	Locally initialised.
GLOBAL_INIT	Globally initialised.

Definition at line 159 of file fpa.hpp.

◆ FpaFusionStatusLegacy

enum class fpsdk::common::parser::fpa::FpaFusionStatusLegacy : int

strong

FP_A legacy fusion status.

Enumerator
UNSPECIFIED	Unspecified.
NONE	Not started.
VISION	Vision only.
VIO	Visual-inertial fusion.
IMU_GNSS	Inertial-GNSS fusion.
VIO_GNSS	Visual-inertial-GNSS fusion.

Definition at line 170 of file fpa.hpp.

◆ FpaMeasStatus

enum class fpsdk::common::parser::fpa::FpaMeasStatus : int

strong

FP_A fusion measurement status.

Enumerator
UNSPECIFIED	Unspecified.
NOT_USED	Not used.
USED	Used.
DEGRADED	Degraded.

Definition at line 183 of file fpa.hpp.

◆ FpaImuStatus

enum class fpsdk::common::parser::fpa::FpaImuStatus : int

strong

FP_A IMU bias status.

Enumerator
UNSPECIFIED	Unspecified.
NOT_CONVERGED	Not converged.
WARMSTARTED	Warmstarted.
ROUGH_CONVERGED	Rough convergence.
FINE_CONVERGED	Fine convergence.

Definition at line 194 of file fpa.hpp.

◆ FpaImuStatusLegacy

enum class fpsdk::common::parser::fpa::FpaImuStatusLegacy : int

strong

FP_A Legacy IMU bias status.

Enumerator
UNSPECIFIED	Unspecified.
NOT_CONVERGED	Not converged.
CONVERGED	Converged.

Definition at line 206 of file fpa.hpp.

◆ FpaImuNoise

enum class fpsdk::common::parser::fpa::FpaImuNoise : int

strong

FP_A IMU variance.

Enumerator
UNSPECIFIED	Unspecified.
LOW_NOISE	Low noise.
MEDIUM_NOISE	Medium noise.
HIGH_NOISE	High noise.
RESERVED4	Reserved.
RESERVED5	Reserved.
RESERVED6	Reserved.
RESERVED7	Reserved.

Definition at line 216 of file fpa.hpp.

◆ FpaImuConv

enum class fpsdk::common::parser::fpa::FpaImuConv : int

strong

FP_A IMU accelerometer and gyroscope convergence.

Enumerator
UNSPECIFIED	Unspecified.
RESERVED0	Reserved.
WAIT_IMU_MEAS	Awaiting IMU measurements.
WAIT_GLOBAL_MEAS	Insufficient global measurements.
WAIT_MOTION	Insufficient motion.
CONVERGING	Converging.
RESERVED5	Reserved.
RESERVED6	Reserved.
IDLE	Idle.

Definition at line 231 of file fpa.hpp.

◆ FpaGnssStatus

enum class fpsdk::common::parser::fpa::FpaGnssStatus : int

strong

FP_A GNSS fix status.

Enumerator
UNSPECIFIED	Unspecified.
NO_FIX	No fix.
SPP	Single-point positioning (SPP)
RTK_MB	RTK moving baseline.
RESERVED3	Reserved.
RESERVED4	Reserved.
RTK_FLOAT	RTK float.
RESERVED6	Reserved.
RESERVED7	Reserved.
RTK_FIXED	RTK fixed.
RESERVED9	Reserved.

Definition at line 247 of file fpa.hpp.

◆ FpaCorrStatus

enum class fpsdk::common::parser::fpa::FpaCorrStatus : int

strong

FP_A GNSS correction status.

Enumerator
UNSPECIFIED	Unspecified.
WAITING_FUSION	Waiting fusion.
NO_GNSS	No GNSS available.
NO_CORR	No corrections used.
LIMITED_CORR	Limited corrections used: station data & at least one of the constellations (both bands) among the valid rover measurements.
OLD_CORR	Corrections are too old (TBD)
GOOD_CORR	Sufficient corrections used: station data and corrections for ALL bands among the valid rover measurements.
RESERVED6	Reserved.
RESERVED7	Reserved.
RESERVED8	Reserved.
RESERVED9	Reserved.

Definition at line 265 of file fpa.hpp.

◆ FpaBaselineStatus

enum class fpsdk::common::parser::fpa::FpaBaselineStatus : int

strong

FP_A baseline status.

Enumerator
UNSPECIFIED	Unspecified.
WAITING_FUSION	Waiting fusion.
NO_FIX	Not available or no fix.
FAILING	Failing.
PASSING	Passing.

Definition at line 283 of file fpa.hpp.

◆ FpaCamStatus

enum class fpsdk::common::parser::fpa::FpaCamStatus : int

strong

FP_A camera status.

Enumerator
UNSPECIFIED	Unspecified.
CAM_UNAVL	Camera not available.
BAD_FEAT	Camera available, but not usable (e.g. too dark)
RESERVED2	Reserved.
RESERVED3	Reserved.
RESERVED4	Reserved.
GOOD	Camera working and available.

Definition at line 295 of file fpa.hpp.

◆ FpaWsStatus

enum class fpsdk::common::parser::fpa::FpaWsStatus : int

strong

FP_A wheelspeed status.

Enumerator
UNSPECIFIED	Unspecified.
NOT_ENABLED	No wheelspeed enabled.
MISS_MEAS	Missing wheelspeed measurements.
NONE_CONVERGED	At least one wheelspeed enabled, no wheelspeed converged.
ONE_CONVERGED	At least one wheelspeed enabled and at least one converged.
ALL_CONVERGED	At least one wheelspeed enabled and all converged.

Definition at line 309 of file fpa.hpp.

◆ FpaWsStatusLegacy

enum class fpsdk::common::parser::fpa::FpaWsStatusLegacy : int

strong

FP_A Legacy wheelspeed status.

Enumerator
UNSPECIFIED	Unspecified.
NOT_ENABLED	No wheelspeed enabled.
NONE_CONVERGED	None converged.
ONE_OR_MORE_CONVERGED	At least one converged.

Definition at line 322 of file fpa.hpp.

◆ FpaWsConv

enum class fpsdk::common::parser::fpa::FpaWsConv : int

strong

FP_A wheelspeed convergence status.

Enumerator
UNSPECIFIED	Unspecified.
WAIT_FUSION	Awaiting Fusion.
WAIT_WS_MEAS	Missing wheelspeed measurements.
WAIT_GLOBAL_MEAS	Insufficient global measurements.
WAIT_MOTION	Insufficient motion.
WAIT_IMU_BIAS	Insufficient imu bias convergence.
CONVERGING	Converging.
IDLE	Idle.

Definition at line 333 of file fpa.hpp.

◆ FpaMarkersStatus

enum class fpsdk::common::parser::fpa::FpaMarkersStatus : int

strong

FP_A markers status.

Enumerator
UNSPECIFIED	Unspecified.
NOT_ENABLED	No markers available.
NONE_CONVERGED	Markers available.
ONE_CONVERGED	Markers available and used.
ALL_CONVERGED	All markers available and used.

Definition at line 348 of file fpa.hpp.

◆ FpaMarkersConv

enum class fpsdk::common::parser::fpa::FpaMarkersConv : int

strong

FP_A markers convergence status.

Enumerator
UNSPECIFIED	Unspecified.
WAIT_FUSION	Awaiting Fusion.
WAIT_MARKER_MEAS	Waiting marker measurements.
WAIT_GLOBAL_MEAS	Insufficient global measurements.
CONVERGING	Converging.
IDLE	Idle.

Definition at line 360 of file fpa.hpp.

◆ FpaGnssFix

enum class fpsdk::common::parser::fpa::FpaGnssFix : int

strong

FP_A GNSS fix type.

Enumerator
UNSPECIFIED	Unspecified.
UNKNOWN	Unknown.
NOFIX	No fix.
DRONLY	Dead-reckoning only.
TIME	Time-only fix.
S2D	Single 2D fix.
S3D	Single 3D fix.
S3D_DR	Single 3D fix with dead-reckoning.
RTK_FLOAT	RTK float fix.
RTK_FIXED	RTK fixed fix.

Definition at line 373 of file fpa.hpp.

◆ FpaEpoch

enum class fpsdk::common::parser::fpa::FpaEpoch : int

strong

FP_A epoch type.

Enumerator
UNSPECIFIED	Unspecified.
GNSS1	GNSS 1.
GNSS2	GNSS 2.
GNSS	Combined GNSS.
FUSION	Fusion.

Definition at line 390 of file fpa.hpp.

◆ FpaAntState

enum class fpsdk::common::parser::fpa::FpaAntState : int

strong

FP_A GNSS antenna state.

Enumerator
UNSPECIFIED	Unspecified.
OPEN	No antenna detected (or connected via DC block)
OK	Antenna detected and good.
SHORT	Antenna short circuit detected.

Definition at line 402 of file fpa.hpp.

◆ FpaAntPower

enum class fpsdk::common::parser::fpa::FpaAntPower : int

strong

FP_A GNSS antenna power.

Enumerator
UNSPECIFIED	Unspecified.
ON	Antenna power supply is on.
OFF	Antenna power supply is off.

Definition at line 413 of file fpa.hpp.

◆ FpaTextLevel

enum class fpsdk::common::parser::fpa::FpaTextLevel : int

strong

FP_A text levels.

Enumerator
UNSPECIFIED	Unspecified.
ERROR	Error.
WARNING	Warning.
INFO	Info.
DEBUG	Debug.

Definition at line 423 of file fpa.hpp.

◆ FpaTimebase

enum class fpsdk::common::parser::fpa::FpaTimebase : int

strong

FP_A time base.

Enumerator
UNSPECIFIED	Unspecified.
NONE	None.
GNSS	GNSS.
UTC	UTC.

Definition at line 434 of file fpa.hpp.

◆ FpaTimeref

enum class fpsdk::common::parser::fpa::FpaTimeref : int

strong

FP_A time reference.

Enumerator
UNSPECIFIED	Unspecified.
UTC_NONE	UTC: None (UTC params not yet known)
UTC_CRL	UTC: Communications Research Laboratory (CRL), Japan.
UTC_NIST	UTC: National Institute of Standards and Technology (NIST)
UTC_USNO	UTC: U.S. Naval Observatory (USNO)
UTC_BIPM	UTC: International Bureau of Weights and Measures (BIPM)
UTC_EU	UTC: European laboratories.
UTC_SU	UTC: Former Soviet Union (SU)
UTC_NTSC	UTC: National Time Service Center (NTSC), China.
GNSS_GPS	GNSS: GPS.
GNSS_GAL	GNSS: Galileo.
GNSS_BDS	GNSS: BeiDou.
GNSS_GLO	GNSS: GLONASS.
GNSS_NVC	GNSS: NavIC.
OTHER	other/unknown GNSS/UTC

Definition at line 445 of file fpa.hpp.

Function Documentation

◆ FpaGetMessageMeta()

bool fpsdk::common::parser::fpa::FpaGetMessageMeta	(	FpaMessageMeta &	meta,
		const uint8_t *	msg,
		const std::size_t	msg_size )

Get FP_A message meta data.

Parameters

[out]	meta	The meta data
[in]	msg	Pointer to the FP_A message
[in]	msg_size	Size of the FP_A message (>= 11)

Note: No check on the data provided is done. The caller must ensure that the data is a correct FP_A message.

Returns: true if the meta data was successfully extracted, false otherwise

◆ FpaGetMessageName()

bool fpsdk::common::parser::fpa::FpaGetMessageName	(	char *	name,
		const std::size_t	size,
		const uint8_t *	msg,
		const std::size_t	msg_size )

Get FP_A message name.

Generates a name (string) in the form "FP_A-MESSAGEID" (for example, "FP_A-ODOMETRY").

Parameters

[out]	name	String to write the name to
[in]	size	Size of `name` (incl. nul termination)
[in]	msg	Pointer to the FP_A message
[in]	msg_size	Size of the `msg`

Note: No check on the data provided is done. The caller must ensure that the data is a valid FP_A or FP_A message.

Returns: true if message name was generated, false if name buffer was too small

◆ FpaGetMessageInfo()

bool fpsdk::common::parser::fpa::FpaGetMessageInfo	(	char *	info,
		const std::size_t	size,
		const uint8_t *	msg,
		const std::size_t	msg_size )

Get FP_A message info.

This stringifies the content of some FP_A messages, for debugging.

Parameters

[out]	info	String to write the info to
[in]	size	Size of `name` (incl. nul termination)
[in]	msg	Pointer to the FP_A message
[in]	msg_size	Size of the `msg`

Note: No check on the data provided is done. The caller must ensure that the data is a valid FP_A message.

Returns: true if message info was generated (even if info is empty), false if name buffer was too small

Variable Documentation

◆ FP_A_PREAMBLE

uint8_t fpsdk::common::parser::fpa::FP_A_PREAMBLE = '$'

staticconstexpr

FP_A framing preamble.

Definition at line 99 of file fpa.hpp.

◆ FP_A_FRAME_SIZE

int fpsdk::common::parser::fpa::FP_A_FRAME_SIZE = 6

staticconstexpr

FP_A frame size ("$*cc\r\n")

Definition at line 100 of file fpa.hpp.

Classes

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ FpaInitStatus

◆ FpaFusionStatusLegacy

◆ FpaMeasStatus

◆ FpaImuStatus

◆ FpaImuStatusLegacy

◆ FpaImuNoise

◆ FpaImuConv

◆ FpaGnssStatus

◆ FpaCorrStatus

◆ FpaBaselineStatus

◆ FpaCamStatus

◆ FpaWsStatus

◆ FpaWsStatusLegacy

◆ FpaWsConv

◆ FpaMarkersStatus

◆ FpaMarkersConv

◆ FpaGnssFix

◆ FpaEpoch

◆ FpaAntState

◆ FpaAntPower

◆ FpaTextLevel

◆ FpaTimebase

◆ FpaTimeref

Function Documentation

◆ FpaGetMessageMeta()

◆ FpaGetMessageName()

◆ FpaGetMessageInfo()

Variable Documentation

◆ FP_A_PREAMBLE

◆ FP_A_FRAME_SIZE