Updates and publish rate

CMakeLists.txt

@@ -37,11 +37,11 @@ catkin_package(
 ###########
 
 #include(vnproglib-1.1/cpp/CMakeLists.txt)
-add_subdirectory(vnproglib-1.1.5.0/cpp)
+add_subdirectory(vnproglib-1.2.0.0/cpp)
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(vnproglib-1.1.5.0/cpp/include ${catkin_INCLUDE_DIRS})
+include_directories(vnproglib-1.2.0.0/cpp/include ${catkin_INCLUDE_DIRS})
 
 ## Declare a cpp library
 ## Declare a cpp executable

Dockerfile

@@ -0,0 +1,30 @@
+FROM ros:noetic-ros-core
+
+# change shell to bash
+SHELL ["/bin/bash","-c"]
+
+# install build packages
+RUN apt-get update && \
+ apt-get install -y --no-install-recommends \
+ make g++ cmake ros-noetic-tf2 ros-noetic-tf2-geometry-msgs && \
+ rm -rf /var/lib/apt/lists/*
+
+# copy vectornav repo to workspace
+COPY . /catkin_ws/src/vectornav
+
+# change to workspace
+WORKDIR /catkin_ws
+
+# build workspace
+RUN source /opt/ros/noetic/setup.bash && \
+ catkin_make
+
+# create entrypoint script
+RUN printf '#!/bin/bash\nsource /catkin_ws/devel/setup.bash\nexec "$@"' > /entrypoint.bash && \
+ chmod 777 /entrypoint.bash
+
+# define entrypoint
+ENTRYPOINT ["/entrypoint.bash"]
+
+# define startup default command
+CMD ["roslaunch", "vectornav", "vectornav.launch"]

src/main.cpp

@@ -223,13 +223,14 @@ int main(int argc, char *argv[])
  uint32_t sn = vs.readSerialNumber();
  ROS_INFO("Model Number: %s, Firmware Version: %s", mn.c_str(), fv.c_str());
  ROS_INFO("Hardware Revision : %d, Serial Number : %d", hv, sn);
+ ROS_INFO("Publish Rate: %d Hz", async_output_rate);
 
  // Set the device info for passing to the packet callback function
  UserData user_data;
  user_data.device_family = vs.determineDeviceFamily();
 
- // Set Data output Freq [Hz]
- vs.writeAsyncDataOutputFrequency(async_output_rate);
+ // Make sure no generic async output is registered
+ vs.writeAsyncDataOutputType(VNOFF);
 
  // Configure binary output message
  BinaryOutputRegister bor(
@@ -260,8 +261,7 @@ int main(int argc, char *argv[])
 
  vs.writeBinaryOutput1(bor);
 
- // Set Data output Freq [Hz]
- vs.writeAsyncDataOutputFrequency(async_output_rate);
+ // Register async callback function
  vs.registerAsyncPacketReceivedHandler(&user_data, BinaryAsyncMessageReceived);
 
  // You spin me right round, baby

vnproglib-1.2.0.0/CHANGELOG.txt

@@ -0,0 +1,51 @@
+Changelog for VectorNav Programming Library
+
+2021-06-08 v1.2.0.0
+ - Added support and examples for embedded firmware updates (C,C++,.NET)
+ - Added support and example for passing through RTCM corrections to Tactical products (C++)
+ - Added Heave Configuration Register & binary output parsing (C++)
+ - Added examples supporting Visual Studio 2019 (C,C++,.NET)
+ - Updated Python help files for installation troubleshooting
+ - Fixed bug (C++) Delta Theta/Velocity Configuration Register, bad enumeration for 
+ Accelerometer Compensation, added EarthRateCorrection enumeration 
+ * NOT BACKWARDS COMPATIBLE *
+ - Updated GPS Basic Configuration register (C++) for setting antenna power
+ - Fixed bug (C++) in dcm2quat() function
+ - Fixed bug (C++) to add support for CompositeData::positionGpsEcef()
+ - Fixed bug (C++) for timing on Mac systems
+ - Fixed bug (C++) for using SYNCINMODE_ASYNC3
+ - Added support for connecting to multiple sensors simultaneously (C++)
+ - Fixed bug (C++) for parsing Binary Group GPS-2 data
+ - Cleaned up ASCII response packet parsing, including InsStatus field (C++)
+ - Fixed bug (C++) in packet handler when not waiting for response
+ - Fixed bug (C++) in parsing GpsTow from VNGPS & VNGPE messages
+ - Cleaned up packetfinder (C++), including putting checks on packet lengths to prevent
+ ouf-of-memory issues and increasing buffer sizes to handle larger binary messages
+
+2019-06-10 v1.1.5.0
+ - Added a license file to the distribution (which includes the version number)
+ - Updated the C++ library to support GPS-2
+ - Added .NET-library getting_started example project for Visual Studio 2017 and x64 builds 
+ (which also supports Matlab and Labview)
+ - Fixed bug (C) that prevented writing to the User Tag register
+ - Fixed bug (C++) in serial parser that could lead to program hanging due to never unlocking
+ a CriticalSection
+ - Added support in C++ for SYNCINMODE_ASYNC3
+ - Updated C-library to be able to be compiled as C++ code (restoring past functionality)
+
+2018-06-13 v1.1.4.0
+ - Fixed bug (C,C++,.NET) that could cause process to hang when both ASCII and binary data 
+ present on port
+ - Fixed bug (C,C++) that can cause process to crash or consume 100% CPU on Linux machines
+ - Re-compiled the .NET DLLs so Labview examples work properly
+ - Added support for UTC time outputs in both C & C++
+ - Added Binary Group 7 (GPS2) outputs to C-library (not available in any other language)
+ - Added support to C-library for binary outputs SyncOutCnt, TimeStatus, TimeInfo, GpsDOP 
+ (now available across C, C++, .NET)
+ - Fixed bug (C) that output garbage when parsing hex printed values in ASCII outputs: VNERR 
+ message, INS Status, Binary Output Configuration Registers
+ - Fixed bug (C++) in example Makefiles causing linking error
+
+2018-03-05 v1.1.2.0
+ - Added support in C++ & .NET for binary outputs: SyncInCnt, TimeStatus, TimeInfo, GpsDOP 
+

vnproglib-1.2.0.0/LICENSE.txt

@@ -0,0 +1,22 @@
+The MIT License (MIT)
+
+VectorNav Programming Library (v1.2.0.0)
+Copyright (c) 2015 VectorNav Technologies, LLC
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

vnproglib-1.1.5.0/cpp/CMakeLists.txt → vnproglib-1.2.0.0/cpp/CMakeLists.txt

@@ -27,6 +27,8 @@ set(SOURCE
  src/packetfinder.cpp
  src/port.cpp
  src/position.cpp
+ src/rtcmlistener.cpp
+ src/rtcmmessage.cpp
  src/searcher.cpp
  src/sensors.cpp
  src/serialport.cpp
@@ -44,6 +46,8 @@ set(SOURCE
  include/vn/error_detection.h
  include/vn/position.h
  include/vn/registers.h
+ include/vn/rtcmlistener.h
+ include/vn/rtcmmessage.h
  include/vn/utilities.h
  include/vn/memoryport.h
  include/vn/nocopy.h

vnproglib-1.1.5.0/cpp/Makefile → vnproglib-1.2.0.0/cpp/Makefile

@@ -18,6 +18,8 @@ SOURCES = \
  src/packetfinder.cpp \
  src/port.cpp \
  src/position.cpp \
+ src/rtcmlistener.cpp \
+ src/rtcmmessage.cpp \
  src/searcher.cpp \
  src/sensors.cpp \
  src/serialport.cpp \

vnproglib-1.1.5.0/cpp/include/vn/exceptions.h → vnproglib-1.2.0.0/cpp/include/vn/exceptions.h

@@ -7,6 +7,7 @@
 #define _VN_EXCEPTIONS_H_
 
 #include <stdexcept>
+#include <string>
 
 namespace vn {
 

vnproglib-1.1.5.0/cpp/include/vn/packet.h → vnproglib-1.2.0.0/cpp/include/vn/packet.h

@@ -88,6 +88,13 @@ struct vn_proglib_DLLEXPORT Packet
  /// otherwise <c>false</c>.
  bool isAsciiAsync();
 
+ /// \brief Indicates if the packet is a Bootloader message.
+ ///
+ /// \return <c>true</c> if the packet is a Bootloader message;
+ /// otherwise <c>false</c>.
+ bool isBootloader();
+
+
  /// \brief Determines the type of ASCII asynchronous message this packet
  /// is.
  ///
@@ -373,6 +380,14 @@ struct vn_proglib_DLLEXPORT Packet
  /// \return The total number bytes in the generated command.
  static size_t genReset(ErrorDetectionMode errorDetectionMode, char *buffer, size_t size);
 
+ /// \brief Generates a command to put the sensor in firmware update mode.
+ ///
+ /// \param[in] errorDetectionMode The type of error-detection to use in generating the command.
+ /// \param[in] buffer Caller provided buffer to place the generated command.
+ /// \param[in] size Number of bytes available in the provided buffer.
+ /// \return The total number bytes in the generated command.
+ static size_t genFirmwareUpdate(ErrorDetectionMode errorDetectionMode, char* buffer, size_t size);
+
  /// \brief Generates a command to read the Serial Baud Rate register on a VectorNav sensor.
  ///
  /// \param[in] errorDetectionMode The type of error-detection to use in generating the command.
@@ -430,6 +445,15 @@ struct vn_proglib_DLLEXPORT Packet
  /// \return The total number bytes in the generated command.
  static size_t genWriteAsyncDataOutputFrequency(ErrorDetectionMode errorDetectionMode, char* buffer, size_t size, uint32_t adof, uint8_t port);
 
+ /// \brief Generates a command to write to a firmware update record on a VectorNav sensor to the bootloader.
+ ///
+ /// \param[in] errorDetectionMode The type of error-detection to use in generating the command.
+ /// \param[in] buffer Caller provided buffer to place the generated command.
+ /// \param[in] size Number of bytes available in the provided buffer.
+ /// \param[in] record The record to write to the bootloader for a specific processor on the sensor.
+ /// \return The total number bytes in the generated command.
+ static size_t genWriteFirmwareUpdateRecord(ErrorDetectionMode errorDetectionMode, char* buffer, size_t size, std::string record);
+
  /// \brief Generates a command to read the User Tag register on a VectorNav sensor.
  ///
  /// \param[in] errorDetectionMode The type of error-detection to use in generating the command.
@@ -791,6 +815,36 @@ struct vn_proglib_DLLEXPORT Packet
  /// \return The total number bytes in the generated command.
  static size_t genWriteFilterBasicControl(ErrorDetectionMode errorDetectionMode, char* buffer, size_t size, uint8_t magMode, uint8_t extMagMode, uint8_t extAccMode, uint8_t extGyroMode, vn::math::vec3f gyroLimit);
 
+ /// \brief Generates a command to read the Heave Configuration register on a VectorNav sensor.
+ ///
+ /// \param[in] errorDetectionMode The type of error-detection to use in generating the command.
+ /// \param[in] buffer Caller provided buffer to place the generated command.
+ /// \param[in] size Number of bytes available in the provided buffer.
+ /// \return The total number bytes in the generated command.
+ static size_t genReadHeaveConfiguration(ErrorDetectionMode errorDetectionMode, char *buffer, size_t size);
+
+ /// \brief Generates a command to write to the VPE Basic Control register on a VectorNav sensor.
+ ///
+ /// \param[in] errorDetectionMode The type of error-detection to use in generating the command.
+ /// \param[in] buffer Caller provided buffer to place the generated command.
+ /// \param[in] size Number of bytes available in the provided buffer.
+ /// \param[in] initialWavePeriod Value for the initialWavePeriod field.
+ /// \param[in] initialWaveAmplitude Value for the initialWaveAmplitude field.
+ /// \param[in] maxWavePeriod Value for the maxWavePeriod field.
+ /// \param[in] minWaveAmplitude Value for the minWaveAmplitude field.
+ /// \param[in] delayedHeaveCutoffFreq Value for the delayedHeaveCutoffFreq field.
+ /// \param[in] heaveCutoffFreq Value for the heaveCutoffFreq field.
+ /// \param[in] heaveRateCutoffFreq Value for the heaveRateCutoffFreq field.
+ /// \return The total number bytes in the generated command.
+ static size_t genWriteHeaveConfiguration(ErrorDetectionMode errorDetectionMode,char *buffer, size_t size, 
+ float initialWavePeriod, 
+ float initialWaveAmplitude, 
+ float maxWavePeriod,
+ float minWaveAmplitude,
+ float delayedHeaveCutoffFreq,
+ float heaveCutoffFreq,
+ float heaveRateCutoffFreq);
+
  /// \brief Generates a command to read the VPE Basic Control register on a VectorNav sensor.
  ///
  /// \param[in] errorDetectionMode The type of error-detection to use in generating the command.
@@ -1031,7 +1085,7 @@ struct vn_proglib_DLLEXPORT Packet
  /// \return The total number bytes in the generated command.
  static size_t genReadGpsConfiguration(ErrorDetectionMode errorDetectionMode, char* buffer, size_t size);
 
- /// \brief Generates a command to write to the GPS Configuration register on a VectorNav sensor.
+ /// \brief Generates a command to write to the GPS Configuration register on a VectorNav sensor (deprecated).
  ///
  /// \param[in] errorDetectionMode The type of error-detection to use in generating the command.
  /// \param[in] buffer Caller provided buffer to place the generated command.
@@ -1041,6 +1095,18 @@ struct vn_proglib_DLLEXPORT Packet
  /// \return The total number bytes in the generated command.
  static size_t genWriteGpsConfiguration(ErrorDetectionMode errorDetectionMode, char* buffer, size_t size, uint8_t mode, uint8_t ppsSource);
 
+ /// \brief Generates a command to write to the GPS Configuration register on a VectorNav sensor.
+ ///
+ /// \param[in] errorDetectionMode The type of error-detection to use in generating the command.
+ /// \param[in] buffer Caller provided buffer to place the generated command.
+ /// \param[in] size Number of bytes available in the provided buffer.
+ /// \param[in] mode The register's Mode field.
+ /// \param[in] ppsSource The register's PpsSource field.
+ /// \param[in] rate The register's Rate field.
+ /// \param[in] antPow The register's AntPower field.
+ /// \return The total number bytes in the generated command.
+ static size_t genWriteGpsConfiguration(ErrorDetectionMode errorDetectionMode, char* buffer, size_t size, uint8_t mode, uint8_t ppsSource, uint8_t rate, uint8_t antPow);
+
  /// \brief Generates a command to read the GPS Antenna Offset register on a VectorNav sensor.
  ///
  /// \param[in] errorDetectionMode The type of error-detection to use in generating the command.
@@ -1191,7 +1257,7 @@ struct vn_proglib_DLLEXPORT Packet
  /// \return The total number bytes in the generated command.
  static size_t genReadDeltaThetaAndDeltaVelocityConfiguration(ErrorDetectionMode errorDetectionMode, char* buffer, size_t size);
 
- /// \brief Generates a command to write to the Delta Theta and Delta Velocity Configuration register on a VectorNav sensor.
+ /// \brief Generates a command to write to the Delta Theta and Delta Velocity Configuration register on a VectorNav sensor (deprecated).
  ///
  /// \param[in] errorDetectionMode The type of error-detection to use in generating the command.
  /// \param[in] buffer Caller provided buffer to place the generated command.
@@ -1202,6 +1268,18 @@ struct vn_proglib_DLLEXPORT Packet
  /// \return The total number bytes in the generated command.
  static size_t genWriteDeltaThetaAndDeltaVelocityConfiguration(ErrorDetectionMode errorDetectionMode, char* buffer, size_t size, uint8_t integrationFrame, uint8_t gyroCompensation, uint8_t accelCompensation);
 
+ /// \brief Generates a command to write to the Delta Theta and Delta Velocity Configuration register on a VectorNav sensor.
+ ///
+ /// \param[in] errorDetectionMode The type of error-detection to use in generating the command.
+ /// \param[in] buffer Caller provided buffer to place the generated command.
+ /// \param[in] size Number of bytes available in the provided buffer.
+ /// \param[in] integrationFrame The register's IntegrationFrame field.
+ /// \param[in] gyroCompensation The register's GyroCompensation field.
+ /// \param[in] accelCompensation The register's AccelCompensation field.
+ /// \param[in] earthRateCorrection The register's EarthRateCorrection field.
+ /// \return The total number bytes in the generated command.
+ static size_t genWriteDeltaThetaAndDeltaVelocityConfiguration(ErrorDetectionMode errorDetectionMode, char* buffer, size_t size, uint8_t integrationFrame, uint8_t gyroCompensation, uint8_t accelCompensation, uint8_t earthRateCorrection);
+
  /// \brief Generates a command to read the Reference Vector Configuration register on a VectorNav sensor.
  ///
  /// \param[in] errorDetectionMode The type of error-detection to use in generating the command.
@@ -1794,6 +1872,15 @@ struct vn_proglib_DLLEXPORT Packet
  /// \param[out] gyroLimit The register's GyroLimit field.
  void parseFilterBasicControl(uint8_t* magMode, uint8_t* extMagMode, uint8_t* extAccMode, uint8_t* extGyroMode, vn::math::vec3f* gyroLimit);
 
+ // Added by jesperh 2021-02-09
+ void parseHeaveConfiguration( 
+ float* initialWavePeriod, 
+ float* initialWaveAmplitude, 
+ float* maxWavePeriod,
+ float* minWaveAmplitude, 
+ float* delayedHeaveCutoffFreq,
+ float* heaveCutoffFreq,
+ float* heaveRateCutoffFreq);
  /// \brief Parses a response from reading the VPE Basic Control register.
  ///
  /// \param[out] enable The register's Enable field.
@@ -1893,12 +1980,20 @@ struct vn_proglib_DLLEXPORT Packet
  /// \param[out] pressure The register's Pressure field.
  void parseImuMeasurements(vn::math::vec3f* mag, vn::math::vec3f* accel, vn::math::vec3f* gyro, float* temp, float* pressure);
 
- /// \brief Parses a response from reading the GPS Configuration register.
+ /// \brief Parses a response from reading the GPS Configuration register (deprecated).
  ///
  /// \param[out] mode The register's Mode field.
  /// \param[out] ppsSource The register's PpsSource field.
  void parseGpsConfiguration(uint8_t* mode, uint8_t* ppsSource);
 
+ /// \brief Parses a response from reading the GPS Configuration register.
+ ///
+ /// \param[out] mode The register's Mode field.
+ /// \param[out] ppsSource The register's PpsSource field.
+ /// \param[out] rate The register's Rate field.
+ /// \param[out] antPow The register's AntPower field.
+ void parseGpsConfiguration(uint8_t* mode, uint8_t* ppsSource, uint8_t* rate, uint8_t* antPow);
+
  /// \brief Parses a response from reading the GPS Antenna Offset register.
  ///
  /// \param[out] position The register's Position field.
@@ -2020,13 +2115,21 @@ struct vn_proglib_DLLEXPORT Packet
  /// \param[out] deltaVelocity The register's DeltaVelocity field.
  void parseDeltaThetaAndDeltaVelocity(float* deltaTime, vn::math::vec3f* deltaTheta, vn::math::vec3f* deltaVelocity);
 
- /// \brief Parses a response from reading the Delta Theta and Delta Velocity Configuration register.
+ /// \brief Parses a response from reading the Delta Theta and Delta Velocity Configuration register (deprecated).
  ///
  /// \param[out] integrationFrame The register's IntegrationFrame field.
  /// \param[out] gyroCompensation The register's GyroCompensation field.
  /// \param[out] accelCompensation The register's AccelCompensation field.
  void parseDeltaThetaAndDeltaVelocityConfiguration(uint8_t* integrationFrame, uint8_t* gyroCompensation, uint8_t* accelCompensation);
 
+ /// \brief Parses a response from reading the Delta Theta and Delta Velocity Configuration register.
+ ///
+ /// \param[out] integrationFrame The register's IntegrationFrame field.
+ /// \param[out] gyroCompensation The register's GyroCompensation field.
+ /// \param[out] accelCompensation The register's AccelCompensation field.
+ /// \param[out] earthRateCorrection The register's EarthRateCorrection field.
+ void parseDeltaThetaAndDeltaVelocityConfiguration(uint8_t* integrationFrame, uint8_t* gyroCompensation, uint8_t* accelCompensation, uint8_t* earthRateCorrection);
+
  /// \brief Parses a response from reading the Reference Vector Configuration register.
  ///
  /// \param[out] useMagModel The register's UseMagModel field.