A NovAtel SPAN series parser developed with C++.
- SPANType.h - Define the field types used in SPAN.
- SPANHeader.h - Define the message header used in SPAN.
- SPANMessage.h - Define some SPAN message structs and some convert.
- SPANParser.h - The main class to parse message received.
SPAN® on OEM6 Firmware Reference Manual(OM-20000144)
SPAN-CPT™ Quick Start Guide(GM-14915124)
OEM6® Firmware Reference Guide(OM-20000129)
#include <iostream>
#include "SPANMessage.h"
#include "SPANParser.h"
int main(int argc, char* argv[]){
SPAN::Parser parser;
parser.RegisterCallback<SPAN::BESTPOS>(
[&](const SPAN::BESTPOS *msg) -> void {
std::cout << std::setprecision(std::numeric_limits<double>::digits10)
<< msg->header.week << "\t" << msg->header.ms / 1000.0
<< "\t" << SPAN::NameFromSolutionStatus(msg->sol_stat)
<< "\t"
<< SPAN::NameFromPositionOrVelocityType(msg->pos_type)
<< "\t" << msg->lat << "\t" << msg->lon << "\t" << msg->hgt
<< "\n";
},
SPAN::MessageID::BESTPOS);
parser.push("#BESTPOSA,USB2_1,0,58.0,FINESTEERING,2001,552919.800,00000000,b1f6,14039;"
"SOL_COMPUTED,NARROW_INT,30.53258681161,114.35918699405,33.3996,-14.4000,WGS84,0.0155,0.0109,0.0480,"
"\"19\",0.800,0.000,13,9,9,9,00,01,00,33*77ae42d7");
return 0;
}
Add new messages
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| Field | Field Type | Description | Format | Binary Bytes | Binary Offset |
|---|---|---|---|---|---|
| 1 | Log Header | Log header | - | H | 0 |
| 2 | Week | GNSS Week | ULong | 4 | H |
| 3 | Seconds into Week | Seconds from week start | Double | 8 | H+4 |
| 4 | North Velocity | Velocity North in m/s | Double | 8 | H+12 |
| 5 | East Velocity | Velocity East in m/s | Double | 8 | H+20 |
| 6 | Up Velocity | Velocity Up in m/s | Double | 8 | H+28 |
| 7 | Status | INS status, see Table 32, Inertial Solution Status on page 136 | Enum | 4 | H+36 |
| 8 | xxxx | 32-bit CRC (ASCII, Binary and Short Binary only) | Hex | 4 | H+40 |
| 9 | [CR][LF] | Sentence terminator (ASCII only) | - | - | - |
//SPANMessage.h
// Example for messages with general header.
////// TODO: Add here
DEFINE_SPAN_MESSAGE(40,
INSVEL,
//The data fields of INSVEL except Log Header, xxxx and [CR][LF]
ULong week; Double seconds_into_week; Double north_velocity;
Double east_velocity; Double up_velocity; InertialSolutionStatus status;
,
// fill data fields with binary string
// static bool fromBinWithoutHeader(const std::string& str, T& __t)
{
if (str.size() < sizeof(__t) - sizeof(__t.header)) return false;
memcpy(&__t.week DEFINE_COMMA str.data() DEFINE_COMMA sizeof(__t) -
sizeof(__t.header));
#if __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
__t.toggleEndian();
#endif
return true;
},
// fill data fields with ascii strings
// static bool fromAsciiWithoutHeader(const std::vector<std::string>& str, T& __t)
{
if (str.size() < 6) {
return false;
}
__t.week = std::stoul(str[0]);
__t.seconds_into_week = std::stod(str[1]);
__t.north_velocity = std::stod(str[2]);
__t.east_velocity = std::stod(str[3]);
__t.up_velocity = std::stod(str[4]);
__t.status = InertialSolutionStatusFromName(str[5]);
return true;
},
// little endian <--> big endian
// void toggleEndian()
{
TOGGLE_SPAN_ENDIAN(week);
TOGGLE_SPAN_ENDIAN(seconds_into_week);
TOGGLE_SPAN_ENDIAN(north_velocity);
TOGGLE_SPAN_ENDIAN(east_velocity);
TOGGLE_SPAN_ENDIAN(up_velocity);
TOGGLE_SPAN_ENDIAN(status);
})
//////
// ...
// ...
inline bool ConstructASCIIWithoutHeader(MessageID id,
std::vector<std::string> data,
void* var) {
#define ASCII_CASE(ID) \
case MessageID::ID: { \
ID::fromAsciiWithoutHeader(data, *(reinterpret_cast<ID*>(var))); \
break; \
}
switch (id) {
///// TODO: Add here
ASCII_CASE(INSVEL)
/////
default: { return false; }
}
return true;
}
inline bool ConstructBINWithoutHeader(MessageID id, std::string data,
void* var) {
#define BIN_CASE(ID) \
case MessageID::ID: { \
ID::fromBinWithoutHeader(data, *(reinterpret_cast<ID*>(var))); \
} break;
switch (id) {
///// TODO: Add here
BIN_CASE(INSVEL)
/////
default: { return false; }
}
return true;
}
This log is the short header version of the INSVEL log.
//SPANMessage.h
// Example for messages with general header and short header.
// If the message has both general header and short header, do this part only.
////// TODO: Add here
// Replace last part DEFINE_SPAN_MESSAGE to DEFINE_SPAN_MESSAGE_WITH_SHORT
DEFINE_SPAN_MESSAGE_WITH_SHORT(40,
INSVEL,
//The data fields of INSVEL except Log Header, xxxx and [CR][LF]
ULong week; Double seconds_into_week; Double north_velocity;
Double east_velocity; Double up_velocity; InertialSolutionStatus status;
,
// fill data fields with binary string
// static bool fromBinWithoutHeader(const std::string& str, T& __t)
{
if (str.size() < sizeof(__t) - sizeof(__t.header)) return false;
memcpy(&__t.week DEFINE_COMMA str.data() DEFINE_COMMA sizeof(__t) -
sizeof(__t.header));
#if __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
__t.toggleEndian();
#endif
return true;
},
// fill data fields with ascii strings
// static bool fromAsciiWithoutHeader(const std::vector<std::string>& str, T& __t)
{
if (str.size() < 6) {
return false;
}
__t.week = std::stoul(str[0]);
__t.seconds_into_week = std::stod(str[1]);
__t.north_velocity = std::stod(str[2]);
__t.east_velocity = std::stod(str[3]);
__t.up_velocity = std::stod(str[4]);
__t.status = InertialSolutionStatusFromName(str[5]);
return true;
},
// little endian <--> big endian
// void toggleEndian()
{
TOGGLE_SPAN_ENDIAN(week);
TOGGLE_SPAN_ENDIAN(seconds_into_week);
TOGGLE_SPAN_ENDIAN(north_velocity);
TOGGLE_SPAN_ENDIAN(east_velocity);
TOGGLE_SPAN_ENDIAN(up_velocity);
TOGGLE_SPAN_ENDIAN(status);
})
//////
// ...
// ...
inline bool ConstructASCIIWithoutHeader(MessageID id,
std::vector<std::string> data,
void* var) {
#define ASCII_CASE(ID) \
case MessageID::ID: { \
ID::fromAsciiWithoutHeader(data, *(reinterpret_cast<ID*>(var))); \
break; \
}
switch (id) {
///// TODO: Add here
ASCII_CASE(INSVELS)
/////
default: { return false; }
}
return true;
}
inline bool ConstructBINWithoutHeader(MessageID id, std::string data,
void* var) {
#define BIN_CASE(ID) \
case MessageID::ID: { \
ID::fromBinWithoutHeader(data, *(reinterpret_cast<ID*>(var))); \
} break;
switch (id) {
///// TODO: Add here
BIN_CASE(INSVELS)
/////
default: { return false; }
}
return true;
}