Detailed Description

Defines the GPS sensor.

Data Structures
struct	dwGPSFrameNew
	This structure contains one frame of data from an GPS/GNSS sensor. More...

Functions
DW_API_PUBLIC dwStatus	dwSensorGPS_popFrame (dwGPSFrame *const frame, dwSensorHandle_t const sensor)
	Returns any GPS frame previously processed through RAW data stream. More...

DW_API_PUBLIC dwStatus	dwSensorGPS_popFrameNew (dwGPSFrameNew *const frame, dwSensorHandle_t const sensor)
	Returns any GPS frame New previously processed through RAW data stream. More...

DW_API_PUBLIC dwStatus	dwSensorGPS_processRawData (uint8_t const *const data, size_t const size, dwSensorHandle_t const sensor)
	Decodes RAW data previously read. More...

DW_API_PUBLIC dwStatus	dwSensorGPS_processRawDataNew (uint8_t const *const data, size_t const size, dwSensorHandle_t const sensor)
	Decodes RAW data previously read. More...

DW_API_PUBLIC dwStatus	dwSensorGPS_readFrame (dwGPSFrame *const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
	Reads the next available GPS data frame with a given timeout. More...

DW_API_PUBLIC dwStatus	dwSensorGPS_readFrameNew (dwGPSFrameNew *const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
	Reads the next GPS packet with a given timeout. More...

Data Structure Documentation

◆ dwGPSFrameNew

struct dwGPSFrameNew

Data Fields
float64_t	altitude	Note ID VS-91040 description Altitude over WGS-84 ellipsoid. min nan max nan freq 4 unit m
float64_t	climb	Note ID VS-91070 description Vertical speed. min nan max nan freq 4 unit m/s
float64_t	course	Note ID VS-91050 description Course relative to true north. min nan max nan freq 4 unit deg
dwGPSFixStatus	fixStatus	Note ID VS-91150 description 2D or 3D fix. TODO: Backend not yet implemented min nan max nan freq 4 unit unitless * valid values: { DW_GPS_FIX_STATUS_NO_FIX, DW_GPS_FIX_STATUS_2D_FIX, DW_GPS_FIX_STATUS_3D_FIX }
float64_t	hacc	Note ID VS-91110 description Horizontal Accuracy of Solution. min nan max nan freq 4 unit m
float64_t	hdop	Note ID VS-91080 description Horizontal Dilution of Precision. min nan max nan freq 4 unit unitless
float64_t	latitude	Note ID VS-91020 description Latitude in WGS-84. min nan max nan freq 4 unit deg
float64_t	longitude	Note ID VS-91030 description Longitude in WGS-84. min nan max nan freq 4 unit deg
dwGPSMode	mode	Note ID VS-91175 description GPS mode. TODO: Backend not yet implemented min nan max nan freq 4 unit unitless * valid values: { DW_GPS_MODE_UNKNOWN, DW_GPS_MODE_INVALID_GPS, DW_GPS_MODE_DEAD_RECKONING, DW_GPS_MODE_STAND_ALONE, DW_GPS_MODE_PRECISE_POINT, DW_GPS_MODE_CODE_DIFFERENTIAL, DW_GPS_MODE_RTK_FLOAT, DW_GPS_MODE_RTK_FIXED, DW_GPS_MODE_PPP_CONVERGING, DW_GPS_MODE_PPP_CONVERGED }
float64_t	pdop	Note ID VS-91100 description Position Dilution of Precision. min nan max nan freq 4 unit unitless
uint8_t	reserved[508]	Reserved space.
uint8_t	satelliteCount	Note ID VS-91140 description Number of satellites in view. TODO: Backend not yet implemented min nan max nan freq 4 unit unitless
float64_t	speed	Note ID VS-91060 description Horizontal speed. min nan max nan freq 4 unit m/s
dwTime_t	timestamp_us	Note ID VS-91010 description Timestamp of the message when first received. min nan max nan freq 4 unit us
dwGPSTimestampQuality	timestampQuality	Note ID VS-91170 description GNSS Timestamp Quality. TODO: Backend not yet implemented min nan max nan freq 4 unit unitless * valid values: { DW_GPS_TIMESTAMP_QUALITY_NOT_INIT, DW_GPS_TIMESTAMP_QUALITY_OK, DW_GPS_TIMESTAMP_QUALITY_SYNC_LOST, }
dwTime_t	utcTime	Note ID VS-91130 description UTC time. min nan max nan freq 4 unit us
float64_t	vacc	Note ID VS-91120 description Vertical Accuracy of Solution. min nan max nan freq 4 unit m
dwGPSSignalValidityInfo	validityInfo	Signal validity information.
float64_t	vdop	Note ID VS-91090 description Vertical Dilution of Precision. min nan max nan freq 4 unit unitless

Function Documentation

◆ dwSensorGPS_popFrame()

DW_API_PUBLIC dwStatus dwSensorGPS_popFrame	(	dwGPSFrame *const	frame,
		dwSensorHandle_t const	sensor
	)

Returns any GPS frame previously processed through RAW data stream.

This happens on the CPU thread where the function is called, incurring an additional load on that thread.

Internally this API function will

Poll the internal GPS frame queue, and return the frame in queue head, and return DW_SUCCESS.
If GPS frame queue is empty, return DW_NOT_AVAILABLE.

Parameters

[out]	frame	Pointer to an GPS frame structure to be filled with new data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_NOT_AVAILABLE - if no more data is available
DW_SUCCESS

◆ dwSensorGPS_popFrameNew()

DW_API_PUBLIC dwStatus dwSensorGPS_popFrameNew	(	dwGPSFrameNew *const	frame,
		dwSensorHandle_t const	sensor
	)

Returns any GPS frame New previously processed through RAW data stream.

This happens on the CPU thread where the function is called, incurring an additional load on that thread.

Parameters

[out]	frame	Pointer to an GPS frame New structure to be filled with new data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_NOT_AVAILABLE - if no more data is available
DW_SUCCESS

◆ dwSensorGPS_processRawData()

DW_API_PUBLIC dwStatus dwSensorGPS_processRawData	(	uint8_t const *const	data,
		size_t const	size,
		dwSensorHandle_t const	sensor
	)

Decodes RAW data previously read.

Any processed messages can be picked up using the dwSensorGPS_popMessage() method. This happens on the CPU thread where the function is called, incurring on additional load on that thread.

Internally this API function will

Push the raw data block data to its internal decoder instance. If it failed to push this data block to internal decoder, errors will be returned.
After the decoder accepted the raw data block, decoder will decode this raw data block into one or more GPS frames.
Check scramble state to determine whether to scramble the WGS84 coordinate to GCJ-02 coordinate of GPS frame, if scrambling WGS84 coordinates to GCJ-02 is asked, the conversion will be performed first inside the decoded frame.
and then these decoded GPS frames will be enqueued into an internal GPS frame queue.
If one or more GPS frames are successfully decoded, return DW_SUCCESS. Otherwise return DW_NOT_READY.

Parameters

[in]	data	Undecoded gps data.
[in]	size	Size in bytes of the raw data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid,
DW_INVALID_ARGUMENTS - if given arguments are invalid,
DW_NOT_READY - if more data needs to be passed in (loop while it returns 'DW_NOT_READY').
DW_SUCCESS

◆ dwSensorGPS_processRawDataNew()

DW_API_PUBLIC dwStatus dwSensorGPS_processRawDataNew	(	uint8_t const *const	data,
		size_t const	size,
		dwSensorHandle_t const	sensor
	)

Decodes RAW data previously read.

Any processed messages can be picked up using the dwSensorGPS_popMessageNew() method. This happens on the CPU thread where the function is called, incurring on additional load on that thread.

Parameters

[in]	data	Undecoded gps data.
[in]	size	Size in bytes of the raw data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid,
DW_INVALID_ARGUMENTS - if given arguments are invalid,
DW_NOT_READY - if more data needs to be passed in (loop while it returns 'DW_NOT_READY').
DW_SUCCESS

◆ dwSensorGPS_readFrame()

DW_API_PUBLIC dwStatus dwSensorGPS_readFrame	(	dwGPSFrame *const	frame,
		dwTime_t const	timeoutUs,
		dwSensorHandle_t const	sensor
	)

Reads the next available GPS data frame with a given timeout.

The method blocks until either a new valid frame is received from the sensor or the given timeout exceeds.
Frames read from the sensor do not have to be returned because the messages are copied.

Internally this API function will

If there are already decoded GPS frames available in its internal GPS frame queue, this API function directly returns the first GPS frame from this internal GPS frame queue and return DW_SUCCESS. It'll not turn to sensors for raw GPS data blocks in this case.
Otherwise, this API function reads a raw sensor output data block from sensor. Timeout is detected in this step. DW_TIME_OUT is returned in case of timeout
If raw sensor output data block is successfully retrieved, this raw sensor data block will be decoded by its underlying decoder instance, one or more decoded GPS frames will be generated/decoded, and they will be enqueued into an internal GPS frame queue
Finally this function will return the FIRST decoded GPS frame(a.k.a dequeue operation) from the internal GPS frame queue with return status DW_SUCCESS
If no frames are decoded from this piece of raw GPS data block, DW_NOT_AVAILABLE will be returned.

Parameters

[out]	frame	A pointer to a GPS frame structure to be filled with new localization data.
[in]	timeoutUs	Specifies the timeout in us to wait for a new message. Special values: DW_TIMEOUT_INFINITE - to wait infinitly. Zero - means polling of internal queue.
[in]	sensor	Specifies the sensor handle of the GPS sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_TIME_OUT - if operation has timeout.
DW_NOT_AVAILABLE - if sensor has not been started or data is not available in polling mode.
DW_END_OF_STREAM - if end of stream reached (virtual sensor only).
DW_SAL_SENSOR_ERROR - if there was an i/o or bus error.
DW_SUCCESS - if read frame successful.

◆ dwSensorGPS_readFrameNew()

DW_API_PUBLIC dwStatus dwSensorGPS_readFrameNew	(	dwGPSFrameNew *const	frame,
		dwTime_t const	timeoutUs,
		dwSensorHandle_t const	sensor
	)

Reads the next GPS packet with a given timeout.

The method blocks until either a new valid frame is received from the sensor or the given timeout exceeds.

Parameters

[out]	frame	A pointer to a GPS frame New structure to be filled with new localization data.
[in]	timeoutUs	Specifies the timeout in us to wait for a new message. Special values: DW_TIMEOUT_INFINITE - to wait infinitly. Zero - means polling of internal queue.
[in]	sensor	Specifies the sensor handle of the GPS sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_TIME_OUT - if operation has timeout.
DW_NOT_AVAILABLE - if sensor has not been started or data is not available in polling mode.
DW_END_OF_STREAM - if end of stream reached (virtual sensor only).
DW_SAL_SENSOR_ERROR - if there was an i/o or bus error.
DW_SUCCESS

Detailed Description

Data Structures

Functions

Data Structure Documentation

◆ dwGPSFrameNew

Function Documentation

◆ dwSensorGPS_popFrame()

◆ dwSensorGPS_popFrameNew()

◆ dwSensorGPS_processRawData()

◆ dwSensorGPS_processRawDataNew()

◆ dwSensorGPS_readFrame()

◆ dwSensorGPS_readFrameNew()