[−][src]Crate novatel_oem6_api

Kubos API for interacting with NovAtel OEM6 High Precision GNSS Receivers

All work is done against an instantiated OEM6 struct.

More information about the device and it's behavior can be found in the following guides:

Examples

use novatel_oem6_api::*;
use std::thread;
use std::sync::mpsc::sync_channel;

// Create communication channels to be used between the read thread and the main thread
let (log_send, log_recv) = sync_channel(5);
let (response_send, response_recv) = sync_channel(5);
let (response_abbrv_send, response_abbrv_recv) = sync_channel(5);

// Create the main connection to the device
let oem = OEM6::new("/dev/ttyS5", BaudRate::Baud9600, log_recv, response_recv, response_abbrv_recv).unwrap();

// Clone the connection mutex for the read thread
let rx_conn = oem.conn.clone();

// Start up a read thread to consume messages from the device
thread::spawn(move || read_thread(&rx_conn, &log_send, &response_send, &response_abbrv_send));

// Request that the device send position information once per second
oem.request_position(1.0, 0.0, false)?;

// Continually read the log messages
loop {
    let entry = oem.get_log()?;

    match entry {
        Log::BestXYZ(log) => {
            println!("Best XYZ Data:");
            println!("    Position: {:?}", log.position);
            println!("    Velocity: {:?}", log.velocity);
        }
        _ => {},
    }
}

Modules

mock	Mock objects for use with unit tests

Structs

BestXYZLog	Log message containing position information
Component	Version information about a specific system component
Connection	Wrapper for UART stream
OEM6	Structure for OEM6 device instance
ReceiverStatusFlags	Receiver status flags
RxStatusEventLog	Event/error log message
VersionLog	Log message containing version information

Enums

BaudRate	Serial port baud rates.
Log	Supported log messages
MessageID	Supported message types
OEMError	Common Error for OEM Actions
ResponseID	Response values returned after sending a command to the device.
UartError	Custom errors for UART actions

Functions

read_thread

Continually read messages from the OEM6 device

Type Definitions

OEMResult

Custom error type for OEM6 operations.