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/* * Copyright (C) 2018 Kubos Corporation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ //! Kubos API for interacting with [NovAtel OEM6 High Precision GNSS Receivers](https://www.novatel.com/products/gnss-receivers/oem-receiver-boards/oem6-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: //! - [OEM6 Family Firmware Reference Manual](https://www.novatel.com/assets/documents/manuals/om-20000129.pdf) //! - [OEM6 Family Installation and Operation User Manual](https://www.novatel.com/assets/Documents/Manuals/om-20000128.pdf) //! //! # Examples //! //! ``` //! use novatel_oem6_api::*; //! use std::thread; //! use std::sync::mpsc::sync_channel; //! //! # fn func() -> OEMResult<()> { //! // 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); //! //! // Create the main connection to the device //! let oem = OEM6::new("/dev/ttyS5", BaudRate::Baud9600, log_recv, response_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)); //! //! // 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); //! } //! _ => {}, //! } //! } //! # Ok(()) //! # } //! ``` //! //! [`OEM6`]: struct.OEM6.html #![deny(missing_docs)] //Need a higher recursion limit for nom when parsing larger (>60 bytes) structures #![recursion_limit = "256"] #[macro_use] extern crate bitflags; extern crate byteorder; #[macro_use] extern crate failure; #[macro_use] extern crate nom; extern crate rust_uart; extern crate serial; mod crc32; mod messages; mod oem6; #[cfg(test)] mod tests; pub use messages::commands::ResponseID; pub use messages::logs::*; pub use messages::MessageID; pub use messages::ReceiverStatusFlags; pub use oem6::*; pub use rust_uart::{mock, Connection, UartError}; pub use serial::BaudRate;