Crate novatel_oem6_api

Expand description

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);
        }
        _ => {},
    }
}