ubx_sim.cpp

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/**
 * @file ubx.cpp
 *
 * U-Blox protocol implementation. Following u-blox 6/7/8 Receiver Description
 * including Prototol Specification.
 *
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 * @author Julian Oes <joes@student.ethz.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 *
 * @author Hannes Delago
 *   (rework, add ubx7+ compatibility)
 *
 * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
 * @see http://www.u-blox.com/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_%28UBX-13003221%29_Public.pdf
 */

#include <assert.h>
#include <math.h>
#include <poll.h>
#include <stdio.h>
#include <string.h>
#include <time.h>
#include <unistd.h>

#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/satellite_info.h>
#include <drivers/drv_hrt.h>

#include "ubx_sim.h"
#include <simulator/simulator.h>

#define UBX_CONFIG_TIMEOUT  200     // ms, timeout for waiting ACK
#define UBX_PACKET_TIMEOUT  2       // ms, if now data during this delay assume that full update received
#define UBX_WAIT_BEFORE_READ    20      // ms, wait before reading to save read() calls
#define DISABLE_MSG_INTERVAL    1000000     // us, try to disable message with this interval


UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info) :
    _fd(fd),
    _gps_position(gps_position),
    _satellite_info(satellite_info),
{
}

UBX::~UBX()
{
}

int UBX_SIM::configure(unsigned &baudrate)
{
    return 0;
}

int // -1 = error, 0 = no message handled, 1 = message handled, 2 = sat info message handled
UBX_SIM::receive(const unsigned timeout)
{
    /* copy data from simulator here */
    usleep(1000000);
    return 1;
}