Public Member Functions
	NMEAGPS (unsigned int uart, unsigned int baudrate, int enable_pin)

	NMEAGPS (const std::string &uart, unsigned int baudrate)

	NMEAGPS (unsigned int bus, uint8_t addr)

	~NMEAGPS ()

std::string	readStr (size_t size)

int	writeStr (const std::string &buffer)

void	enable (bool enable)

void	setBaudrate (unsigned int baudrate)

bool	dataAvailable (unsigned int millis)

size_t	getMaxQueueDepth ()

size_t	setMaxQueueDepth (size_t depth)

void	parseStart ()

void	parseStop ()

bool	isRunning ()

gps_fix	getFix ()

std::string	getRawSentence ()

nmeatxt	getTxtMessage ()

size_t	fixQueueSize ()

size_t	rawSentenceQueueSize ()

size_t	txtMessageQueueSize ()

void	parseNMEASentence (const std::string &sentence)

std::vector< satellite >	satellites ()

double	sentencesPerSecond ()

double	bytesPerSecond ()

std::string	__str__ ()

Protected Attributes
nmea_gps_context	m_nmea_gps

Constructor & Destructor Documentation

NMEAGPS	(	unsigned int	uart,
		unsigned int	baudrate,
		int	enable_pin
	)

NMEAGPS object constructor for a UART

Parameters

uart	Specify which mraa uart index to use.
baudrate	Specify the baudrate to use. The device defaults to 9600 baud.
enable_pin	Specify the GPIO pin to use for the enable pin, -1 to not use an enable pin.

NMEAGPS	(	const std::string &	uart,
		unsigned int	baudrate
	)

NMEAGPS object constructor for a UART

Parameters

uart	Specify which uart to use (fs device path)
baudrate	Specify the baudrate to use. The device defaults to 9600 baud.

NMEAGPS	(	unsigned int	bus,
		uint8_t	addr
	)

NMEAGPS object constructor for a UBLOX I2C interface

Parameters

bus	Specify which the I2C bus to use.
addr	Specify the I2C address to use. For UBLOX devices, this typically defaults to 0x42.

~NMEAGPS ( )

NMEAGPS object destructor

Member Function Documentation

std::string readStr ( size_t size )

Read character data from the device.

Parameters

size	The maximum number of characters to read.

Returns: string containing the data read.

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int writeStr ( const std::string & buffer )

Write character data to the device. This is only valid for a UART device.

Parameters

buffer The string containing the data to write.

Returns: The number of bytes written.

void enable ( bool enable )

Enable or disable the device. When disabled, the device enters a low power mode and does not emit NMEA data. It will still maintain location data however.

Parameters

enable true to enable the device, false otherwise.

void setBaudrate ( unsigned int baudrate )

Set the baudrate of the device. By default, the constructor will set the baudrate to 9600. This is only valid for UART devices.

Parameters

baudrate The baud rate to set for the device.

bool dataAvailable ( unsigned int millis )

Determine whether there is data available to be read. In the case of a UART, this function will wait up to "millis" milliseconds for data to become available. In the case of an I2C device, the millis argument is ignored and the function will return immediately, indicating whether data is available.

Parameters

millis The number of milliseconds to wait for data to become available.

Returns: true if data is available to be read, false otherwise.

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size_t getMaxQueueDepth ( )

Return the current maximum queue depth.

Returns: Maximum queue depth

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size_t setMaxQueueDepth ( size_t depth )

Set the current maximum queue depth.

Parameters

depth New target queue depth 1 <= depth <= 1000

Returns: Actual maximum queue depth

void parseStart ( )

Start a NMEA parsing thread for reading/parsing NMEA sentences. The thread calls the readStr method, parsing NMEA sentences as they are encountered. Each sentence type is pushed into a corresponding queue of size

void parseStop ( )

Stop a running NMEA parsing thread

bool isRunning ( )

inline

Is the parsing thread currently running?

Returns: True if parsing

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gps_fix getFix ( )

Pop and return a GPS fix structure from the GPS fix queue. A GPS fix should only be used if valid is true.

Returns: GPS fix structure

std::string getRawSentence ( )

Pop and return a raw NMEA sentence from the NMEA sentence queue. If the queue contains no elements, an empty string is returned

Returns: NMEA raw sentence

nmeatxt getTxtMessage ( )

Pop and return a message from the message queue (GPTXT sentences) If the queue contains no elements, an empty string is returned

Returns: NMEA text message

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size_t fixQueueSize ( )

Get the number of elements in the GPS fix queue.

Returns: Number of fixes in the GPS fix queue

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size_t rawSentenceQueueSize ( )

Get the number of elements in the NMEA raw sentence queue.

Returns: Number of sentences in the raw NMEA sentence queue

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size_t txtMessageQueueSize ( )

Get the number of messages in the NMEA message queue.

Returns: Number of messages in the message queue

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void parseNMEASentence ( const std::string & sentence )

Parse NMEA sentences. Raw sentence is placed into sentence queue. Additional structures are parsed depending on sentence type

Parameters

sentence NMEA raw sentence ($...
) inclusive

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std::vector< satellite > satellites ( )

Return a vector of the current satellites

Returns: Current satellites

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double sentencesPerSecond ( )

Get the number of sentences parsed per second

Returns: Sentences parsed per second

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double bytesPerSecond ( )

Get the throughput of the device. This number shows a rough data-rate as well as provides a bit of debug since it will show bps even if sentences are not getting parsed correctly.