Sensors::Imagenex837B::Frame Class Reference

Detailed Description

Data logger to Imagenex .837 format.

Public Types
enum	HeaderIndices {   HDR_IDX_N_TO_READ, HDR_IDX_TBYTES_HI, HDR_IDX_TBYTES_LO, HDR_IDX_BYTES_TO_READ_HI,   HDR_IDX_BYTES_TO_READ_LO, HDR_IDX_DATE, HDR_IDX_TIME, HDR_IDX_TIME_HSEC,   HDR_IDX_VIDEO_FRAME, HDR_IDX_DISPLAY_MODE, HDR_IDX_START_GAIN, HDR_IDX_PROFILE,   HDR_IDX_PINGS_AVG, HDR_IDX_PULSE_LENGTH, HDR_IDX_SOUND_SPEED, HDR_IDX_LATITUDE,   HDR_IDX_LONGITUDE, HDR_IDX_SPEED, HDR_IDX_COURSE, HDR_IDX_FREQUENCY,   HDR_IDX_PITCH, HDR_IDX_ROLL, HDR_IDX_HEADING, HDR_IDX_REP_RATE,   HDR_IDX_DISPLAY_GAIN, HDR_IDX_MILLI, HDR_IDX_MODE_I, HDR_IDX_MODE_UV,   HDR_IDX_MODE_X, HDR_IDX_HEAD_ID, HDR_IDX_SERIAL_STATUS, HDR_IDX_PACKET_NUM,   HDR_IDX_VERSION, HDR_IDX_RANGE, HDR_IDX_DATA_BYTES_HI, HDR_IDX_DATA_BYTES_LO }
enum	FooterIndices {   FTR_IDX_TYPE, FTR_IDX_PITCH, FTR_IDX_ROLL, FTR_IDX_HEADING,   FTR_IDX_AZIMUTH_UP }

Public Member Functions
	Frame (void)
uint8_t *	getData (void)
uint8_t *	getMessageData (void)
uint8_t *	getFooterData (void)
unsigned	getSize (void) const
uint32_t	getMessageSize (void) const
uint32_t	getFooterSize (void) const
void	setTotalBytes (void)
void	setBytesToRead (void)
void	setStartGain (uint8_t gain)
void	setRange (uint8_t range)
void	setProfileTiltAngle (float angle)
void	setPulseLength (uint8_t length)
void	setSoundVelocity (float speed)
void	setSpeed (float speed)
void	setCourse (float course)
void	setRoll (float roll)
void	setPitch (float pitch)
void	setHeading (float heading)
void	setRepRate (uint16_t rate)
void	setDisplayGain (uint8_t gain)
void	setDisplayMode (bool xdcr)
void	setGpsData (double lat, double lon)
void	setDateTime (uint64_t now)
void	setExtendedDataPoints (bool mode)
void	setSerialStatus (uint8_t status)
void	setFirmwareVersion (uint8_t version)

Member Enumeration Documentation

enum Sensors::Imagenex837B::Frame::FooterIndices

837 Footer Indices.

Enumerator
FTR_IDX_TYPE
FTR_IDX_PITCH
FTR_IDX_ROLL
FTR_IDX_HEADING
FTR_IDX_AZIMUTH_UP

enum Sensors::Imagenex837B::Frame::HeaderIndices

837 Header Indices.

Enumerator
HDR_IDX_N_TO_READ
HDR_IDX_TBYTES_HI
HDR_IDX_TBYTES_LO
HDR_IDX_BYTES_TO_READ_HI
HDR_IDX_BYTES_TO_READ_LO
HDR_IDX_DATE
HDR_IDX_TIME
HDR_IDX_TIME_HSEC
HDR_IDX_VIDEO_FRAME
HDR_IDX_DISPLAY_MODE
HDR_IDX_START_GAIN
HDR_IDX_PROFILE
HDR_IDX_PINGS_AVG
HDR_IDX_PULSE_LENGTH
HDR_IDX_SOUND_SPEED
HDR_IDX_LATITUDE
HDR_IDX_LONGITUDE
HDR_IDX_SPEED
HDR_IDX_COURSE
HDR_IDX_FREQUENCY
HDR_IDX_PITCH
HDR_IDX_ROLL
HDR_IDX_HEADING
HDR_IDX_REP_RATE
HDR_IDX_DISPLAY_GAIN
HDR_IDX_MILLI
HDR_IDX_MODE_I
HDR_IDX_MODE_UV
HDR_IDX_MODE_X
HDR_IDX_HEAD_ID
HDR_IDX_SERIAL_STATUS
HDR_IDX_PACKET_NUM
HDR_IDX_VERSION
HDR_IDX_RANGE
HDR_IDX_DATA_BYTES_HI
HDR_IDX_DATA_BYTES_LO

Constructor & Destructor Documentation

Sensors::Imagenex837B::Frame::Frame ( void  )

inline

Constructor.

Member Function Documentation

uint8_t* Sensors::Imagenex837B::Frame::getData ( void  )

inline

Get frame start address.

Returns

pointer to address.

Referenced by Sensors::Imagenex837B::Task::handleSonarData(), setCourse(), setHeading(), setPitch(), setProfileTiltAngle(), setRepRate(), setRoll(), and setSoundVelocity().

uint8_t* Sensors::Imagenex837B::Frame::getFooterData ( void  )

inline

Get footer start address.

Returns

pointer to address.

References getMessageSize().

Referenced by setHeading(), setPitch(), and setRoll().

uint32_t Sensors::Imagenex837B::Frame::getFooterSize ( void  ) const

inline

Retrieve footer size.

Returns

footer size.

Referenced by getSize().

uint8_t* Sensors::Imagenex837B::Frame::getMessageData ( void  )

inline

Get data start address.

Returns

pointer to address.

Referenced by Sensors::Imagenex837B::Task::ping().

uint32_t Sensors::Imagenex837B::Frame::getMessageSize ( void  ) const

inline

Retrieve message size.

Returns

message size.

Referenced by getFooterData(), and getSize().

unsigned Sensors::Imagenex837B::Frame::getSize ( void  ) const

inline

Retrieve the size of the frame.

Returns

frame size.

References getFooterSize(), and getMessageSize().

Referenced by Sensors::Imagenex837B::Task::handleSonarData().

void Sensors::Imagenex837B::Frame::setBytesToRead ( void  )

inline

Define number of bytes to read in header.

References HDR_IDX_BYTES_TO_READ_HI, and HDR_IDX_BYTES_TO_READ_LO.

Referenced by setExtendedDataPoints().

void Sensors::Imagenex837B::Frame::setCourse ( float  course )

inline

Set GNSS ships course.

Parameters

[in]

course

course.

References getData(), and HDR_IDX_COURSE.

Referenced by Sensors::Imagenex837B::Task::updateState().

void Sensors::Imagenex837B::Frame::setDateTime ( uint64_t  now )

inline

Set frame date and time.

Parameters

[in]

now

millisecond since epoch.

References HDR_IDX_DATE, HDR_IDX_MILLI, HDR_IDX_TIME, and HDR_IDX_TIME_HSEC.

Referenced by Sensors::Imagenex837B::Task::handleSonarData().

void Sensors::Imagenex837B::Frame::setDisplayGain ( uint8_t  gain )

inline

Set display gain.

Parameters

[in]

gain

display gain.

References HDR_IDX_DISPLAY_GAIN.

void Sensors::Imagenex837B::Frame::setDisplayMode ( bool  xdcr )

inline

Set display mode.

References HDR_IDX_DISPLAY_MODE.

Referenced by Sensors::Imagenex837B::Task::setNadirAngle().

void Sensors::Imagenex837B::Frame::setExtendedDataPoints ( bool  mode )

inline

Change mode according with data points.

References setBytesToRead(), and setTotalBytes().

Referenced by Sensors::Imagenex837B::Task::setDataPoints().

void Sensors::Imagenex837B::Frame::setFirmwareVersion ( uint8_t  version )

inline

Set Firmware version.

References HDR_IDX_VERSION.

Referenced by Sensors::Imagenex837B::Task::handleSonarData().

void Sensors::Imagenex837B::Frame::setGpsData ( double  lat, double  lon  )

inline

Define frame GPS data.

Parameters

[in]	lat	latitude.
[in]	lon	longitude.

References DUNE::Math::Angles::degrees(), HDR_IDX_LATITUDE, HDR_IDX_LONGITUDE, and DUNE::Math::min().

Referenced by Sensors::Imagenex837B::Task::updateState().

void Sensors::Imagenex837B::Frame::setHeading ( float  heading )

inline

Set heading.

Parameters

[in]

heading

heading angle.

References FTR_IDX_HEADING, getData(), getFooterData(), and HDR_IDX_HEADING.

Referenced by Sensors::Imagenex837B::Task::updateState().

void Sensors::Imagenex837B::Frame::setPitch ( float  pitch )

inline

Set pitch.

Parameters

[in]

pitch

pitch angle.

References FTR_IDX_PITCH, getData(), getFooterData(), and HDR_IDX_PITCH.

Referenced by Sensors::Imagenex837B::Task::updateState().

void Sensors::Imagenex837B::Frame::setProfileTiltAngle ( float  angle )

inline

Set profile tilt angle.

Parameters

[in]

angle

profile tilt angle.

References getData(), and HDR_IDX_PROFILE.

Referenced by Sensors::Imagenex837B::Task::onUpdateParameters().

void Sensors::Imagenex837B::Frame::setPulseLength ( uint8_t  length )

inline

Set pulse length.

Parameters

[in]

length

pulse length.

References HDR_IDX_PULSE_LENGTH.

Referenced by Sensors::Imagenex837B::Task::setRange().

void Sensors::Imagenex837B::Frame::setRange ( uint8_t  range )

inline

Set sonar range.

Parameters

[in]

range

range.

References HDR_IDX_RANGE.

Referenced by Sensors::Imagenex837B::Task::setRange().

void Sensors::Imagenex837B::Frame::setRepRate ( uint16_t  rate )

inline

Set repetition rate.

Parameters

[in]

rate

repetition rate.

References getData(), and HDR_IDX_REP_RATE.

Referenced by Sensors::Imagenex837B::Task::setRange().

void Sensors::Imagenex837B::Frame::setRoll ( float  roll )

inline

Set roll.

Parameters

[in]

roll

roll angle.

References FTR_IDX_ROLL, getData(), getFooterData(), and HDR_IDX_ROLL.

Referenced by Sensors::Imagenex837B::Task::updateState().

void Sensors::Imagenex837B::Frame::setSerialStatus ( uint8_t  status )

inline

Set serial status.

References HDR_IDX_SERIAL_STATUS.

Referenced by Sensors::Imagenex837B::Task::handleSonarData().

void Sensors::Imagenex837B::Frame::setSoundVelocity ( float  speed )

inline

Set sound velocity.

Parameters

[in]

speed

sound velocity

References getData(), and HDR_IDX_SOUND_SPEED.

Referenced by Sensors::Imagenex837B::Task::consume().

void Sensors::Imagenex837B::Frame::setSpeed ( float  speed )

inline

Set GNSS ships speed.

Parameters

[in]

speed

speed.

References HDR_IDX_SPEED.

Referenced by Sensors::Imagenex837B::Task::updateState().

void Sensors::Imagenex837B::Frame::setStartGain ( uint8_t  gain )

inline

Set start gain.

Parameters

[in]

gain

start gain.

References HDR_IDX_START_GAIN.

Referenced by Sensors::Imagenex837B::Task::setStartGain().

void Sensors::Imagenex837B::Frame::setTotalBytes ( void  )

inline

Define total bytes in header.

References HDR_IDX_TBYTES_HI, and HDR_IDX_TBYTES_LO.

Referenced by setExtendedDataPoints().

Collaboration diagram for Sensors::Imagenex837B::Frame: