Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

void	onResourceAcquisition (void)

bool	openSocket (void)

void	onResourceRelease (void)

void	onResourceInitialization (void)

void	consume (const IMC::DevDataText *msg)

void	consume (const IMC::IoEvent *msg)

void	clearMessages (void)

bool	waitInitReply (const std::string &stn)

bool	readTime (const std::string &str, float &dst)

bool	readLatitude (const std::string &str, const std::string &h, double &dst)

double	readLongitude (const std::string &str, const std::string &h, double &dst)

template<typename T >
bool	readDecimal (const std::string &str, T &dst)

template<typename T >
bool	readNumber (const std::string &str, T &dst)

void	processSentence (const std::string &line)

void	interpretSentence (std::vector< std::string > &parts)

void	interpretGPZDA (const std::vector< std::string > &parts)

void	interpretGPGGA (const std::vector< std::string > &parts)

void	interpretPUBX00 (const std::vector< std::string > &parts)

void	interpretGPVTG (const std::vector< std::string > &parts)

void	interpretGPHDT (const std::vector< std::string > &parts)

void	interpretGPHDM (const std::vector< std::string > &parts)

void	interpretGPROT (const std::vector< std::string > &parts)

void	interpretPSATHPR (const std::vector< std::string > &parts)

void	onMain (void)

Public Attributes
IO::Handle *	m_handle

IMC::GpsFix	m_fix

IMC::EulerAngles	m_euler

IMC::AngularVelocity	m_agvel

Arguments	m_args

Time::Counter< float >	m_wdog

bool	m_has_agvel

bool	m_has_euler

std::string	m_init_line

Reader *	m_reader

Constructor & Destructor Documentation

Sensors::GPS::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

References clearMessages(), Sensors::GPS::Arguments::init_cmds, Sensors::GPS::Arguments::init_rpls, Sensors::GPS::Arguments::inp_tout, m_args, Sensors::GPS::Arguments::pwr_channels, Sensors::GPS::Arguments::stn_order, Sensors::GPS::Arguments::uart_baud, and Sensors::GPS::Arguments::uart_dev.

Member Function Documentation

void Sensors::GPS::Task::clearMessages ( void )

inline

References m_agvel, m_euler, and m_fix.

Referenced by interpretSentence(), and Task().

void Sensors::GPS::Task::consume ( const IMC::DevDataText * msg )

inline

References m_init_line, and processSentence().

void Sensors::GPS::Task::consume ( const IMC::IoEvent * msg )

inline

void Sensors::GPS::Task::interpretGPGGA ( const std::vector< std::string > & parts )

inline

Interpret GPGGA sentence (GPS fix data).

Parameters

[in] parts vector of strings from sentence.

References m_fix, readDecimal(), readLatitude(), readLongitude(), and readNumber().

Referenced by interpretSentence().

void Sensors::GPS::Task::interpretGPHDM ( const std::vector< std::string > & parts )

inline

Interpret GPHDM sentence (Magnetic heading of the vessel derived from the true heading calculated).

Parameters

[in] parts vector of strings from sentence.

References m_euler, m_has_euler, and readNumber().

Referenced by interpretSentence().

void Sensors::GPS::Task::interpretGPHDT ( const std::vector< std::string > & parts )

inline

Interpret GPVTG sentence (true heading).

Parameters

[in] parts vector of strings from sentence.

References m_euler, and readNumber().

Referenced by interpretSentence().

void Sensors::GPS::Task::interpretGPROT ( const std::vector< std::string > & parts )

inline

Interpret GPROT sentence (rate of turn).

Parameters

[in] parts vector of strings from sentence.

References m_agvel, m_has_agvel, and readNumber().

Referenced by interpretSentence().

void Sensors::GPS::Task::interpretGPVTG ( const std::vector< std::string > & parts )

inline

Interpret GPVTG sentence (course over ground).

Parameters

[in] parts vector of strings from sentence.

References m_fix, and readNumber().

Referenced by interpretSentence().

void Sensors::GPS::Task::interpretGPZDA ( const std::vector< std::string > & parts )

inline

Interpret GPZDA sentence (UTC date and time).

Parameters

[in] parts vector of strings from sentence.

References m_fix, readDecimal(), and readTime().

Referenced by interpretSentence().

void Sensors::GPS::Task::interpretPSATHPR ( const std::vector< std::string > & parts )

inline

Interpret PSATHPR sentence (Proprietary NMEA message that provides the heading, pitch, roll, and time in a single message).

Parameters

[in] parts vector of strings from sentence.

References m_euler, m_has_euler, and readNumber().

Referenced by interpretSentence().

void Sensors::GPS::Task::interpretPUBX00 ( const std::vector< std::string > & parts )

inline

Interpret PUBX00 sentence (navstar position).

Parameters

[in] parts vector of strings from sentence.

References m_fix, readDecimal(), readLatitude(), readLongitude(), and readNumber().

Referenced by interpretSentence().

void Sensors::GPS::Task::interpretSentence ( std::vector< std::string > & parts )

inline

Interpret given sentence.

Parameters

[in] parts vector of strings from sentence.

References clearMessages(), interpretGPGGA(), interpretGPHDM(), interpretGPHDT(), interpretGPROT(), interpretGPVTG(), interpretGPZDA(), interpretPSATHPR(), interpretPUBX00(), m_agvel, m_args, m_euler, m_fix, m_has_agvel, m_has_euler, m_wdog, and Sensors::GPS::Arguments::stn_order.

Referenced by processSentence().

void Sensors::GPS::Task::onMain ( void )

inline

References m_wdog.

void Sensors::GPS::Task::onResourceAcquisition ( void )

inline

References m_args, m_handle, m_reader, openSocket(), Sensors::GPS::Arguments::pwr_channels, Sensors::GPS::Arguments::uart_baud, and Sensors::GPS::Arguments::uart_dev.

void Sensors::GPS::Task::onResourceInitialization ( void )

inline

References Sensors::GPS::Arguments::init_cmds, Sensors::GPS::Arguments::init_rpls, Sensors::GPS::Arguments::inp_tout, m_args, m_handle, m_wdog, and waitInitReply().

void Sensors::GPS::Task::onResourceRelease ( void )

inline

References m_handle, and m_reader.

bool Sensors::GPS::Task::openSocket ( void )

inline

References m_args, m_handle, and Sensors::GPS::Arguments::uart_dev.

Referenced by onResourceAcquisition().

void Sensors::GPS::Task::processSentence ( const std::string & line )

inline

Process sentence.

Parameters

[in] line line.

References interpretSentence(), m_args, and Sensors::GPS::Arguments::stn_order.

Referenced by consume().

template<typename T >

bool Sensors::GPS::Task::readDecimal	(	const std::string &	str,
		T &	dst
	)

inline

Read decimal from input string.

Parameters

[in]	str	input string.
[out]	dst	decimal.

Returns: true if successful, false otherwise.

Referenced by interpretGPGGA(), interpretGPZDA(), and interpretPUBX00().

bool Sensors::GPS::Task::readLatitude	(	const std::string &	str,
		const std::string &	h,
		double &	dst
	)

inline

Read latitude from string.

Parameters

[in]	str	input string.
[in]	h	either North (N) or South (S).
[out]	dst	latitude.

Returns: true if successful, false otherwise.

Referenced by interpretGPGGA(), and interpretPUBX00().

double Sensors::GPS::Task::readLongitude	(	const std::string &	str,
		const std::string &	h,
		double &	dst
	)

inline

Read longitude from string.

Parameters

[in]	str	input string.
[in]	h	either West (W) or East (E).
[out]	dst	longitude.

Returns: true if successful, false otherwise.

Referenced by interpretGPGGA(), and interpretPUBX00().

template<typename T >

bool Sensors::GPS::Task::readNumber	(	const std::string &	str,
		T &	dst
	)

inline

Read number from input string.

Parameters

[in]	str	input string.
[out]	dst	number.

Returns: true if successful, false otherwise.

Referenced by interpretGPGGA(), interpretGPHDM(), interpretGPHDT(), interpretGPROT(), interpretGPVTG(), interpretPSATHPR(), and interpretPUBX00().

bool Sensors::GPS::Task::readTime	(	const std::string &	str,
		float &	dst
	)

inline

Read time from string.

Parameters

[in]	str	string.
[out]	dst	time.

Returns: true if successful, false otherwise.

Referenced by interpretGPZDA().

bool Sensors::GPS::Task::waitInitReply ( const std::string & stn )

inline

Wait reply to initialization command.

Parameters

[in] stn string to compare.

Returns: true on successful match, false otherwise.

References m_init_line.

Referenced by onResourceInitialization().

Member Data Documentation

IMC::AngularVelocity Sensors::GPS::Task::m_agvel

Angular velocity message.

Referenced by clearMessages(), interpretGPROT(), and interpretSentence().

Arguments Sensors::GPS::Task::m_args

Task arguments.

Referenced by interpretSentence(), onResourceAcquisition(), onResourceInitialization(), openSocket(), processSentence(), and Task().

IMC::EulerAngles Sensors::GPS::Task::m_euler

Euler angles message.

Referenced by clearMessages(), interpretGPHDM(), interpretGPHDT(), interpretPSATHPR(), and interpretSentence().

IMC::GpsFix Sensors::GPS::Task::m_fix

GPS Fix message.

Referenced by clearMessages(), interpretGPGGA(), interpretGPVTG(), interpretGPZDA(), interpretPUBX00(), and interpretSentence().

IO::Handle* Sensors::GPS::Task::m_handle

Serial port handle.

Referenced by onResourceAcquisition(), onResourceInitialization(), onResourceRelease(), and openSocket().

bool Sensors::GPS::Task::m_has_agvel

True if we have angular velocity.

Referenced by interpretGPROT(), and interpretSentence().

bool Sensors::GPS::Task::m_has_euler

True if we have euler angles.

Referenced by interpretGPHDM(), interpretPSATHPR(), and interpretSentence().

std::string Sensors::GPS::Task::m_init_line

Last initialization line read.

Referenced by consume(), and waitInitReply().

Reader* Sensors::GPS::Task::m_reader

Reader thread.

Referenced by onResourceAcquisition(), and onResourceRelease().

Time::Counter<float> Sensors::GPS::Task::m_wdog

Input watchdog.

Referenced by interpretSentence(), onMain(), and onResourceInitialization().

Collaboration diagram for Sensors::GPS::Task:

Public Member Functions

Public Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation