Detailed Description

Sonar Data.

Public Types
enum	TypeEnum { ST_SIDESCAN, ST_ECHOSOUNDER, ST_MULTIBEAM }

Public Member Functions
	SonarData (void)

Message *	clone (void) const

void	clear (void)

bool	fieldsEqual (const Message &msg__) const

int	validate (void) const

uint8_t *	serializeFields (uint8_t *bfr__) const

uint16_t	deserializeFields (const uint8_t *bfr__, uint16_t size__)

uint16_t	reverseDeserializeFields (const uint8_t *bfr__, uint16_t size__)

uint16_t	getId (void) const

const char *	getName (void) const

unsigned	getFixedSerializationSize (void) const

unsigned	getVariableSerializationSize (void) const

void	fieldsToJSON (std::ostream &os__, unsigned nindent__) const

Public Member Functions inherited from DUNE::IMC::Message
	Message (void)

virtual	~Message (void)

double	setTimeStamp (double ts)

double	setTimeStamp (void)

double	getTimeStamp (void) const

uint16_t	getSource (void) const

void	setSource (uint16_t src)

uint8_t	getSourceEntity (void) const

void	setSourceEntity (uint8_t src_ent)

uint16_t	getDestination (void) const

void	setDestination (uint16_t dst)

uint8_t	getDestinationEntity (void) const

void	setDestinationEntity (uint8_t dst_ent)

virtual uint16_t	getSubId (void) const

virtual void	setSubId (uint16_t subid)

virtual fp64_t	getValueFP (void) const

virtual void	setValueFP (fp64_t val)

unsigned	getSerializationSize (void) const

unsigned	getPayloadSerializationSize (void) const

void	toJSON (std::ostream &os) const

void	toText (std::ostream &os) const

bool	operator== (const Message &other) const

bool	operator!= (const Message &other) const

Static Public Member Functions
static uint16_t	getIdStatic (void)

Public Attributes
uint8_t	type

uint32_t	frequency

uint16_t	min_range

uint16_t	max_range

uint8_t	bits_per_point

fp32_t	scale_factor

MessageList< BeamConfig >	beam_config

std::vector< char >	data

Protected Member Functions
void	setTimeStampNested (double value__)

void	setSourceNested (uint16_t value__)

void	setSourceEntityNested (uint8_t value__)

void	setDestinationNested (uint16_t value__)

void	setDestinationEntityNested (uint8_t value__)

Additional Inherited Members
Protected Attributes inherited from DUNE::IMC::Message
Header	m_header

Member Enumeration Documentation

enum DUNE::IMC::SonarData::TypeEnum

Type.

Enumerator
ST_SIDESCAN	Sidescan.
ST_ECHOSOUNDER	Echo Sounder.
ST_MULTIBEAM	Multibeam.

Constructor & Destructor Documentation

DUNE::IMC::SonarData::SonarData ( void )

References beam_config, clear(), DUNE::IMC::Message::m_header, and DUNE::IMC::Header::mgid.

Referenced by clone().

Member Function Documentation

void DUNE::IMC::SonarData::clear ( void )

virtual

Reset message's fields.

Implements DUNE::IMC::Message.

References beam_config, bits_per_point, data, frequency, max_range, min_range, scale_factor, and type.

Referenced by SonarData().

Message* DUNE::IMC::SonarData::clone ( void ) const

inlinevirtual

Retrieve a copy of the message.

Returns: message copy.

Implements DUNE::IMC::Message.

References SonarData().

uint16_t DUNE::IMC::SonarData::deserializeFields	(	const uint8_t *	bfr,
		uint16_t	len
	)

virtual

Deserialize message fields from a packet.

Parameters

bfr	stream of bytes (packet)
len	length of the byte stream.

Returns: number of bytes processed.

Implements DUNE::IMC::Message.

References beam_config, bits_per_point, data, DUNE::IMC::deserialize(), frequency, max_range, min_range, scale_factor, and type.

bool DUNE::IMC::SonarData::fieldsEqual ( const Message & other ) const

virtual

Compare fields for equality.

Parameters

[in] other message to compare.

Returns: true if fields are equal, false otherwise.

Reimplemented from DUNE::IMC::Message.

References beam_config, bits_per_point, data, frequency, max_range, min_range, scale_factor, and type.

void DUNE::IMC::SonarData::fieldsToJSON	(	std::ostream &	os,
		unsigned	indent_level
	)		const

virtual

Output the message fields (excluding header) in JSON format.

Parameters

os	output stream.
indent_level	number of indentation spaces.

Reimplemented from DUNE::IMC::Message.

References beam_config, bits_per_point, data, frequency, max_range, min_range, scale_factor, DUNE::IMC::toJSON(), and type.

unsigned DUNE::IMC::SonarData::getFixedSerializationSize ( void ) const

inlinevirtual

Get the fixed amount of bytes required to properly serialize this message (variable length fields are not included).

Returns: amount of variable bytes required to serialize the message.

Reimplemented from DUNE::IMC::Message.

uint16_t DUNE::IMC::SonarData::getId ( void ) const

inlinevirtual

Retrieve message's identification number.

Returns: message's identification number.

Implements DUNE::IMC::Message.

References getIdStatic().

static uint16_t DUNE::IMC::SonarData::getIdStatic ( void )

inlinestatic

Referenced by getId().

const char* DUNE::IMC::SonarData::getName ( void ) const

inlinevirtual

Retrieve message's name.

Returns: message's name.

Implements DUNE::IMC::Message.

unsigned DUNE::IMC::SonarData::getVariableSerializationSize ( void ) const

inlinevirtual

Get the variable amount of bytes required to properly serialize this message (only the variable fields are included).

Returns: amount of variable bytes required to serialize the message.

Reimplemented from DUNE::IMC::Message.

References beam_config, data, and DUNE::IMC::getSerializationSize().

uint16_t DUNE::IMC::SonarData::reverseDeserializeFields	(	const uint8_t *	bfr,
		uint16_t	len
	)

virtual

Deserialize message fields from a packet, swapping the byte order.

Parameters

bfr	stream of bytes (packet)
len	length of the byte stream.

Returns: number of bytes processed.

Implements DUNE::IMC::Message.

References beam_config, bits_per_point, data, DUNE::IMC::deserialize(), frequency, max_range, min_range, DUNE::IMC::reverseDeserialize(), scale_factor, and type.

uint8_t * DUNE::IMC::SonarData::serializeFields ( uint8_t * bfr__ ) const

virtual

Implements DUNE::IMC::Message.

References beam_config, bits_per_point, data, frequency, max_range, min_range, scale_factor, DUNE::IMC::serialize(), and type.

void DUNE::IMC::SonarData::setDestinationEntityNested ( uint8_t value )

protectedvirtual

Set the destination entity of nested messages.

Parameters

[in] value destination entity.

Reimplemented from DUNE::IMC::Message.

References beam_config.

void DUNE::IMC::SonarData::setDestinationNested ( uint16_t value )

protectedvirtual

Set the destination address of nested messages.

Parameters

[in] value destination address.

Reimplemented from DUNE::IMC::Message.

References beam_config.

void DUNE::IMC::SonarData::setSourceEntityNested ( uint8_t value )

protectedvirtual

Set the source entity of nested messages.

Parameters

[in] value source entity.

Reimplemented from DUNE::IMC::Message.

References beam_config.

void DUNE::IMC::SonarData::setSourceNested ( uint16_t value )

protectedvirtual

Set the source address of nested messages.

Parameters

[in] value source address.

Reimplemented from DUNE::IMC::Message.

References beam_config.

void DUNE::IMC::SonarData::setTimeStampNested ( double value )

protectedvirtual

Set the timestamp of nested messages.

Parameters

[in] value timestamp.

Reimplemented from DUNE::IMC::Message.

References beam_config.

int DUNE::IMC::SonarData::validate ( void ) const

virtual

Validate the message's contents.

Returns: negative value in case of a valid message or a positive value indicating the position of the invalid message field.

Implements DUNE::IMC::Message.

Member Data Documentation

MessageList<BeamConfig> DUNE::IMC::SonarData::beam_config

Beam Configuration.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), getVariableSerializationSize(), reverseDeserializeFields(), serializeFields(), setDestinationEntityNested(), setDestinationNested(), setSourceEntityNested(), setSourceNested(), setTimeStampNested(), and SonarData().

uint8_t DUNE::IMC::SonarData::bits_per_point

Bits Per Data Point.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

std::vector<char> DUNE::IMC::SonarData::data

Data.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), Sensors::Imagenex852::Task::filterRange(), getVariableSerializationSize(), reverseDeserializeFields(), and serializeFields().

uint32_t DUNE::IMC::SonarData::frequency

Frequency.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

uint16_t DUNE::IMC::SonarData::max_range

Maximum Range.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

uint16_t DUNE::IMC::SonarData::min_range

Minimum Range.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

fp32_t DUNE::IMC::SonarData::scale_factor

Scaling Factor.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

uint8_t DUNE::IMC::SonarData::type

Type.

Referenced by clear(), deserializeFields(), fieldsEqual(), fieldsToJSON(), reverseDeserializeFields(), and serializeFields().

Collaboration diagram for DUNE::IMC::SonarData:

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation