Transports::Seatrac Namespace Reference

Detailed Description

Blueprint Subsea's Seatrac acoustic modem driver.

Author

João Teixeira.

Classes
struct	Ticket
struct	MacAddr_T
struct	IpAddr_T
struct	AhrsCal_t
struct	Hardware_t
struct	Firmware_t
struct	Acofix_t
struct	CidStatusMsg
struct	CidPingRespMsg
struct	CidNavBeaconPosUpdateMsg
struct	CidPingRequestMsg
struct	CidSysInfo
struct	CidNavBeaconPosSendMsg
struct	CidPingErrorMsg
struct	CidNavQueryReqMsg
struct	CidPingSendMsg
struct	CidSettingsSetMsg
struct	CidSettingsSaveMsg
struct	CidNavRefPosSendMsg
struct	CidNavRefPosUpdateMsg
struct	CidDatReceiveMsg
struct	CidDatSendMsg
struct	CidSettingsMsg
struct	CidXcvrFixMsg
struct	CidSysRebootMsg
struct	CidNavQuerySendMsg
struct	CidNavQuerryRespMsg
struct	CidXcvrUsblMsg
struct	DataSeatrac
struct	Arguments
struct	Task

Typedefs
typedef std::map< std::string, unsigned >	MapName
typedef std::map< unsigned, std::string >	MapAddr

Enumerations
enum	ParserStates { PS_NONE, PS_PRE, PS_DATA, PS_COMPLETE }
enum	CommandID {   CID_SYS_ALIVE, CID_SYS_INFO, CID_SYS_REBOOT, CID_SYS_ENGINEERING,   CID_PROG_INIT, CID_PROG_BLOCK, CID_PROG_UPDATE, CID_STATUS,   CID_STATUS_CFG_GET, CID_STATUS_CFG_SET, CID_SETTINGS_GET, CID_SETTINGS_SET,   CID_SETTINGS_LOAD, CID_SETTINGS_SAVE, CID_SETTINGS_RESET, CID_CAL_ACTION,   CID_AHRS_CAL_GET, CID_AHRS_CAL_SET, CID_XCVR_ANALYSE, CID_XCVR_TX_MSG,   CID_XCVR_RX_ERR, CID_XCVR_RX_MSG, CID_XCVR_RX_REQ, CID_XCVR_RX_RESP,   CID_XCVR_RX_UNHANDLED, CID_XCVR_USBL, CID_XCVR_FIX, CID_XCVR_STATUS,   CID_PING_SEND, CID_PING_REQ, CID_PING_RESP, CID_PING_ERROR,   CID_ECHO_SEND, CID_ECHO_REQ, CID_ECHO_RESP, CID_ECHO_ERROR,   CID_NAV_QUERY_SEND, CID_NAV_QUERY_REQ, CID_NAV_QUERY_RESP, CID_NAV_ERROR,   CID_NAV_REF_POS_SEND, CID_NAV_REF_POS_UPDATE, CID_NAV_BEACON_POS_SEND, CID_NAV_BEACON_POS_UPDATE,   CID_DAT_SEND, CID_DAT_RECEIVE, CID_DAT_ERROR, CID_DAT_QUEUE_SET,   CID_DAT_QUEUE_CLR, CID_DAT_QUEUE_STATUS, CID_DEX_CLOSE, CID_DEX_DEBUG,   CID_DEX_ENQUEUE, CID_DEX_OPEN, CID_DEX_RESET, CID_DEX_SEND,   CID_DEX_SOCKETS, CID_DEX_RECEIVE }
enum	BeaconType_E { BT_X110, BT_X150 }
enum	StatusMode_E {   STATUS_MODE_MANUAL, STATUS_MODE_1HZ, STATUS_MODE_2HZ5, STATUS_MODE_5HZ,   STATUS_MODE_10HZ, STATUS_MODE_25HZ }
enum	StatusOutputFlags_E {   ENVIRONMENT_FLAG, ATTITUDE_FLAG, MAG_CAL_FLAG, ACC_CAL_FLAG,   AHRS_RAW_DATA_FLAG, AHRS_COMP_DATA_FLAG }
enum	ControlEnvFlags_E { AUTO_VOS_FLAG, AUTO_PRESSURE_OFS_FLAG }
enum	ControlAhrsFlags_E { AUTO_CAL_MAG_FLAG }
enum	ControlXcvrFlags_E {   USBL_USE_AHRS_FLAG, XCVR_POSFLT_ENABLE_FLAG, XCVR_USBL_MSGS_FLAG, XCVR_FIX_MSGS_FLAG,   XCVR_DIAG_MSGS_FLAG }
enum	AmsgType_E {   MSG_OWAY, MSG_OWAYU, MSG_REQ, MSG_RESP,   MSG_REQU, MSG_RESPU, MSG_REQX, MSG_RESPX,   MSG_UNKNOWN }
enum	CST_E {   CST_OK, CST_FAIL, CST_EEPROM_ERROR, CST_CMD_PARAM_MISSING,   CST_CMD_PARAM_INVALID, CST_PROG_FLASH_ERROR, CST_PROG_FIRMWARE_ERROR, CST_PROG_SECTION_ERROR,   CST_PROG_LENGTH_ERROR, CST_PROG_DATA_ERROR, CST_PROG_CHECKSUM_ERROR, CST_XCVR_BUSY,   CST_XCVR_ID_REJECTED, CST_XCVR_CSUM_ERROR, CST_XCVR_LENGTH_ERROR, CST_XCVR_RESP_TIMEOUT,   CST_XCVR_RESP_ERROR, CST_XCVR_RESP_WRONG, CST_XCVR_PLOAD_ERROR, CST_XCVR_STATE_STOPPED,   CST_XCVR_STATE_IDLE, CST_XCVR_STATE_TX, CST_XCVR_STATE_REQ, CST_XCVR_STATE_RX,   CST_XCVR_STATE_RESP, CST_DEX_SOCKET_ERROR, CST_DEX_RX_SYNC, CST_DEX_RX_DATA,   CST_DEX_RX_SEQ_ERROR, CST_DEX_RX_MSG_ERROR, CST_DEX_REQ_ERROR, CST_DEX_RESP_TMO_ERROR,   CST_DEX_RESP_MSG_ERROR, CST_DEX_RESP_REMOTE_ERROR }
enum	EntityStates {   STA_BOOT, STA_IDLE, STA_ACTIVE, STA_ERR_COM,   STA_ERR_STP, STA_MAX }

Functions
void	printAcoFixData (std::string msg_name, Acofix_t *aco_fix, Tasks::Task *task=NULL)
void	printDebugFunction (unsigned message_type, DataSeatrac &data_Beacon, Tasks::Task *task=NULL)
uint16_t	updateEcoFix (Acofix_t *aco_fix, uint16_t ind, const char *msg_raw)
void	dataParser (uint16_t message_type, const char *msg_raw, DataSeatrac &data_Beacon)
std::string	commandCreateSeatrac (CommandID cid_type, DataSeatrac &data_Beacon)

Typedef Documentation

typedef std::map<unsigned, std::string> Transports::Seatrac::MapAddr

Map of system's addresses.

typedef std::map<std::string, unsigned> Transports::Seatrac::MapName

Map of system's names.

Enumeration Type Documentation

enum Transports::Seatrac::AmsgType_E

Enumerator
MSG_OWAY
MSG_OWAYU
MSG_REQ
MSG_RESP
MSG_REQU
MSG_RESPU
MSG_REQX
MSG_RESPX
MSG_UNKNOWN

enum Transports::Seatrac::BeaconType_E

Enumerator
BT_X110
BT_X150

enum Transports::Seatrac::CommandID

Enumerator
CID_SYS_ALIVE
CID_SYS_INFO
CID_SYS_REBOOT
CID_SYS_ENGINEERING
CID_PROG_INIT
CID_PROG_BLOCK
CID_PROG_UPDATE
CID_STATUS
CID_STATUS_CFG_GET
CID_STATUS_CFG_SET
CID_SETTINGS_GET
CID_SETTINGS_SET
CID_SETTINGS_LOAD
CID_SETTINGS_SAVE
CID_SETTINGS_RESET
CID_CAL_ACTION
CID_AHRS_CAL_GET
CID_AHRS_CAL_SET
CID_XCVR_ANALYSE
CID_XCVR_TX_MSG
CID_XCVR_RX_ERR
CID_XCVR_RX_MSG
CID_XCVR_RX_REQ
CID_XCVR_RX_RESP
CID_XCVR_RX_UNHANDLED
CID_XCVR_USBL
CID_XCVR_FIX
CID_XCVR_STATUS
CID_PING_SEND
CID_PING_REQ
CID_PING_RESP
CID_PING_ERROR
CID_ECHO_SEND
CID_ECHO_REQ
CID_ECHO_RESP
CID_ECHO_ERROR
CID_NAV_QUERY_SEND
CID_NAV_QUERY_REQ
CID_NAV_QUERY_RESP
CID_NAV_ERROR
CID_NAV_REF_POS_SEND
CID_NAV_REF_POS_UPDATE
CID_NAV_BEACON_POS_SEND
CID_NAV_BEACON_POS_UPDATE
CID_DAT_SEND
CID_DAT_RECEIVE
CID_DAT_ERROR
CID_DAT_QUEUE_SET
CID_DAT_QUEUE_CLR
CID_DAT_QUEUE_STATUS
CID_DEX_CLOSE
CID_DEX_DEBUG
CID_DEX_ENQUEUE
CID_DEX_OPEN
CID_DEX_RESET
CID_DEX_SEND
CID_DEX_SOCKETS
CID_DEX_RECEIVE

enum Transports::Seatrac::ControlAhrsFlags_E

Enumerator
AUTO_CAL_MAG_FLAG

enum Transports::Seatrac::ControlEnvFlags_E

Enumerator
AUTO_VOS_FLAG
AUTO_PRESSURE_OFS_FLAG

enum Transports::Seatrac::ControlXcvrFlags_E

Enumerator
USBL_USE_AHRS_FLAG
XCVR_POSFLT_ENABLE_FLAG
XCVR_USBL_MSGS_FLAG
XCVR_FIX_MSGS_FLAG
XCVR_DIAG_MSGS_FLAG

enum Transports::Seatrac::CST_E

Enumerator
CST_OK
CST_FAIL
CST_EEPROM_ERROR
CST_CMD_PARAM_MISSING
CST_CMD_PARAM_INVALID
CST_PROG_FLASH_ERROR
CST_PROG_FIRMWARE_ERROR
CST_PROG_SECTION_ERROR
CST_PROG_LENGTH_ERROR
CST_PROG_DATA_ERROR
CST_PROG_CHECKSUM_ERROR
CST_XCVR_BUSY
CST_XCVR_ID_REJECTED
CST_XCVR_CSUM_ERROR
CST_XCVR_LENGTH_ERROR
CST_XCVR_RESP_TIMEOUT
CST_XCVR_RESP_ERROR
CST_XCVR_RESP_WRONG
CST_XCVR_PLOAD_ERROR
CST_XCVR_STATE_STOPPED
CST_XCVR_STATE_IDLE
CST_XCVR_STATE_TX
CST_XCVR_STATE_REQ
CST_XCVR_STATE_RX
CST_XCVR_STATE_RESP
CST_DEX_SOCKET_ERROR
CST_DEX_RX_SYNC
CST_DEX_RX_DATA
CST_DEX_RX_SEQ_ERROR
CST_DEX_RX_MSG_ERROR
CST_DEX_REQ_ERROR
CST_DEX_RESP_TMO_ERROR
CST_DEX_RESP_MSG_ERROR
CST_DEX_RESP_REMOTE_ERROR

enum Transports::Seatrac::EntityStates

Entity states.

Enumerator
STA_BOOT
STA_IDLE
STA_ACTIVE
STA_ERR_COM
STA_ERR_STP
STA_MAX

enum Transports::Seatrac::ParserStates

States of the internal SM.

Enumerator
PS_NONE
PS_PRE
PS_DATA
PS_COMPLETE

enum Transports::Seatrac::StatusMode_E

Enumerator
STATUS_MODE_MANUAL
STATUS_MODE_1HZ
STATUS_MODE_2HZ5
STATUS_MODE_5HZ
STATUS_MODE_10HZ
STATUS_MODE_25HZ

enum Transports::Seatrac::StatusOutputFlags_E

Enumerator
ENVIRONMENT_FLAG
ATTITUDE_FLAG
MAG_CAL_FLAG
ACC_CAL_FLAG
AHRS_RAW_DATA_FLAG
AHRS_COMP_DATA_FLAG

Function Documentation

std::string Transports::Seatrac::commandCreateSeatrac	(	CommandID	cid_type,
		DataSeatrac &	data_Beacon
	)

Creates a command to the modem acoustic.

Parameters

[in]	cid_type	type of message.
[in]	data_Beacon	message structure.

Returns

string with the command.

References Transports::Seatrac::AhrsCal_t::acc_max_x, Transports::Seatrac::AhrsCal_t::acc_max_y, Transports::Seatrac::AhrsCal_t::acc_max_z, Transports::Seatrac::AhrsCal_t::acc_min_x, Transports::Seatrac::AhrsCal_t::acc_min_y, Transports::Seatrac::AhrsCal_t::acc_min_z, Transports::Seatrac::CidSettingsMsg::ahrs_cal, Transports::Seatrac::CidSettingsMsg::ahrs_flags, Transports::Seatrac::CidSettingsMsg::ahrs_pitch_ofs, Transports::Seatrac::CidSettingsMsg::ahrs_roll_ofs, Transports::Seatrac::CidSettingsMsg::ahrs_yaw_ofs, Transports::Seatrac::CidNavBeaconPosSendMsg::beacon_id, Transports::Seatrac::MacAddr_T::bytes, Transports::Seatrac::IpAddr_T::bytes, CID_DAT_SEND, Transports::Seatrac::DataSeatrac::cid_dat_send_msg, CID_NAV_BEACON_POS_SEND, Transports::Seatrac::DataSeatrac::cid_nav_beacon_pos_send_msg, CID_NAV_QUERY_SEND, Transports::Seatrac::DataSeatrac::cid_nav_query_send_msg, CID_NAV_REF_POS_SEND, Transports::Seatrac::DataSeatrac::cid_nav_ref_pos_send_msg, CID_PING_SEND, Transports::Seatrac::DataSeatrac::cid_ping_send_msg, Transports::Seatrac::DataSeatrac::cid_settings_msg, CID_SETTINGS_SAVE, CID_SETTINGS_SET, CID_SYS_INFO, CID_SYS_REBOOT, Transports::Seatrac::CidPingSendMsg::dest_id, Transports::Seatrac::CidDatSendMsg::dest_id, Transports::Seatrac::CidNavQuerySendMsg::dest_id, Transports::Seatrac::CidSettingsMsg::env_flags, Transports::Seatrac::CidSettingsMsg::env_pressure_ofs, Transports::Seatrac::CidSettingsMsg::env_salinity, Transports::Seatrac::CidSettingsMsg::env_vos, Transports::Seatrac::AhrsCal_t::gyro_offset_x, Transports::Seatrac::AhrsCal_t::gyro_offset_y, Transports::Seatrac::AhrsCal_t::gyro_offset_z, Transports::Seatrac::AhrsCal_t::mag_error, Transports::Seatrac::AhrsCal_t::mag_field, Transports::Seatrac::AhrsCal_t::mag_hard_x, Transports::Seatrac::AhrsCal_t::mag_hard_y, Transports::Seatrac::AhrsCal_t::mag_hard_z, Transports::Seatrac::AhrsCal_t::mag_soft_x, Transports::Seatrac::AhrsCal_t::mag_soft_y, Transports::Seatrac::AhrsCal_t::mag_soft_z, Transports::Seatrac::AhrsCal_t::mag_valid, Transports::Seatrac::CidPingSendMsg::msg_type, Transports::Seatrac::CidDatSendMsg::msg_type, Transports::Seatrac::CidSettingsMsg::net_ip_addr, Transports::Seatrac::CidSettingsMsg::net_ip_dns, Transports::Seatrac::CidSettingsMsg::net_ip_gateway, Transports::Seatrac::CidSettingsMsg::net_ip_subnet, Transports::Seatrac::CidSettingsMsg::net_mac_addr, Transports::Seatrac::CidSettingsMsg::net_tcp_port, Transports::Seatrac::CidDatSendMsg::packet_data, Transports::Seatrac::CidDatSendMsg::packet_len, Transports::Seatrac::CidNavBeaconPosSendMsg::position_depth, Transports::Seatrac::CidNavBeaconPosSendMsg::position_easting, Transports::Seatrac::CidNavRefPosSendMsg::position_latitude, Transports::Seatrac::CidNavRefPosSendMsg::position_longitude, Transports::Seatrac::CidNavBeaconPosSendMsg::position_northing, Transports::Seatrac::CidNavQuerySendMsg::query_flags, Transports::Seatrac::CidSettingsMsg::status_flags, Transports::Seatrac::CidSettingsMsg::status_output, Transports::Seatrac::CidSettingsMsg::uart_aux_baud, Transports::Seatrac::CidSettingsMsg::uart_main_baud, Transports::Seatrac::CidSettingsMsg::xcvr_beacon_id, Transports::Seatrac::CidSettingsMsg::xcvr_flags, Transports::Seatrac::CidSettingsMsg::xcvr_pitch, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_ang, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_tmo, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_vel, Transports::Seatrac::CidSettingsMsg::xcvr_range_tmo, Transports::Seatrac::CidSettingsMsg::xcvr_resp_time, Transports::Seatrac::CidSettingsMsg::xcvr_roll, and Transports::Seatrac::CidSettingsMsg::xcvr_yaw.

Referenced by Transports::Seatrac::Task::consume(), Transports::Seatrac::Task::handleBinaryMessage(), Transports::Seatrac::Task::handleCommunicationError(), Transports::Seatrac::Task::handleDatSendResponse(), and Transports::Seatrac::Task::onResourceInitialization().

void Transports::Seatrac::dataParser	(	uint16_t	message_type,
		const char *	msg_raw,
		DataSeatrac &	data_Beacon
	)

Extract to DataSeatrac data structure.

Parameters

[in]	message_type	type of msessage to decode.
[in]	msg_raw	raw messagem received by uart
[out]	data_Beacon	pointer where the data is stored.

References Transports::Seatrac::CidStatusMsg::acc_lim_max_x, Transports::Seatrac::CidStatusMsg::acc_lim_max_y, Transports::Seatrac::CidStatusMsg::acc_lim_max_z, Transports::Seatrac::CidStatusMsg::acc_lim_min_x, Transports::Seatrac::CidStatusMsg::acc_lim_min_y, Transports::Seatrac::CidStatusMsg::acc_lim_min_z, Transports::Seatrac::AhrsCal_t::acc_max_x, Transports::Seatrac::AhrsCal_t::acc_max_y, Transports::Seatrac::AhrsCal_t::acc_max_z, Transports::Seatrac::AhrsCal_t::acc_min_x, Transports::Seatrac::AhrsCal_t::acc_min_y, Transports::Seatrac::AhrsCal_t::acc_min_z, Transports::Seatrac::CidDatReceiveMsg::ack_flag, Transports::Seatrac::CidPingRespMsg::aco_fix, Transports::Seatrac::CidNavBeaconPosUpdateMsg::aco_fix, Transports::Seatrac::CidPingRequestMsg::aco_fix, Transports::Seatrac::CidNavQueryReqMsg::aco_fix, Transports::Seatrac::CidNavRefPosUpdateMsg::aco_fix, Transports::Seatrac::CidDatReceiveMsg::aco_fix, Transports::Seatrac::CidXcvrFixMsg::aco_fix, Transports::Seatrac::CidNavQuerryRespMsg::aco_fix, Transports::Seatrac::CidSettingsMsg::ahrs_cal, Transports::Seatrac::CidStatusMsg::ahrs_comp_acc_x, Transports::Seatrac::CidStatusMsg::ahrs_comp_acc_y, Transports::Seatrac::CidStatusMsg::ahrs_comp_acc_z, Transports::Seatrac::CidStatusMsg::ahrs_comp_gyro_x, Transports::Seatrac::CidStatusMsg::ahrs_comp_gyro_y, Transports::Seatrac::CidStatusMsg::ahrs_comp_gyro_z, Transports::Seatrac::CidStatusMsg::ahrs_comp_mag_x, Transports::Seatrac::CidStatusMsg::ahrs_comp_mag_y, Transports::Seatrac::CidStatusMsg::ahrs_comp_mag_z, Transports::Seatrac::CidSettingsMsg::ahrs_flags, Transports::Seatrac::CidSettingsMsg::ahrs_pitch_ofs, Transports::Seatrac::CidStatusMsg::ahrs_raw_acc_x, Transports::Seatrac::CidStatusMsg::ahrs_raw_acc_y, Transports::Seatrac::CidStatusMsg::ahrs_raw_acc_z, Transports::Seatrac::CidStatusMsg::ahrs_raw_gyro_x, Transports::Seatrac::CidStatusMsg::ahrs_raw_gyro_y, Transports::Seatrac::CidStatusMsg::ahrs_raw_gyro_z, Transports::Seatrac::CidStatusMsg::ahrs_raw_mag_x, Transports::Seatrac::CidStatusMsg::ahrs_raw_mag_y, Transports::Seatrac::CidStatusMsg::ahrs_raw_mag_z, Transports::Seatrac::CidSettingsMsg::ahrs_roll_ofs, Transports::Seatrac::CidSettingsMsg::ahrs_yaw_ofs, Transports::Seatrac::CidStatusMsg::attitude_pitch, Transports::Seatrac::CidStatusMsg::attitude_roll, Transports::Seatrac::CidStatusMsg::attitude_yaw, Transports::Seatrac::CidXcvrUsblMsg::baselines, Transports::Seatrac::CidNavBeaconPosUpdateMsg::beacon_id, Transports::Seatrac::CidPingErrorMsg::beacon_id, Transports::Seatrac::CidPingSendMsg::beacon_id, Transports::Seatrac::CidNavRefPosUpdateMsg::beacon_id, Transports::Seatrac::CidDatSendMsg::beacon_id, Transports::Seatrac::CidSysInfo::boot_firmware, Transports::Seatrac::MacAddr_T::bytes, Transports::Seatrac::IpAddr_T::bytes, Transports::Seatrac::CidXcvrUsblMsg::channel_rssi, Transports::Seatrac::CidXcvrUsblMsg::channels, Transports::Seatrac::Firmware_t::checksum, CID_DAT_ERROR, CID_DAT_RECEIVE, Transports::Seatrac::DataSeatrac::cid_dat_receive_msg, CID_DAT_SEND, Transports::Seatrac::DataSeatrac::cid_dat_send_msg, CID_NAV_BEACON_POS_SEND, Transports::Seatrac::DataSeatrac::cid_nav_beacon_pos_send_msg, CID_NAV_BEACON_POS_UPDATE, Transports::Seatrac::DataSeatrac::cid_nav_beacon_pos_update_msg, Transports::Seatrac::DataSeatrac::cid_nav_querry_resp_msg, CID_NAV_QUERY_REQ, Transports::Seatrac::DataSeatrac::cid_nav_query_req_msg, CID_NAV_QUERY_RESP, CID_NAV_QUERY_SEND, Transports::Seatrac::DataSeatrac::cid_nav_query_send_msg, CID_NAV_REF_POS_SEND, Transports::Seatrac::DataSeatrac::cid_nav_ref_pos_send_msg, CID_NAV_REF_POS_UPDATE, Transports::Seatrac::DataSeatrac::cid_nav_ref_pos_update_msg, CID_PING_ERROR, Transports::Seatrac::DataSeatrac::cid_ping_error_msg, CID_PING_REQ, Transports::Seatrac::DataSeatrac::cid_ping_req_msg, CID_PING_RESP, Transports::Seatrac::DataSeatrac::cid_ping_resp_msg, CID_PING_SEND, Transports::Seatrac::DataSeatrac::cid_ping_send_msg, CID_SETTINGS_GET, Transports::Seatrac::DataSeatrac::cid_settings_msg, CID_SETTINGS_SAVE, Transports::Seatrac::DataSeatrac::cid_settings_save_msg, CID_STATUS, Transports::Seatrac::DataSeatrac::cid_status_msg, Transports::Seatrac::DataSeatrac::cid_sys_info, CID_SYS_INFO, CID_SYS_REBOOT, Transports::Seatrac::DataSeatrac::cid_sys_reboot_msg, CID_XCVR_FIX, Transports::Seatrac::DataSeatrac::cid_xcvr_fix_msg, CID_XCVR_USBL, Transports::Seatrac::DataSeatrac::cid_xcvr_usbl_msg, Transports::Seatrac::CidSettingsMsg::env_flags, Transports::Seatrac::CidSettingsMsg::env_pressure_ofs, Transports::Seatrac::CidSettingsMsg::env_salinity, Transports::Seatrac::CidSettingsMsg::env_vos, Transports::Seatrac::CidStatusMsg::environment_pressure, Transports::Seatrac::CidStatusMsg::environment_supply, Transports::Seatrac::CidStatusMsg::environment_temperature, Transports::Seatrac::CidStatusMsg::EnvironmentDepth, Transports::Seatrac::CidStatusMsg::EnvironmentVos, Transports::Seatrac::Hardware_t::flags_sys, Transports::Seatrac::Hardware_t::flags_user, Transports::Seatrac::AhrsCal_t::gyro_offset_x, Transports::Seatrac::AhrsCal_t::gyro_offset_y, Transports::Seatrac::AhrsCal_t::gyro_offset_z, Transports::Seatrac::CidSysInfo::hardware, Transports::Seatrac::CidStatusMsg::mag_cal_age, Transports::Seatrac::CidStatusMsg::mag_cal_buf, Transports::Seatrac::CidStatusMsg::mag_cal_fit, Transports::Seatrac::CidStatusMsg::mag_cal_valid, Transports::Seatrac::AhrsCal_t::mag_error, Transports::Seatrac::AhrsCal_t::mag_field, Transports::Seatrac::AhrsCal_t::mag_hard_x, Transports::Seatrac::AhrsCal_t::mag_hard_y, Transports::Seatrac::AhrsCal_t::mag_hard_z, Transports::Seatrac::AhrsCal_t::mag_soft_x, Transports::Seatrac::AhrsCal_t::mag_soft_y, Transports::Seatrac::AhrsCal_t::mag_soft_z, Transports::Seatrac::AhrsCal_t::mag_valid, Transports::Seatrac::CidSysInfo::main_firmware, Transports::Seatrac::CidNavQueryReqMsg::nav_query_t, Transports::Seatrac::CidSettingsMsg::net_ip_addr, Transports::Seatrac::CidSettingsMsg::net_ip_dns, Transports::Seatrac::CidSettingsMsg::net_ip_gateway, Transports::Seatrac::CidSettingsMsg::net_ip_subnet, Transports::Seatrac::CidSettingsMsg::net_mac_addr, Transports::Seatrac::CidSettingsMsg::net_tcp_port, Transports::Seatrac::CidStatusMsg::output_flags, Transports::Seatrac::CidStatusMsg::outputflags_list, Transports::Seatrac::CidStatusMsg::outputFlagsComp(), Transports::Seatrac::CidDatReceiveMsg::packet_data, Transports::Seatrac::CidDatReceiveMsg::packet_len, Transports::Seatrac::Hardware_t::part_number, Transports::Seatrac::Firmware_t::part_number, Transports::Seatrac::Hardware_t::part_rev, Transports::Seatrac::CidXcvrUsblMsg::phase_angle, Transports::Seatrac::CidNavBeaconPosUpdateMsg::position_depth, Transports::Seatrac::CidNavBeaconPosUpdateMsg::position_easting, Transports::Seatrac::CidNavRefPosUpdateMsg::position_latitude, Transports::Seatrac::CidNavRefPosUpdateMsg::position_longitude, Transports::Seatrac::CidNavBeaconPosUpdateMsg::position_northing, Transports::Seatrac::CidNavQuerryRespMsg::query_flags, Transports::Seatrac::CidNavQuerryRespMsg::query_flags_list, Transports::Seatrac::CidNavQuerryRespMsg::queryFlagsExtract(), Transports::Seatrac::CidNavQuerryRespMsg::remote_depth, Transports::Seatrac::CidNavQuerryRespMsg::remote_pitch, Transports::Seatrac::CidNavQuerryRespMsg::remote_roll, Transports::Seatrac::CidNavQuerryRespMsg::remote_supply, Transports::Seatrac::CidNavQuerryRespMsg::remote_temp, Transports::Seatrac::CidNavQuerryRespMsg::remote_yaw, Transports::Seatrac::CidSysInfo::seconds, Transports::Seatrac::CidSysInfo::section, Transports::Seatrac::Hardware_t::serial_number, Transports::Seatrac::DataSeatrac::set(), Transports::Seatrac::CidXcvrUsblMsg::signal_azimuth, Transports::Seatrac::CidXcvrUsblMsg::signal_elevation, Transports::Seatrac::CidXcvrUsblMsg::signal_fit_error, Transports::Seatrac::CidNavBeaconPosSendMsg::status, Transports::Seatrac::CidPingErrorMsg::status, Transports::Seatrac::CidPingSendMsg::status, Transports::Seatrac::CidSettingsSaveMsg::status, Transports::Seatrac::CidNavRefPosSendMsg::status, Transports::Seatrac::CidDatSendMsg::status, Transports::Seatrac::CidSysRebootMsg::status, Transports::Seatrac::CidNavQuerySendMsg::status, Transports::Seatrac::CidSettingsMsg::status_flags, Transports::Seatrac::CidSettingsMsg::status_output, Transports::Seatrac::CidStatusMsg::timestamp, Transports::Seatrac::CidSettingsMsg::uart_aux_baud, Transports::Seatrac::CidSettingsMsg::uart_main_baud, updateEcoFix(), Transports::Seatrac::Firmware_t::valid, Transports::Seatrac::Firmware_t::version_build, Transports::Seatrac::Firmware_t::version_maj, Transports::Seatrac::Firmware_t::version_min, Transports::Seatrac::CidXcvrUsblMsg::xcor_cross_mag, Transports::Seatrac::CidXcvrUsblMsg::xcor_cross_point, Transports::Seatrac::CidXcvrUsblMsg::xcor_data, Transports::Seatrac::CidXcvrUsblMsg::xcor_detect, Transports::Seatrac::CidXcvrUsblMsg::xcor_length, Transports::Seatrac::CidXcvrUsblMsg::xcor_sig_peak, Transports::Seatrac::CidXcvrUsblMsg::xcor_threshold, Transports::Seatrac::CidSettingsMsg::xcvr_beacon_id, Transports::Seatrac::CidSettingsMsg::xcvr_flags, Transports::Seatrac::CidSettingsMsg::xcvr_pitch, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_ang, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_tmo, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_vel, Transports::Seatrac::CidSettingsMsg::xcvr_range_tmo, Transports::Seatrac::CidSettingsMsg::xcvr_resp_time, Transports::Seatrac::CidSettingsMsg::xcvr_roll, and Transports::Seatrac::CidSettingsMsg::xcvr_yaw.

Referenced by Transports::Seatrac::Task::readSentence().

void Transports::Seatrac::printAcoFixData	(	std::string	msg_name,
		Acofix_t *	aco_fix,
		Tasks::Task *	task = NULL
	)

Ecofix data type debug print.

Parameters

[in]	msg_name	string with name of message.
[in]	aco_fix	data pointer.
[in]	task	parent task.

References Transports::Seatrac::Acofix_t::amsgtype_e, Transports::Seatrac::Acofix_t::attitude_pitch, Transports::Seatrac::Acofix_t::attitude_roll, Transports::Seatrac::Acofix_t::attitude_yaw, Transports::Seatrac::Acofix_t::depth_local, Transports::Seatrac::Acofix_t::dest_id, Transports::Seatrac::Acofix_t::flags, Transports::Seatrac::Acofix_t::outputflags_list, Transports::Seatrac::Acofix_t::position_depth, Transports::Seatrac::Acofix_t::position_easting, Transports::Seatrac::Acofix_t::position_northing, Transports::Seatrac::Acofix_t::range_count, Transports::Seatrac::Acofix_t::range_dist, Transports::Seatrac::Acofix_t::range_time, Transports::Seatrac::Acofix_t::rssi, Transports::Seatrac::Acofix_t::src_id, Transports::Seatrac::Acofix_t::usbl_azimuth, Transports::Seatrac::Acofix_t::usbl_channels, Transports::Seatrac::Acofix_t::usbl_elevation, Transports::Seatrac::Acofix_t::usbl_fit_error, Transports::Seatrac::Acofix_t::usbl_rssi, and Transports::Seatrac::Acofix_t::vos.

Referenced by printDebugFunction().

void Transports::Seatrac::printDebugFunction	(	unsigned	message_type,
		DataSeatrac &	data_Beacon,
		Tasks::Task *	task = NULL
	)

Msg Debug print.

Parameters

[in]	message_type	type of message.
[in]	data_Beacon	data structure.
[in]	task	parent task.

References Transports::Seatrac::CidStatusMsg::acc_lim_max_x, Transports::Seatrac::CidStatusMsg::acc_lim_max_y, Transports::Seatrac::CidStatusMsg::acc_lim_max_z, Transports::Seatrac::CidStatusMsg::acc_lim_min_x, Transports::Seatrac::CidStatusMsg::acc_lim_min_y, Transports::Seatrac::CidStatusMsg::acc_lim_min_z, Transports::Seatrac::AhrsCal_t::acc_max_x, Transports::Seatrac::AhrsCal_t::acc_max_y, Transports::Seatrac::AhrsCal_t::acc_max_z, Transports::Seatrac::AhrsCal_t::acc_min_x, Transports::Seatrac::AhrsCal_t::acc_min_y, Transports::Seatrac::AhrsCal_t::acc_min_z, Transports::Seatrac::CidDatReceiveMsg::ack_flag, Transports::Seatrac::CidPingRespMsg::aco_fix, Transports::Seatrac::CidNavBeaconPosUpdateMsg::aco_fix, Transports::Seatrac::CidPingRequestMsg::aco_fix, Transports::Seatrac::CidNavQueryReqMsg::aco_fix, Transports::Seatrac::CidNavRefPosUpdateMsg::aco_fix, Transports::Seatrac::CidDatReceiveMsg::aco_fix, Transports::Seatrac::CidXcvrFixMsg::aco_fix, Transports::Seatrac::CidNavQuerryRespMsg::aco_fix, Transports::Seatrac::CidSettingsMsg::ahrs_cal, Transports::Seatrac::CidStatusMsg::ahrs_comp_acc_x, Transports::Seatrac::CidStatusMsg::ahrs_comp_acc_y, Transports::Seatrac::CidStatusMsg::ahrs_comp_acc_z, Transports::Seatrac::CidStatusMsg::ahrs_comp_gyro_x, Transports::Seatrac::CidStatusMsg::ahrs_comp_gyro_y, Transports::Seatrac::CidStatusMsg::ahrs_comp_gyro_z, Transports::Seatrac::CidStatusMsg::ahrs_comp_mag_x, Transports::Seatrac::CidStatusMsg::ahrs_comp_mag_y, Transports::Seatrac::CidStatusMsg::ahrs_comp_mag_z, Transports::Seatrac::CidSettingsMsg::ahrs_flags, Transports::Seatrac::CidSettingsMsg::ahrs_pitch_ofs, Transports::Seatrac::CidStatusMsg::ahrs_raw_acc_x, Transports::Seatrac::CidStatusMsg::ahrs_raw_acc_y, Transports::Seatrac::CidStatusMsg::ahrs_raw_acc_z, Transports::Seatrac::CidStatusMsg::ahrs_raw_gyro_x, Transports::Seatrac::CidStatusMsg::ahrs_raw_gyro_y, Transports::Seatrac::CidStatusMsg::ahrs_raw_gyro_z, Transports::Seatrac::CidStatusMsg::ahrs_raw_mag_x, Transports::Seatrac::CidStatusMsg::ahrs_raw_mag_y, Transports::Seatrac::CidStatusMsg::ahrs_raw_mag_z, Transports::Seatrac::CidSettingsMsg::ahrs_roll_ofs, Transports::Seatrac::CidSettingsMsg::ahrs_yaw_ofs, Transports::Seatrac::CidStatusMsg::attitude_pitch, Transports::Seatrac::CidStatusMsg::attitude_roll, Transports::Seatrac::CidStatusMsg::attitude_yaw, Transports::Seatrac::CidXcvrUsblMsg::baselines, Transports::Seatrac::CidNavBeaconPosUpdateMsg::beacon_id, Transports::Seatrac::CidPingErrorMsg::beacon_id, Transports::Seatrac::CidPingSendMsg::beacon_id, Transports::Seatrac::CidNavRefPosUpdateMsg::beacon_id, Transports::Seatrac::CidDatSendMsg::beacon_id, Transports::Seatrac::CidSysInfo::boot_firmware, Transports::Seatrac::CidXcvrUsblMsg::channel_rssi, Transports::Seatrac::CidXcvrUsblMsg::channels, Transports::Seatrac::Firmware_t::checksum, CID_DAT_ERROR, CID_DAT_RECEIVE, Transports::Seatrac::DataSeatrac::cid_dat_receive_msg, CID_DAT_SEND, Transports::Seatrac::DataSeatrac::cid_dat_send_msg, CID_NAV_BEACON_POS_SEND, Transports::Seatrac::DataSeatrac::cid_nav_beacon_pos_send_msg, CID_NAV_BEACON_POS_UPDATE, Transports::Seatrac::DataSeatrac::cid_nav_beacon_pos_update_msg, CID_NAV_ERROR, Transports::Seatrac::DataSeatrac::cid_nav_querry_resp_msg, CID_NAV_QUERY_REQ, Transports::Seatrac::DataSeatrac::cid_nav_query_req_msg, CID_NAV_QUERY_RESP, CID_NAV_QUERY_SEND, Transports::Seatrac::DataSeatrac::cid_nav_query_send_msg, CID_NAV_REF_POS_SEND, Transports::Seatrac::DataSeatrac::cid_nav_ref_pos_send_msg, CID_NAV_REF_POS_UPDATE, Transports::Seatrac::DataSeatrac::cid_nav_ref_pos_update_msg, CID_PING_ERROR, Transports::Seatrac::DataSeatrac::cid_ping_error_msg, CID_PING_REQ, Transports::Seatrac::DataSeatrac::cid_ping_req_msg, CID_PING_RESP, Transports::Seatrac::DataSeatrac::cid_ping_resp_msg, CID_PING_SEND, Transports::Seatrac::DataSeatrac::cid_ping_send_msg, CID_SETTINGS_GET, Transports::Seatrac::DataSeatrac::cid_settings_msg, CID_SETTINGS_SAVE, Transports::Seatrac::DataSeatrac::cid_settings_save_msg, CID_SETTINGS_SET, CID_STATUS, Transports::Seatrac::DataSeatrac::cid_status_msg, Transports::Seatrac::DataSeatrac::cid_sys_info, CID_SYS_INFO, CID_SYS_REBOOT, Transports::Seatrac::DataSeatrac::cid_sys_reboot_msg, Transports::Seatrac::DataSeatrac::cid_sys_settings_set_msg, CID_XCVR_FIX, Transports::Seatrac::DataSeatrac::cid_xcvr_fix_msg, CID_XCVR_USBL, Transports::Seatrac::DataSeatrac::cid_xcvr_usbl_msg, CST_XCVR_RESP_ERROR, CST_XCVR_RESP_TIMEOUT, CST_XCVR_RESP_WRONG, Transports::Seatrac::CidSettingsMsg::env_flags, Transports::Seatrac::CidSettingsMsg::env_pressure_ofs, Transports::Seatrac::CidSettingsMsg::env_salinity, Transports::Seatrac::CidSettingsMsg::env_vos, Transports::Seatrac::CidStatusMsg::environment_pressure, Transports::Seatrac::CidStatusMsg::environment_supply, Transports::Seatrac::CidStatusMsg::environment_temperature, Transports::Seatrac::CidStatusMsg::EnvironmentDepth, Transports::Seatrac::CidStatusMsg::EnvironmentVos, Transports::Seatrac::Hardware_t::flags_sys, Transports::Seatrac::Hardware_t::flags_user, Transports::Seatrac::AhrsCal_t::gyro_offset_x, Transports::Seatrac::AhrsCal_t::gyro_offset_y, Transports::Seatrac::AhrsCal_t::gyro_offset_z, Transports::Seatrac::CidSysInfo::hardware, Transports::Seatrac::CidStatusMsg::mag_cal_age, Transports::Seatrac::CidStatusMsg::mag_cal_buf, Transports::Seatrac::CidStatusMsg::mag_cal_fit, Transports::Seatrac::CidStatusMsg::mag_cal_valid, Transports::Seatrac::AhrsCal_t::mag_error, Transports::Seatrac::AhrsCal_t::mag_field, Transports::Seatrac::AhrsCal_t::mag_hard_x, Transports::Seatrac::AhrsCal_t::mag_hard_y, Transports::Seatrac::AhrsCal_t::mag_hard_z, Transports::Seatrac::AhrsCal_t::mag_soft_x, Transports::Seatrac::AhrsCal_t::mag_soft_y, Transports::Seatrac::AhrsCal_t::mag_soft_z, Transports::Seatrac::AhrsCal_t::mag_valid, Transports::Seatrac::CidSysInfo::main_firmware, Transports::Seatrac::CidNavQueryReqMsg::nav_query_t, Transports::Seatrac::CidSettingsMsg::net_tcp_port, Transports::Seatrac::CidStatusMsg::output_flags, Transports::Seatrac::CidStatusMsg::outputflags_list, Transports::Seatrac::CidDatReceiveMsg::packet_data, Transports::Seatrac::CidDatReceiveMsg::packet_len, Transports::Seatrac::Hardware_t::part_number, Transports::Seatrac::Firmware_t::part_number, Transports::Seatrac::Hardware_t::part_rev, Transports::Seatrac::CidXcvrUsblMsg::phase_angle, Transports::Seatrac::CidNavBeaconPosUpdateMsg::position_depth, Transports::Seatrac::CidNavBeaconPosUpdateMsg::position_easting, Transports::Seatrac::CidNavRefPosUpdateMsg::position_latitude, Transports::Seatrac::CidNavRefPosUpdateMsg::position_longitude, Transports::Seatrac::CidNavBeaconPosUpdateMsg::position_northing, printAcoFixData(), Transports::Seatrac::CidNavQuerryRespMsg::query_flags, Transports::Seatrac::CidNavQuerryRespMsg::query_flags_list, Transports::Seatrac::CidNavQuerryRespMsg::remote_depth, Transports::Seatrac::CidNavQuerryRespMsg::remote_pitch, Transports::Seatrac::CidNavQuerryRespMsg::remote_roll, Transports::Seatrac::CidNavQuerryRespMsg::remote_supply, Transports::Seatrac::CidNavQuerryRespMsg::remote_temp, Transports::Seatrac::CidNavQuerryRespMsg::remote_yaw, Transports::Seatrac::CidSysInfo::seconds, Transports::Seatrac::CidSysInfo::section, Transports::Seatrac::Hardware_t::serial_number, Transports::Seatrac::CidXcvrUsblMsg::signal_azimuth, Transports::Seatrac::CidXcvrUsblMsg::signal_elevation, Transports::Seatrac::CidXcvrUsblMsg::signal_fit_error, Transports::Seatrac::CidNavBeaconPosSendMsg::status, Transports::Seatrac::CidPingErrorMsg::status, Transports::Seatrac::CidPingSendMsg::status, Transports::Seatrac::CidSettingsSetMsg::status, Transports::Seatrac::CidSettingsSaveMsg::status, Transports::Seatrac::CidNavRefPosSendMsg::status, Transports::Seatrac::CidDatSendMsg::status, Transports::Seatrac::CidSysRebootMsg::status, Transports::Seatrac::CidNavQuerySendMsg::status, Transports::Seatrac::CidSettingsMsg::status_flags, Transports::Seatrac::CidSettingsMsg::status_output, Transports::Seatrac::CidStatusMsg::timestamp, Transports::Seatrac::CidSettingsMsg::uart_aux_baud, Transports::Seatrac::CidSettingsMsg::uart_main_baud, Transports::Seatrac::Firmware_t::valid, Transports::Seatrac::Firmware_t::version_build, Transports::Seatrac::Firmware_t::version_maj, Transports::Seatrac::Firmware_t::version_min, Transports::Seatrac::CidXcvrUsblMsg::xcor_cross_mag, Transports::Seatrac::CidXcvrUsblMsg::xcor_cross_point, Transports::Seatrac::CidXcvrUsblMsg::xcor_data, Transports::Seatrac::CidXcvrUsblMsg::xcor_detect, Transports::Seatrac::CidXcvrUsblMsg::xcor_length, Transports::Seatrac::CidXcvrUsblMsg::xcor_sig_peak, Transports::Seatrac::CidXcvrUsblMsg::xcor_threshold, Transports::Seatrac::CidSettingsMsg::xcvr_beacon_id, Transports::Seatrac::CidSettingsMsg::xcvr_flags, Transports::Seatrac::CidSettingsMsg::xcvr_pitch, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_ang, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_tmo, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_vel, Transports::Seatrac::CidSettingsMsg::xcvr_range_tmo, Transports::Seatrac::CidSettingsMsg::xcvr_resp_time, Transports::Seatrac::CidSettingsMsg::xcvr_roll, and Transports::Seatrac::CidSettingsMsg::xcvr_yaw.

Referenced by Transports::Seatrac::Task::readSentence().

uint16_t Transports::Seatrac::updateEcoFix	(	Acofix_t *	aco_fix,
		uint16_t	ind,
		const char *	msg_raw
	)

Extract data to a Acofix_t structure.

Parameters

[out]	aco_fix	pointer hwre data is stored.
[in]	ind	raw messagem index.
[in]	msg_raw	pointer to raw message.

References Transports::Seatrac::Acofix_t::outputflags_list, Transports::Seatrac::Acofix_t::outputFlagsComp(), Transports::Seatrac::Acofix_t::usbl_channels, and Transports::Seatrac::Acofix_t::usbl_rssi.

Referenced by dataParser().