DUNE: Uniform Navigational Environment
2016.09.0
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USBL tools handler.
Public Member Functions | |
Modem (void) | |
bool | waitingForSystem (std::string name) |
bool | run (std::string &name, float time) |
bool | wantsFix (std::string name) |
bool | parse (const IMC::UamRxFrame *msg, std::vector< uint8_t > &data) |
bool | encode (const IMC::UsblFixExtended *msg, std::vector< uint8_t > &data) |
bool | encode (const IMC::UsblPositionExtended *msg, std::vector< uint8_t > &data) |
bool | encode (const IMC::UsblAnglesExtended *msg, std::vector< uint8_t > &data) |
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Constructor.
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Encode USBL fix message to be transmitted.
[in] | msg | pointer to message. |
[out] | data | frame to be send. |
References DUNE::Navigation::UsblTools::Fix::accuracy, DUNE::IMC::UsblFixExtended::accuracy, DUNE::Navigation::UsblTools::c_code, DUNE::Navigation::UsblTools::CODE_FIX, DUNE::Navigation::UsblTools::Fix::lat, DUNE::IMC::UsblFixExtended::lat, DUNE::Navigation::UsblTools::Fix::lon, DUNE::IMC::UsblFixExtended::lon, DUNE::IMC::UsblFixExtended::target, DUNE::Navigation::UsblTools::Fix::z, DUNE::IMC::UsblFixExtended::z, DUNE::Navigation::UsblTools::Fix::z_units, and DUNE::IMC::UsblFixExtended::z_units.
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Encode USBL position message to be transmitted.
[in] | msg | pointer to message. |
[out] | data | frame to be send. |
References DUNE::Navigation::UsblTools::Position::accuracy, DUNE::IMC::UsblPositionExtended::accuracy, DUNE::Navigation::UsblTools::c_code, DUNE::Navigation::UsblTools::CODE_POS, DUNE::Navigation::UsblTools::Position::d, DUNE::IMC::UsblPositionExtended::d, DUNE::Navigation::UsblTools::Position::e, DUNE::IMC::UsblPositionExtended::e, DUNE::Navigation::UsblTools::Position::n, DUNE::IMC::UsblPositionExtended::n, DUNE::IMC::UsblPositionExtended::target, DUNE::Navigation::UsblTools::Position::x, DUNE::IMC::UsblPositionExtended::x, DUNE::Navigation::UsblTools::Position::y, DUNE::IMC::UsblPositionExtended::y, DUNE::Navigation::UsblTools::Position::z, and DUNE::IMC::UsblPositionExtended::z.
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Encode USBL angles message to be transmitted.
[in] | msg | pointer to message. |
[out] | data | frame to be send. |
References DUNE::Navigation::UsblTools::Angles::accuracy, DUNE::IMC::UsblAnglesExtended::accuracy, DUNE::Navigation::UsblTools::Angles::bearing, DUNE::IMC::UsblAnglesExtended::bearing, DUNE::Navigation::UsblTools::c_code, DUNE::Navigation::UsblTools::CODE_ANG, DUNE::Navigation::UsblTools::Angles::elevation, DUNE::IMC::UsblAnglesExtended::elevation, DUNE::Navigation::UsblTools::Angles::lbearing, DUNE::IMC::UsblAnglesExtended::lbearing, DUNE::Navigation::UsblTools::Angles::lelevation, DUNE::IMC::UsblAnglesExtended::lelevation, and DUNE::IMC::UsblAnglesExtended::target.
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Parse incoming frame.
[in] | msg | received acoustic frame. |
[out] | data | frame to be send. |
References DUNE::Navigation::UsblTools::c_code, DUNE::Navigation::UsblTools::c_fsize_req, DUNE::Navigation::UsblTools::c_mask_fix, DUNE::Navigation::UsblTools::c_mask_start, DUNE::Navigation::UsblTools::c_requests_interval, DUNE::Navigation::UsblTools::CODE_REQ, DUNE::Navigation::UsblTools::CODE_RPL, DUNE::IMC::UamRxFrame::data, DUNE::Navigation::UsblTools::REQ_PERIOD, DUNE::Navigation::UsblTools::REQ_START, DUNE::Time::Counter< T >::setTop(), and DUNE::IMC::UamRxFrame::sys_src.
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Trigger through all targets.
[out] | name | target's name to be tracked. |
[in] | time | to wait for target system's reply. |
References DUNE::Time::Counter< T >::overflow(), and DUNE::Time::Counter< T >::setTop().
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This function verifies if we are waiting for the target's reply.
[in] | name | name of the target. |
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Get if target's wants an absolute fix.