Detailed Description

GPS Fix RTK.

Public Types
enum	TypeEnum { RTK_NONE, RTK_OBS, RTK_FLOAT, RTK_FIXED }

enum	ValidityBits { RFV_VALID_TIME, RFV_VALID_BASE, RFV_VALID_POS, RFV_VALID_VEL }

Public Member Functions
	GpsFixRtk (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

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

virtual unsigned	getVariableSerializationSize (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
uint16_t	validity

uint8_t	type

uint32_t	tow

fp64_t	base_lat

fp64_t	base_lon

fp32_t	base_height

fp32_t	n

fp32_t	e

fp32_t	d

fp32_t	v_n

fp32_t	v_e

fp32_t	v_d

uint8_t	satellites

uint16_t	iar_hyp

fp32_t	iar_ratio

Additional Inherited Members
Protected Member Functions inherited from DUNE::IMC::Message
virtual void	setTimeStampNested (double value)

virtual void	setSourceNested (uint16_t value)

virtual void	setSourceEntityNested (uint8_t value)

virtual void	setDestinationNested (uint16_t value)

virtual void	setDestinationEntityNested (uint8_t value)

Protected Attributes inherited from DUNE::IMC::Message
Header	m_header

Member Enumeration Documentation

enum DUNE::IMC::GpsFixRtk::TypeEnum

Type.

Enumerator
RTK_NONE	None.
RTK_OBS	Obs.
RTK_FLOAT	Float.
RTK_FIXED	Fixed.

enum DUNE::IMC::GpsFixRtk::ValidityBits

Validity.

Enumerator
RFV_VALID_TIME	Valid Time.
RFV_VALID_BASE	Valid Base LLH.
RFV_VALID_POS	Valid Position.
RFV_VALID_VEL	Valid Velocity.

Constructor & Destructor Documentation

DUNE::IMC::GpsFixRtk::GpsFixRtk ( void )

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

Referenced by clone().

Member Function Documentation

void DUNE::IMC::GpsFixRtk::clear ( void )

virtual

Reset message's fields.

Implements DUNE::IMC::Message.

References base_height, base_lat, base_lon, d, e, iar_hyp, iar_ratio, n, satellites, tow, type, v_d, v_e, v_n, and validity.

Referenced by GpsFixRtk().

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

inlinevirtual

Retrieve a copy of the message.

Returns: message copy.

Implements DUNE::IMC::Message.

References GpsFixRtk().

uint16_t DUNE::IMC::GpsFixRtk::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 base_height, base_lat, base_lon, d, DUNE::IMC::deserialize(), e, iar_hyp, iar_ratio, n, satellites, tow, type, v_d, v_e, v_n, and validity.

bool DUNE::IMC::GpsFixRtk::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 base_height, base_lat, base_lon, d, e, iar_hyp, iar_ratio, n, satellites, tow, type, v_d, v_e, v_n, and validity.

void DUNE::IMC::GpsFixRtk::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 base_height, base_lat, base_lon, d, e, iar_hyp, iar_ratio, n, satellites, DUNE::IMC::toJSON(), tow, type, v_d, v_e, v_n, and validity.

unsigned DUNE::IMC::GpsFixRtk::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::GpsFixRtk::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::GpsFixRtk::getIdStatic ( void )

inlinestatic

Referenced by getId().

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

inlinevirtual

Retrieve message's name.

Returns: message's name.

Implements DUNE::IMC::Message.

uint16_t DUNE::IMC::GpsFixRtk::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 base_height, base_lat, base_lon, d, DUNE::IMC::deserialize(), e, iar_hyp, iar_ratio, n, DUNE::IMC::reverseDeserialize(), satellites, tow, type, v_d, v_e, v_n, and validity.

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

virtual

Implements DUNE::IMC::Message.

References base_height, base_lat, base_lon, d, e, iar_hyp, iar_ratio, n, satellites, DUNE::IMC::serialize(), tow, type, v_d, v_e, v_n, and validity.

int DUNE::IMC::GpsFixRtk::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

fp32_t DUNE::IMC::GpsFixRtk::base_height

Base Height above WGS-84 ellipsoid.

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

fp64_t DUNE::IMC::GpsFixRtk::base_lat

Base Latitude WGS-84.

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

fp64_t DUNE::IMC::GpsFixRtk::base_lon

Base Longitude WGS-84.

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

fp32_t DUNE::IMC::GpsFixRtk::d

Position Down.

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

fp32_t DUNE::IMC::GpsFixRtk::e

Position East.

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

uint16_t DUNE::IMC::GpsFixRtk::iar_hyp

IAR Hypotheses.

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

fp32_t DUNE::IMC::GpsFixRtk::iar_ratio

IAR Ratio.

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

fp32_t DUNE::IMC::GpsFixRtk::n

Position North.

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

uint8_t DUNE::IMC::GpsFixRtk::satellites

Number of Satellites.

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

uint32_t DUNE::IMC::GpsFixRtk::tow

GPS Time of Week.

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

uint8_t DUNE::IMC::GpsFixRtk::type

Type.

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

fp32_t DUNE::IMC::GpsFixRtk::v_d

Velocity Down.

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

fp32_t DUNE::IMC::GpsFixRtk::v_e

Velocity East.

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

fp32_t DUNE::IMC::GpsFixRtk::v_n

Velocity North.

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

uint16_t DUNE::IMC::GpsFixRtk::validity

Validity.

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

Collaboration diagram for DUNE::IMC::GpsFixRtk:

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation