DUNE: Uniform Navigational Environment  2019.02.0
List of all members | Classes | Public Types | Static Public Member Functions | Static Public Attributes
DUNE::Navigation::UsblTools Class Reference

Detailed Description

UsblTools provides converter methods for IMC's USBL messages.

Author
José Braga.

Classes

struct  Angles
 
struct  Fix
 
class  Modem
 
class  Node
 
struct  Position
 
class  Target
 

Public Types

enum  Codes {
  CODE_REQ, CODE_RPL, CODE_FIX, CODE_POS,
  CODE_ANG
}
 
enum  RequestIndexes { REQ_START, REQ_PERIOD }
 

Static Public Member Functions

static bool toNode (uint8_t code)
 
static IMC::UsblFixExtended toFix (const IMC::UsblPositionExtended &usbl, const IMC::GpsFix &gps)
 
static IMC::UsblFixExtended toFix (const IMC::UsblPositionExtended &usbl, const IMC::EstimatedState &state)
 
static IMC::UsblFixExtended toFix (const IMC::UsblPositionExtended &usbl, double lat, double lon, float z, IMC::ZUnits z_units)
 

Static Public Attributes

static const uint8_t c_mask_start
 
static const uint8_t c_mask_fix
 
static const uint8_t c_fsize_req
 
static const uint8_t c_target_mask
 
static const uint8_t c_code
 
static const uint16_t c_requests_interval
 
static const uint8_t c_max_comm_timeout
 

Member Enumeration Documentation

enum DUNE::Navigation::UsblTools::Codes
Enumerator
CODE_REQ 
CODE_RPL 
CODE_FIX 
CODE_POS 
CODE_ANG 
enum DUNE::Navigation::UsblTools::RequestIndexes
Enumerator
REQ_START 
REQ_PERIOD 

Member Function Documentation

static IMC::UsblFixExtended DUNE::Navigation::UsblTools::toFix ( const IMC::UsblPositionExtended &  usbl,
const IMC::GpsFix &  gps 
)
inlinestatic

References DUNE::IMC::GpsFix::height, DUNE::IMC::GpsFix::lat, DUNE::IMC::GpsFix::lon, and DUNE::IMC::Z_HEIGHT.

Referenced by toFix().

static IMC::UsblFixExtended DUNE::Navigation::UsblTools::toFix ( const IMC::UsblPositionExtended &  usbl,
const IMC::EstimatedState &  state 
)
inlinestatic

References DUNE::IMC::EstimatedState::depth, toFix(), DUNE::Coordinates::toWGS84(), and DUNE::IMC::Z_DEPTH.

static IMC::UsblFixExtended DUNE::Navigation::UsblTools::toFix ( const IMC::UsblPositionExtended &  usbl,
double  lat,
double  lon,
float  z,
IMC::ZUnits  z_units 
)
inlinestatic

References DUNE::IMC::UsblPositionExtended::accuracy, DUNE::IMC::UsblFixExtended::accuracy, DUNE::IMC::UsblPositionExtended::d, DUNE::Coordinates::WGS84::displace(), DUNE::IMC::UsblPositionExtended::e, DUNE::IMC::UsblFixExtended::lat, DUNE::IMC::UsblFixExtended::lon, DUNE::IMC::UsblPositionExtended::n, DUNE::IMC::UsblPositionExtended::target, DUNE::IMC::UsblFixExtended::target, DUNE::IMC::UsblFixExtended::z, DUNE::IMC::Z_ALTITUDE, and DUNE::IMC::UsblFixExtended::z_units.

static bool DUNE::Navigation::UsblTools::toNode ( uint8_t  code)
inlinestatic

This method checks if code is intended for nodes or USBL modem.

Parameters
[in]codemessage code identifier.
Returns
true if message is for node, false if it's for modem.

References c_target_mask.

Member Data Documentation

const uint8_t DUNE::Navigation::UsblTools::c_code
static

Code placement in received frame messages.

Referenced by DUNE::Navigation::UsblTools::Fix::decode(), DUNE::Navigation::UsblTools::Position::decode(), DUNE::Navigation::UsblTools::Angles::decode(), DUNE::Navigation::UsblTools::Fix::encode(), DUNE::Navigation::UsblTools::Position::encode(), DUNE::Navigation::UsblTools::Angles::encode(), DUNE::Navigation::UsblTools::Node::parse(), and DUNE::Navigation::UsblTools::Modem::parse().

const uint8_t DUNE::Navigation::UsblTools::c_fsize_req
static

Request frame: size of frame.Size of frame: request.

Referenced by DUNE::Navigation::UsblTools::Modem::parse().

const uint8_t DUNE::Navigation::UsblTools::c_mask_fix
static

Request frame: absolute fix mask.

Referenced by DUNE::Navigation::UsblTools::Node::parse(), and DUNE::Navigation::UsblTools::Modem::parse().

const uint8_t DUNE::Navigation::UsblTools::c_mask_start
static

Request frame: start/stop mask.

Referenced by DUNE::Navigation::UsblTools::Node::parse(), and DUNE::Navigation::UsblTools::Modem::parse().

const uint8_t DUNE::Navigation::UsblTools::c_max_comm_timeout
static

Number of communication timeouts before considering that a system has failed.

Referenced by DUNE::Navigation::UsblTools::Target::hasFailed(), DUNE::Navigation::UsblTools::Node::Node(), and DUNE::Navigation::UsblTools::Node::parse().

const uint16_t DUNE::Navigation::UsblTools::c_requests_interval
static

Minimum time interval between consecutive requests from node.

Referenced by DUNE::Navigation::UsblTools::Node::Node(), DUNE::Navigation::UsblTools::Modem::parse(), and DUNE::Navigation::UsblTools::Node::run().

const uint8_t DUNE::Navigation::UsblTools::c_target_mask
static

Node or modem destination identifier mask.

Referenced by toNode().

Collaboration diagram for DUNE::Navigation::UsblTools:
Collaboration graph