DUNE::Navigation::UsblTools::Modem Class Reference

Detailed Description

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)

Constructor & Destructor Documentation

DUNE::Navigation::UsblTools::Modem::Modem ( void  )

inline

Constructor.

Member Function Documentation

bool DUNE::Navigation::UsblTools::Modem::encode ( const IMC::UsblFixExtended *  msg, std::vector< uint8_t > &  data  )

inline

Encode USBL fix message to be transmitted.

Parameters

[in]	msg	pointer to message.
[out]	data	frame to be send.

Returns

true if there's data to be sent, false otherwise.

References DUNE::Navigation::UsblTools::Fix::accuracy, DUNE::IMC::UsblFixExtended::accuracy, DUNE::Navigation::UsblTools::Fix::encode(), 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.

bool DUNE::Navigation::UsblTools::Modem::encode ( const IMC::UsblPositionExtended *  msg, std::vector< uint8_t > &  data  )

inline

Encode USBL position message to be transmitted.

Parameters

[in]	msg	pointer to message.
[out]	data	frame to be send.

Returns

true if there's data to be sent, false otherwise.

References DUNE::Navigation::UsblTools::Position::accuracy, DUNE::IMC::UsblPositionExtended::accuracy, DUNE::Navigation::UsblTools::Position::d, DUNE::IMC::UsblPositionExtended::d, DUNE::Navigation::UsblTools::Position::e, DUNE::IMC::UsblPositionExtended::e, DUNE::Navigation::UsblTools::Position::encode(), 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.

bool DUNE::Navigation::UsblTools::Modem::encode ( const IMC::UsblAnglesExtended *  msg, std::vector< uint8_t > &  data  )

inline

Encode USBL angles message to be transmitted.

Parameters

[in]	msg	pointer to message.
[out]	data	frame to be send.

Returns

true if there's data to be sent, false otherwise.

References DUNE::Navigation::UsblTools::Angles::accuracy, DUNE::IMC::UsblAnglesExtended::accuracy, DUNE::Navigation::UsblTools::Angles::bearing, DUNE::IMC::UsblAnglesExtended::bearing, DUNE::Navigation::UsblTools::Angles::elevation, DUNE::IMC::UsblAnglesExtended::elevation, DUNE::Navigation::UsblTools::Angles::encode(), DUNE::Navigation::UsblTools::Angles::lbearing, DUNE::IMC::UsblAnglesExtended::lbearing, DUNE::Navigation::UsblTools::Angles::lelevation, DUNE::IMC::UsblAnglesExtended::lelevation, and DUNE::IMC::UsblAnglesExtended::target.

bool DUNE::Navigation::UsblTools::Modem::parse ( const IMC::UamRxFrame *  msg, std::vector< uint8_t > &  data  )

inline

Parse incoming frame.

Parameters

[in]	msg	received acoustic frame.
[out]	data	frame to be send.

Returns

true if there's data to be sent, false otherwise.

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.

bool DUNE::Navigation::UsblTools::Modem::run ( std::string &  name, float  time  )

inline

Trigger through all targets.

Parameters

[out]	name	target's name to be tracked.
[in]	time	to wait for target system's reply.

Returns

true, if we have a system to track now.

References DUNE::Time::Counter< T >::overflow(), and DUNE::Time::Counter< T >::setTop().

bool DUNE::Navigation::UsblTools::Modem::waitingForSystem ( std::string  name )

inline

This function verifies if we are waiting for the target's reply.

Parameters

[in]

name

name of the target.

Returns

true if we are waiting, false otherwise.

bool DUNE::Navigation::UsblTools::Modem::wantsFix ( std::string  name )

inline

Get if target's wants an absolute fix.

Returns

true if target wants an absolute fix, false if it wants a relative position.

Collaboration diagram for DUNE::Navigation::UsblTools::Modem: