Sensors::Imagenex837B::Frame Class Reference

Detailed Description

Data logger base frame for Imagenex files.

Public Types
enum	HeaderIndices {   HDR_IDX_TBYTES_HI, HDR_IDX_TBYTES_LO, HDR_IDX_DATE, HDR_IDX_TIME,   HDR_IDX_TIME_HSEC }
enum	FooterIndices {   FTR_IDX_TYPE, FTR_IDX_PITCH, FTR_IDX_ROLL, FTR_IDX_HEADING,   FTR_IDX_AZIMUTH_UP }

Public Member Functions
	Frame (void)
virtual	~Frame (void)
uint8_t *	getData (void)
virtual uint8_t *	getMessageData (void)
virtual uint8_t *	getFooterData (void)
virtual size_t	getSize (void) const
virtual size_t	getMessageSize (void) const
virtual size_t	getFooterSize (void) const
virtual void	setRange (uint8_t range)
void	setProfileTiltAngle (float angle)
void	setSoundVelocity (float speed)
void	setSpeed (float speed)
void	setCourse (float course)
void	setRoll (float roll)
void	setPitch (float pitch)
void	setHeading (float heading)
void	setRepRate (uint16_t rate)
void	setGpsData (double lat, double lon)
void	setDateTime (uint64_t now)
virtual void	setExtendedDataPoints (bool mode)

Protected Member Functions
void	setFrequency (void)
virtual unsigned	getIndexRange (void)=0
virtual unsigned	getIndexTiltAngle (void)=0
virtual unsigned	getIndexLatitude (void)=0
virtual unsigned	getIndexLongitude (void)=0
virtual unsigned	getIndexSpeed (void)=0
virtual unsigned	getIndexSoundSpeed (void)=0
virtual unsigned	getIndexCourse (void)=0
virtual unsigned	getIndexMilli (void)=0
virtual unsigned	getIndexRoll (void)=0
virtual unsigned	getIndexPitch (void)=0
virtual unsigned	getIndexHeading (void)=0
virtual unsigned	getIndexRepRate (void)=0
virtual unsigned	getIndexFrequency (void)=0

Protected Attributes
std::vector< uint8_t >	m_data

Member Enumeration Documentation

enum Sensors::Imagenex837B::Frame::FooterIndices

837 Footer Indices.

Enumerator
FTR_IDX_TYPE
FTR_IDX_PITCH
FTR_IDX_ROLL
FTR_IDX_HEADING
FTR_IDX_AZIMUTH_UP

enum Sensors::Imagenex837B::Frame::HeaderIndices

Common frame header indices. Default values for 837 frames.

Enumerator
HDR_IDX_TBYTES_HI
HDR_IDX_TBYTES_LO
HDR_IDX_DATE
HDR_IDX_TIME
HDR_IDX_TIME_HSEC

Constructor & Destructor Documentation

Sensors::Imagenex837B::Frame::Frame ( void  )

inline

Constructor.

virtual Sensors::Imagenex837B::Frame::~Frame ( void  )

inlinevirtual

Destructor.

Member Function Documentation

uint8_t* Sensors::Imagenex837B::Frame::getData ( void  )

inline

Get frame start address.

Returns

pointer to address.

References m_data.

Referenced by Sensors::Imagenex837B::Task::getEcho(), setCourse(), setHeading(), setPitch(), setProfileTiltAngle(), setRepRate(), setRoll(), setSoundVelocity(), and Sensors::Imagenex837B::Task::writeToFile().

virtual uint8_t* Sensors::Imagenex837B::Frame::getFooterData ( void  )

inlinevirtual

Get footer start address.

Returns

pointer to address.

Reimplemented in Sensors::Imagenex837B::Frame837.

Referenced by setHeading(), setPitch(), and setRoll().

virtual size_t Sensors::Imagenex837B::Frame::getFooterSize ( void  ) const

inlinevirtual

Retrieve footer size.

Returns

footer size.

Reimplemented in Sensors::Imagenex837B::Frame837.

virtual unsigned Sensors::Imagenex837B::Frame::getIndexCourse ( void  )

protectedpure virtual

Get course index.

Implemented in Sensors::Imagenex837B::Frame837, and Sensors::Imagenex837B::Frame83P.

Referenced by setCourse().

virtual unsigned Sensors::Imagenex837B::Frame::getIndexFrequency ( void  )

protectedpure virtual

Get frequency index.

Implemented in Sensors::Imagenex837B::Frame837, and Sensors::Imagenex837B::Frame83P.

Referenced by setFrequency().

virtual unsigned Sensors::Imagenex837B::Frame::getIndexHeading ( void  )

protectedpure virtual

Get heading index.

Implemented in Sensors::Imagenex837B::Frame837, and Sensors::Imagenex837B::Frame83P.

Referenced by setHeading().

virtual unsigned Sensors::Imagenex837B::Frame::getIndexLatitude ( void  )

protectedpure virtual

Get latitude index.

Implemented in Sensors::Imagenex837B::Frame837, and Sensors::Imagenex837B::Frame83P.

Referenced by setGpsData().

virtual unsigned Sensors::Imagenex837B::Frame::getIndexLongitude ( void  )

protectedpure virtual

Get longitude index.

Implemented in Sensors::Imagenex837B::Frame837, and Sensors::Imagenex837B::Frame83P.

Referenced by setGpsData().

virtual unsigned Sensors::Imagenex837B::Frame::getIndexMilli ( void  )

protectedpure virtual

Get milliseconds index.

Implemented in Sensors::Imagenex837B::Frame837, and Sensors::Imagenex837B::Frame83P.

Referenced by setDateTime().

virtual unsigned Sensors::Imagenex837B::Frame::getIndexPitch ( void  )

protectedpure virtual

Get pitch index.

Implemented in Sensors::Imagenex837B::Frame837, and Sensors::Imagenex837B::Frame83P.

Referenced by setPitch().

virtual unsigned Sensors::Imagenex837B::Frame::getIndexRange ( void  )

protectedpure virtual

Get range index.

Implemented in Sensors::Imagenex837B::Frame837, and Sensors::Imagenex837B::Frame83P.

Referenced by setRange().

virtual unsigned Sensors::Imagenex837B::Frame::getIndexRepRate ( void  )

protectedpure virtual

Get repetition rate index.

Implemented in Sensors::Imagenex837B::Frame837, and Sensors::Imagenex837B::Frame83P.

Referenced by setRepRate().

virtual unsigned Sensors::Imagenex837B::Frame::getIndexRoll ( void  )

protectedpure virtual

Get roll index.

Implemented in Sensors::Imagenex837B::Frame837, and Sensors::Imagenex837B::Frame83P.

Referenced by setRoll().

virtual unsigned Sensors::Imagenex837B::Frame::getIndexSoundSpeed ( void  )

protectedpure virtual

Get speed index.

Implemented in Sensors::Imagenex837B::Frame837, and Sensors::Imagenex837B::Frame83P.

Referenced by setSoundVelocity().

virtual unsigned Sensors::Imagenex837B::Frame::getIndexSpeed ( void  )

protectedpure virtual

Get speed index.

Implemented in Sensors::Imagenex837B::Frame837, and Sensors::Imagenex837B::Frame83P.

Referenced by setSpeed().

virtual unsigned Sensors::Imagenex837B::Frame::getIndexTiltAngle ( void  )

protectedpure virtual

Get tilt angle index.

Implemented in Sensors::Imagenex837B::Frame837, and Sensors::Imagenex837B::Frame83P.

Referenced by setProfileTiltAngle().

virtual uint8_t* Sensors::Imagenex837B::Frame::getMessageData ( void  )

inlinevirtual

Get data start address.

Returns

pointer to address.

Reimplemented in Sensors::Imagenex837B::Frame83P, and Sensors::Imagenex837B::Frame837.

virtual size_t Sensors::Imagenex837B::Frame::getMessageSize ( void  ) const

inlinevirtual

Retrieve message size.

Returns

message size.

Reimplemented in Sensors::Imagenex837B::Frame83P, and Sensors::Imagenex837B::Frame837.

virtual size_t Sensors::Imagenex837B::Frame::getSize ( void  ) const

inlinevirtual

Retrieve the size of the frame.

Returns

frame size.

Reimplemented in Sensors::Imagenex837B::Frame837, and Sensors::Imagenex837B::Frame83P.

void Sensors::Imagenex837B::Frame::setCourse ( float  course )

inline

Set GNSS ships course.

Parameters

[in]

course

course.

References getData(), and getIndexCourse().

Referenced by Sensors::Imagenex837B::Task::update().

void Sensors::Imagenex837B::Frame::setDateTime ( uint64_t  now )

inline

Set frame date and time.

Parameters

[in]

now

millisecond since epoch.

References getIndexMilli(), HDR_IDX_DATE, HDR_IDX_TIME, HDR_IDX_TIME_HSEC, and m_data.

Referenced by Sensors::Imagenex837B::Task::writeToFile().

virtual void Sensors::Imagenex837B::Frame::setExtendedDataPoints ( bool  mode )

inlinevirtual

Change mode according with data points.

Reimplemented in Sensors::Imagenex837B::Frame837.

void Sensors::Imagenex837B::Frame::setFrequency ( void  )

inlineprotected

References getIndexFrequency(), and m_data.

void Sensors::Imagenex837B::Frame::setGpsData ( double  lat, double  lon  )

inline

Define frame GPS data.

Parameters

[in]	lat	latitude.
[in]	lon	longitude.

References DUNE::Math::Angles::degrees(), getIndexLatitude(), getIndexLongitude(), m_data, and DUNE::Math::min().

Referenced by Sensors::Imagenex837B::Task::update().

void Sensors::Imagenex837B::Frame::setHeading ( float  heading )

inline

Set heading.

Parameters

[in]

heading

heading angle.

References FTR_IDX_HEADING, getData(), getFooterData(), and getIndexHeading().

Referenced by Sensors::Imagenex837B::Task::update().

void Sensors::Imagenex837B::Frame::setPitch ( float  pitch )

inline

Set pitch.

Parameters

[in]

pitch

pitch angle.

References FTR_IDX_PITCH, getData(), getFooterData(), and getIndexPitch().

Referenced by Sensors::Imagenex837B::Task::update().

void Sensors::Imagenex837B::Frame::setProfileTiltAngle ( float  angle )

inline

Set profile tilt angle.

Parameters

[in]

angle

profile tilt angle.

References getData(), getIndexTiltAngle(), and m_data.

Referenced by Sensors::Imagenex837B::Task::onUpdateParameters().

virtual void Sensors::Imagenex837B::Frame::setRange ( uint8_t  range )

inlinevirtual

Set sonar range.

Parameters

[in]

range

range.

References getIndexRange(), and m_data.

Referenced by Sensors::Imagenex837B::Task::setRange().

void Sensors::Imagenex837B::Frame::setRepRate ( uint16_t  rate )

inline

Set repetition rate.

Parameters

[in]

rate

repetition rate.

References getData(), and getIndexRepRate().

Referenced by Sensors::Imagenex837B::Frame837::setRepRate().

void Sensors::Imagenex837B::Frame::setRoll ( float  roll )

inline

Set roll.

Parameters

[in]

roll

roll angle.

References FTR_IDX_ROLL, getData(), getFooterData(), and getIndexRoll().

Referenced by Sensors::Imagenex837B::Task::update().

void Sensors::Imagenex837B::Frame::setSoundVelocity ( float  speed )

inline

Set sound velocity.

Parameters

[in]

speed

sound velocity.

References getData(), and getIndexSoundSpeed().

Referenced by Sensors::Imagenex837B::Task::consume().

void Sensors::Imagenex837B::Frame::setSpeed ( float  speed )

inline

Set GNSS ships speed.

Parameters

[in]

speed

speed.

References getIndexSpeed(), and m_data.

Referenced by Sensors::Imagenex837B::Task::update().

Member Data Documentation

std::vector<uint8_t> Sensors::Imagenex837B::Frame::m_data

protected

Message data.

Referenced by Sensors::Imagenex837B::Frame837::Frame837(), Sensors::Imagenex837B::Frame83P::Frame83P(), getData(), Sensors::Imagenex837B::Frame837::getFooterData(), Sensors::Imagenex837B::Frame837::getMessageData(), Sensors::Imagenex837B::Frame83P::getMessageData(), Sensors::Imagenex837B::Frame83P::getRange(), Sensors::Imagenex837B::Frame837::setBytesToRead(), setDateTime(), Sensors::Imagenex837B::Frame837::setDisplayGain(), Sensors::Imagenex837B::Frame837::setDisplayMode(), Sensors::Imagenex837B::Frame837::setFirmwareVersion(), setFrequency(), setGpsData(), setProfileTiltAngle(), Sensors::Imagenex837B::Frame837::setPulseLength(), setRange(), Sensors::Imagenex837B::Frame837::setSerialStatus(), setSpeed(), Sensors::Imagenex837B::Frame837::setStartGain(), and Sensors::Imagenex837B::Frame837::setTotalBytes().

Collaboration diagram for Sensors::Imagenex837B::Frame: