DUNE::IMC::GpsFixRtk Class Reference

Detailed Description

GPS Fix RTK.

Public Types

Public Member Functions
	GpsFixRtk (void)
GpsFixRtk *	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 DUNE::IMC::EntityState::clear(), DUNE::IMC::Message::m_header, and DUNE::IMC::Header::mgid.

Member Function Documentation

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

virtual

Reset message's fields.

Implements DUNE::IMC::Message.

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

inlinevirtual

Retrieve a copy of the message.

Returns

message copy.

Implements DUNE::IMC::Message.

References DUNE::IMC::EntityState::clear(), DUNE::IMC::EntityState::deserializeFields(), DUNE::IMC::EntityState::fieldsEqual(), DUNE::IMC::EntityState::reverseDeserializeFields(), DUNE::IMC::EntityState::serializeFields(), and DUNE::IMC::EntityState::validate().

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 DUNE::IMC::deserialize().

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 DUNE::IMC::toJSON().

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.

References DUNE::IMC::EntityState::fieldsToJSON().

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 DUNE::IMC::deserialize(), and DUNE::IMC::reverseDeserialize().

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

virtual

Implements DUNE::IMC::Message.

References DUNE::IMC::serialize().

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 fieldsEqual().

fp64_t DUNE::IMC::GpsFixRtk::base_lat

Base Latitude WGS-84.

Referenced by fieldsEqual().

fp64_t DUNE::IMC::GpsFixRtk::base_lon

Base Longitude WGS-84.

Referenced by fieldsEqual().

fp32_t DUNE::IMC::GpsFixRtk::d

Position Down.

Referenced by fieldsEqual().

fp32_t DUNE::IMC::GpsFixRtk::e

Position East.

Referenced by fieldsEqual().

uint16_t DUNE::IMC::GpsFixRtk::iar_hyp

IAR Hypotheses.

Referenced by fieldsEqual().

fp32_t DUNE::IMC::GpsFixRtk::iar_ratio

IAR Ratio.

Referenced by fieldsEqual().

fp32_t DUNE::IMC::GpsFixRtk::n

Position North.

Referenced by fieldsEqual().

uint8_t DUNE::IMC::GpsFixRtk::satellites

Number of Satellites.

Referenced by fieldsEqual().

uint32_t DUNE::IMC::GpsFixRtk::tow

GPS Time of Week.

Referenced by fieldsEqual().

uint8_t DUNE::IMC::GpsFixRtk::type

Type.

Referenced by fieldsEqual().

fp32_t DUNE::IMC::GpsFixRtk::v_d

Velocity Down.

Referenced by fieldsEqual().

fp32_t DUNE::IMC::GpsFixRtk::v_e

Velocity East.

Referenced by fieldsEqual().

fp32_t DUNE::IMC::GpsFixRtk::v_n

Velocity North.

Referenced by fieldsEqual().

uint16_t DUNE::IMC::GpsFixRtk::validity

Validity.

Referenced by fieldsEqual().

Collaboration diagram for DUNE::IMC::GpsFixRtk: