Sensors::GPS::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceAcquisition (void)
bool	openSocket (void)
void	onResourceRelease (void)
void	onResourceInitialization (void)
void	consume (const IMC::DevDataText *msg)
void	consume (const IMC::IoEvent *msg)
void	clearMessages (void)
bool	waitInitReply (const std::string &stn)
bool	readTime (const std::string &str, float &dst)
bool	readLatitude (const std::string &str, const std::string &h, double &dst)
double	readLongitude (const std::string &str, const std::string &h, double &dst)
template<typename T >
bool	readDecimal (const std::string &str, T &dst)
template<typename T >
bool	readNumber (const std::string &str, T &dst)
void	processSentence (const std::string &line)
void	interpretSentence (std::vector< std::string > &parts)
bool	hasNMEAMessageCode (const std::string &str, const std::string &code)
void	interpretZDA (const std::vector< std::string > &parts)
void	interpretGGA (const std::vector< std::string > &parts)
void	interpretPUBX00 (const std::vector< std::string > &parts)
void	interpretVTG (const std::vector< std::string > &parts)
void	interpretHDT (const std::vector< std::string > &parts)
void	interpretHDM (const std::vector< std::string > &parts)
void	interpretROT (const std::vector< std::string > &parts)
void	interpretPSATHPR (const std::vector< std::string > &parts)
void	onMain (void)

Public Attributes
IO::Handle *	m_handle
IMC::GpsFix	m_fix
IMC::EulerAngles	m_euler
IMC::AngularVelocity	m_agvel
Arguments	m_args
Time::Counter< float >	m_wdog
bool	m_has_agvel
bool	m_has_euler
std::string	m_init_line
Reader *	m_reader
char	m_bufer_entity [64]

Constructor & Destructor Documentation

Sensors::GPS::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Sensors::GPS::Arguments::init_cmds, Sensors::GPS::Arguments::init_rpls, Sensors::GPS::Arguments::inp_tout, Sensors::GPS::Arguments::pwr_channels, Sensors::GPS::Arguments::stn_order, Sensors::GPS::Arguments::uart_baud, and Sensors::GPS::Arguments::uart_dev.

Member Function Documentation

void Sensors::GPS::Task::clearMessages ( void  )

inline

void Sensors::GPS::Task::consume ( const IMC::DevDataText *  msg )

inline

void Sensors::GPS::Task::consume ( const IMC::IoEvent *  msg )

inline

bool Sensors::GPS::Task::hasNMEAMessageCode ( const std::string &  str, const std::string &  code  )

inline

void Sensors::GPS::Task::interpretGGA ( const std::vector< std::string > &  parts )

inline

Interpret GGA sentence (GPS fix data).

Parameters

[in]

parts

vector of strings from sentence.

void Sensors::GPS::Task::interpretHDM ( const std::vector< std::string > &  parts )

inline

Interpret HDM sentence (Magnetic heading of the vessel derived from the true heading calculated).

Parameters

[in]

parts

vector of strings from sentence.

void Sensors::GPS::Task::interpretHDT ( const std::vector< std::string > &  parts )

inline

Interpret VTG sentence (true heading).

Parameters

[in]

parts

vector of strings from sentence.

void Sensors::GPS::Task::interpretPSATHPR ( const std::vector< std::string > &  parts )

inline

Interpret PSATHPR sentence (Proprietary NMEA message that provides the heading, pitch, roll, and time in a single message).

Parameters

[in]

parts

vector of strings from sentence.

void Sensors::GPS::Task::interpretPUBX00 ( const std::vector< std::string > &  parts )

inline

Interpret PUBX00 sentence (navstar position).

Parameters

[in]

parts

vector of strings from sentence.

void Sensors::GPS::Task::interpretROT ( const std::vector< std::string > &  parts )

inline

Interpret ROT sentence (rate of turn).

Parameters

[in]

parts

vector of strings from sentence.

void Sensors::GPS::Task::interpretSentence ( std::vector< std::string > &  parts )

inline

Interpret given sentence.

Parameters

[in]

parts

vector of strings from sentence.

References Sensors::GPS::Arguments::stn_order.

void Sensors::GPS::Task::interpretVTG ( const std::vector< std::string > &  parts )

inline

Interpret VTG sentence (course over ground).

Parameters

[in]

parts

vector of strings from sentence.

void Sensors::GPS::Task::interpretZDA ( const std::vector< std::string > &  parts )

inline

Interpret ZDA sentence (UTC date and time).

Parameters

[in]

parts

vector of strings from sentence.

void Sensors::GPS::Task::onMain ( void  )

inline

void Sensors::GPS::Task::onResourceAcquisition ( void  )

inline

References Sensors::GPS::Arguments::pwr_channels, Sensors::GPS::Arguments::uart_baud, and Sensors::GPS::Arguments::uart_dev.

void Sensors::GPS::Task::onResourceInitialization ( void  )

inline

References Sensors::GPS::Arguments::init_cmds, Sensors::GPS::Arguments::init_rpls, and Sensors::GPS::Arguments::inp_tout.

void Sensors::GPS::Task::onResourceRelease ( void  )

inline

bool Sensors::GPS::Task::openSocket ( void  )

inline

References Sensors::GPS::Arguments::uart_dev.

void Sensors::GPS::Task::processSentence ( const std::string &  line )

inline

Process sentence.

Parameters

[in]

line

line.

References Sensors::GPS::Arguments::stn_order.

template<typename T >

bool Sensors::GPS::Task::readDecimal ( const std::string &  str, T &  dst  )

inline

Read decimal from input string.

Parameters

[in]	str	input string.
[out]	dst	decimal.

Returns

true if successful, false otherwise.

bool Sensors::GPS::Task::readLatitude ( const std::string &  str, const std::string &  h, double &  dst  )

inline

Read latitude from string.

Parameters

[in]	str	input string.
[in]	h	either North (N) or South (S).
[out]	dst	latitude.

Returns

true if successful, false otherwise.

double Sensors::GPS::Task::readLongitude ( const std::string &  str, const std::string &  h, double &  dst  )

inline

Read longitude from string.

Parameters

[in]	str	input string.
[in]	h	either West (W) or East (E).
[out]	dst	longitude.

Returns

true if successful, false otherwise.

template<typename T >

bool Sensors::GPS::Task::readNumber ( const std::string &  str, T &  dst  )

inline

Read number from input string.

Parameters

[in]	str	input string.
[out]	dst	number.

Returns

true if successful, false otherwise.

bool Sensors::GPS::Task::readTime ( const std::string &  str, float &  dst  )

inline

Read time from string.

Parameters

[in]	str	string.
[out]	dst	time.

Returns

true if successful, false otherwise.

bool Sensors::GPS::Task::waitInitReply ( const std::string &  stn )

inline

Wait reply to initialization command.

Parameters

[in]

stn

string to compare.

Returns

true on successful match, false otherwise.

Member Data Documentation

IMC::AngularVelocity Sensors::GPS::Task::m_agvel

Angular velocity message.

Arguments Sensors::GPS::Task::m_args

Task arguments.

char Sensors::GPS::Task::m_bufer_entity[64]

Buffer forEntityState.

IMC::EulerAngles Sensors::GPS::Task::m_euler

Euler angles message.

IMC::GpsFix Sensors::GPS::Task::m_fix

GPS Fix message.

IO::Handle* Sensors::GPS::Task::m_handle

Serial port handle.

bool Sensors::GPS::Task::m_has_agvel

True if we have angular velocity.

bool Sensors::GPS::Task::m_has_euler

True if we have euler angles.

std::string Sensors::GPS::Task::m_init_line

Last initialization line read.

Reader* Sensors::GPS::Task::m_reader

Reader thread.

Time::Counter<float> Sensors::GPS::Task::m_wdog

Input watchdog.

Collaboration diagram for Sensors::GPS::Task: