DUNE::Navigation::UsblTools Class Reference

Detailed Description

UsblTools provides converter methods for IMC's USBL messages.

Author

José Braga.

Classes
struct	Angles
class	Filter
struct	Fix
struct	Gps
class	Modem
class	Node
struct	Position
class	Target

Public Types
enum	Codes {   CODE_REQ, CODE_RPL, CODE_FIX, CODE_POS,   CODE_ANG, CODE_INV, CODE_ORG }
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, bool inverted=false)
static IMC::UsblFixExtended	toFix (const IMC::UsblPositionExtended &usbl, const IMC::EstimatedState &state, bool inverted=false)
static IMC::UsblFixExtended	toFix (const IMC::UsblPositionExtended &usbl, double lat, double lon, float z, IMC::ZUnits z_units, bool inverted=false)

Static Public Attributes
static const uint8_t	c_mask_start
static const uint8_t	c_mask_fix
static const uint8_t	c_mask_inverted
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
static const uint8_t	c_origin_timeout

Member Enumeration Documentation

Codes

enum DUNE::Navigation::UsblTools::Codes

Enumerator
CODE_REQ
CODE_RPL
CODE_FIX
CODE_POS
CODE_ANG
CODE_INV
CODE_ORG

RequestIndexes

enum DUNE::Navigation::UsblTools::RequestIndexes

Enumerator
REQ_START
REQ_PERIOD

Member Function Documentation

toFix() [1/3]

static IMC::UsblFixExtended DUNE::Navigation::UsblTools::toFix ( const IMC::UsblPositionExtended &  usbl, const IMC::GpsFix &  gps, bool  inverted = false  )

inlinestatic

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

Referenced by DUNE::Navigation::UsblTools::Node::consume(), DUNE::Navigation::UsblTools::Modem::invertedFix(), and toFix().

toFix() [2/3]

static IMC::UsblFixExtended DUNE::Navigation::UsblTools::toFix ( const IMC::UsblPositionExtended &  usbl, const IMC::EstimatedState &  state, bool  inverted = false  )

inlinestatic

References DUNE::IMC::EstimatedState::depth, DUNE::Navigation::UsblTools::Fix::lat, DUNE::Navigation::UsblTools::Fix::lon, toFix(), DUNE::Coordinates::toWGS84(), and DUNE::IMC::Z_DEPTH.

toFix() [3/3]

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

inlinestatic

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

toNode()

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

inlinestatic

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

Parameters

[in]

code

message code identifier.

Returns

true if message is for node, false if it's for modem.

Member Data Documentation

c_code

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

static

Code placement in received frame messages.

c_fsize_req

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

static

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

c_mask_fix

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

static

Request frame: absolute fix mask.

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

c_mask_inverted

const uint8_t DUNE::Navigation::UsblTools::c_mask_inverted

static

Request frame: inverted mode.

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

c_mask_start

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

static

Request frame: start/stop mask.

Referenced by DUNE::Navigation::UsblTools::Node::consume().

c_max_comm_timeout

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

static

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

c_origin_timeout

const uint8_t DUNE::Navigation::UsblTools::c_origin_timeout

static

Origin validity timeout.

c_requests_interval

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

static

Minimum time interval between consecutive requests from node.

c_target_mask

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

static

Node or modem destination identifier mask.

Collaboration diagram for DUNE::Navigation::UsblTools: