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

Detailed Description

USBL tools handler.

Public Member Functions
	Modem (Tasks::Task *task)
bool	waitingForSystem (std::string name)
bool	run (std::string &name, float time)
bool	wantsFix (std::string name)
bool	isInverted (std::string name, std::vector< uint8_t > &data)
bool	parse (uint16_t imc_src, const IMC::UamRxFrame *msg, std::vector< uint8_t > &data)
bool	consume (const IMC::UsblPositionExtended *msg)
bool	consume (const IMC::GpsFix *msg)
bool	invertedFix (std::string target, IMC::UsblFixExtended &fix)
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

Modem()

DUNE::Navigation::UsblTools::Modem::Modem ( Tasks::Task *  task )

inline

Constructor.

Member Function Documentation

consume() [1/2]

bool DUNE::Navigation::UsblTools::Modem::consume ( const IMC::UsblPositionExtended *  msg )

inline

Set target's relative position.

Parameters

[in]

msg

UsblPositionExtended message of target's position.

Returns

true if position set, false otherwise.

References DUNE::IMC::UsblPositionExtended::target.

Referenced by parse().

consume() [2/2]

bool DUNE::Navigation::UsblTools::Modem::consume ( const IMC::GpsFix *  msg )

inline

Set target's absolute position.

Parameters

[in]

msg

GpsFix message of target's position.

Returns

true if position set, false otherwise.

encode() [1/3]

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.

encode() [2/3]

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.

encode() [3/3]

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.

invertedFix()

bool DUNE::Navigation::UsblTools::Modem::invertedFix ( std::string  target, IMC::UsblFixExtended &  fix  )

inline

Compute absolute fix of system from absolute and relative positions of target.

Parameters

[in]	target	Target's name.
[out]	fix	self fix message.

Returns

true if able to compute fix and fill message, false otherwise.

References DUNE::IMC::UsblFixExtended::target, and DUNE::Navigation::UsblTools::toFix().

isInverted()

bool DUNE::Navigation::UsblTools::Modem::isInverted ( std::string  name, std::vector< uint8_t > &  data  )

inline

Get if target's is set for inverted mode.

Returns

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

References DUNE::Navigation::UsblTools::CODE_INV.

parse()

bool DUNE::Navigation::UsblTools::Modem::parse ( uint16_t  imc_src, const IMC::UamRxFrame *  msg, std::vector< uint8_t > &  data  )

inline

Parse incoming frame.

Parameters

[in]	imc_src	IMC id of message source.
[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_mask_fix, DUNE::Navigation::UsblTools::c_mask_inverted, DUNE::Navigation::UsblTools::CODE_ORG, DUNE::Navigation::UsblTools::CODE_REQ, DUNE::Navigation::UsblTools::CODE_RPL, consume(), DUNE::IMC::UamRxFrame::data, DUNE::Navigation::UsblTools::Gps::decode(), DUNE::Navigation::UsblTools::REQ_PERIOD, DUNE::Navigation::UsblTools::REQ_START, DUNE::IMC::Message::setSource(), and DUNE::IMC::UamRxFrame::sys_src.

run()

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.

waitingForSystem()

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.

wantsFix()

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: