DUNE: Uniform Navigational Environment  2.6.0-rc4
DUNE::IMC::SonarData Class Reference

Detailed Description

Sonar Data.

Public Types

enum  TypeEnum { ST_SIDESCAN, ST_ECHOSOUNDER, ST_MULTIBEAM }
 

Public Member Functions

 SonarData (void)
 
Messageclone (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
 
unsigned getVariableSerializationSize (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
 
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

uint8_t type
 
uint32_t frequency
 
uint16_t min_range
 
uint16_t max_range
 
uint8_t bits_per_point
 
fp32_t scale_factor
 
MessageList< BeamConfigbeam_config
 
std::vector< char > data
 

Protected Member Functions

void setTimeStampNested (double value__)
 
void setSourceNested (uint16_t value__)
 
void setSourceEntityNested (uint8_t value__)
 
void setDestinationNested (uint16_t value__)
 
void setDestinationEntityNested (uint8_t value__)
 

Additional Inherited Members

- Protected Attributes inherited from DUNE::IMC::Message
Header m_header
 

Member Enumeration Documentation

Type.

Enumerator
ST_SIDESCAN 

Sidescan.

ST_ECHOSOUNDER 

Echo Sounder.

ST_MULTIBEAM 

Multibeam.

Constructor & Destructor Documentation

DUNE::IMC::SonarData::SonarData ( void  )

Member Function Documentation

void DUNE::IMC::SonarData::clear ( void  )
virtual

Reset message's fields.

Implements DUNE::IMC::Message.

References beam_config, bits_per_point, data, frequency, max_range, min_range, scale_factor, and type.

Referenced by SonarData().

Message* DUNE::IMC::SonarData::clone ( void  ) const
inlinevirtual

Retrieve a copy of the message.

Returns
message copy.

Implements DUNE::IMC::Message.

References SonarData().

uint16_t DUNE::IMC::SonarData::deserializeFields ( const uint8_t *  bfr,
uint16_t  len 
)
virtual

Deserialize message fields from a packet.

Parameters
bfrstream of bytes (packet)
lenlength of the byte stream.
Returns
number of bytes processed.

Implements DUNE::IMC::Message.

References beam_config, bits_per_point, data, DUNE::IMC::deserialize(), frequency, max_range, min_range, scale_factor, and type.

bool DUNE::IMC::SonarData::fieldsEqual ( const Message other) const
virtual

Compare fields for equality.

Parameters
[in]othermessage to compare.
Returns
true if fields are equal, false otherwise.

Reimplemented from DUNE::IMC::Message.

References beam_config, bits_per_point, data, frequency, max_range, min_range, scale_factor, and type.

void DUNE::IMC::SonarData::fieldsToJSON ( std::ostream &  os,
unsigned  indent_level 
) const
virtual

Output the message fields (excluding header) in JSON format.

Parameters
osoutput stream.
indent_levelnumber of indentation spaces.

Reimplemented from DUNE::IMC::Message.

References beam_config, bits_per_point, data, frequency, max_range, min_range, scale_factor, DUNE::IMC::toJSON(), and type.

unsigned DUNE::IMC::SonarData::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.

uint16_t DUNE::IMC::SonarData::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::SonarData::getIdStatic ( void  )
inlinestatic

Referenced by getId().

const char* DUNE::IMC::SonarData::getName ( void  ) const
inlinevirtual

Retrieve message's name.

Returns
message's name.

Implements DUNE::IMC::Message.

unsigned DUNE::IMC::SonarData::getVariableSerializationSize ( void  ) const
inlinevirtual

Get the variable amount of bytes required to properly serialize this message (only the variable fields are included).

Returns
amount of variable bytes required to serialize the message.

Reimplemented from DUNE::IMC::Message.

References beam_config, data, and DUNE::IMC::getSerializationSize().

uint16_t DUNE::IMC::SonarData::reverseDeserializeFields ( const uint8_t *  bfr,
uint16_t  len 
)
virtual

Deserialize message fields from a packet, swapping the byte order.

Parameters
bfrstream of bytes (packet)
lenlength of the byte stream.
Returns
number of bytes processed.

Implements DUNE::IMC::Message.

References beam_config, bits_per_point, data, DUNE::IMC::deserialize(), frequency, max_range, min_range, DUNE::IMC::reverseDeserialize(), scale_factor, and type.

uint8_t * DUNE::IMC::SonarData::serializeFields ( uint8_t *  bfr__) const
virtual
void DUNE::IMC::SonarData::setDestinationEntityNested ( uint8_t  value)
protectedvirtual

Set the destination entity of nested messages.

Parameters
[in]valuedestination entity.

Reimplemented from DUNE::IMC::Message.

References beam_config.

void DUNE::IMC::SonarData::setDestinationNested ( uint16_t  value)
protectedvirtual

Set the destination address of nested messages.

Parameters
[in]valuedestination address.

Reimplemented from DUNE::IMC::Message.

References beam_config.

void DUNE::IMC::SonarData::setSourceEntityNested ( uint8_t  value)
protectedvirtual

Set the source entity of nested messages.

Parameters
[in]valuesource entity.

Reimplemented from DUNE::IMC::Message.

References beam_config.

void DUNE::IMC::SonarData::setSourceNested ( uint16_t  value)
protectedvirtual

Set the source address of nested messages.

Parameters
[in]valuesource address.

Reimplemented from DUNE::IMC::Message.

References beam_config.

void DUNE::IMC::SonarData::setTimeStampNested ( double  value)
protectedvirtual

Set the timestamp of nested messages.

Parameters
[in]valuetimestamp.

Reimplemented from DUNE::IMC::Message.

References beam_config.

int DUNE::IMC::SonarData::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

uint8_t DUNE::IMC::SonarData::bits_per_point
uint32_t DUNE::IMC::SonarData::frequency
uint16_t DUNE::IMC::SonarData::max_range
uint16_t DUNE::IMC::SonarData::min_range
fp32_t DUNE::IMC::SonarData::scale_factor
uint8_t DUNE::IMC::SonarData::type
Collaboration diagram for DUNE::IMC::SonarData:
Collaboration graph