DUNE: Uniform Navigational Environment  2016.09.0
Transports::Seatrac Namespace Reference

Detailed Description

Blueprint Subsea's Seatrac acoustic modem driver.

Author
João Teixeira.

Classes

struct  Ticket
 
struct  MacAddr_T
 
struct  IpAddr_T
 
struct  AhrsCal_t
 
struct  Hardware_t
 
struct  Firmware_t
 
struct  Acofix_t
 
struct  CidStatusMsg
 
struct  CidPingRespMsg
 
struct  CidNavBeaconPosUpdateMsg
 
struct  CidPingRequestMsg
 
struct  CidSysInfo
 
struct  CidNavBeaconPosSendMsg
 
struct  CidPingErrorMsg
 
struct  CidNavQueryReqMsg
 
struct  CidPingSendMsg
 
struct  CidSettingsSetMsg
 
struct  CidSettingsSaveMsg
 
struct  CidNavRefPosSendMsg
 
struct  CidNavRefPosUpdateMsg
 
struct  CidDatReceiveMsg
 
struct  CidDatSendMsg
 
struct  CidSettingsMsg
 
struct  CidXcvrFixMsg
 
struct  CidSysRebootMsg
 
struct  CidNavQuerySendMsg
 
struct  CidNavQuerryRespMsg
 
struct  CidXcvrUsblMsg
 
struct  DataSeatrac
 
struct  Arguments
 
struct  Task
 

Typedefs

typedef std::map< std::string,
unsigned > 
MapName
 
typedef std::map< unsigned,
std::string > 
MapAddr
 

Enumerations

enum  ParserStates { PS_NONE, PS_PRE, PS_DATA, PS_COMPLETE }
 
enum  CommandID {
  CID_SYS_ALIVE, CID_SYS_INFO, CID_SYS_REBOOT, CID_SYS_ENGINEERING,
  CID_PROG_INIT, CID_PROG_BLOCK, CID_PROG_UPDATE, CID_STATUS,
  CID_STATUS_CFG_GET, CID_STATUS_CFG_SET, CID_SETTINGS_GET, CID_SETTINGS_SET,
  CID_SETTINGS_LOAD, CID_SETTINGS_SAVE, CID_SETTINGS_RESET, CID_CAL_ACTION,
  CID_AHRS_CAL_GET, CID_AHRS_CAL_SET, CID_XCVR_ANALYSE, CID_XCVR_TX_MSG,
  CID_XCVR_RX_ERR, CID_XCVR_RX_MSG, CID_XCVR_RX_REQ, CID_XCVR_RX_RESP,
  CID_XCVR_RX_UNHANDLED, CID_XCVR_USBL, CID_XCVR_FIX, CID_XCVR_STATUS,
  CID_PING_SEND, CID_PING_REQ, CID_PING_RESP, CID_PING_ERROR,
  CID_ECHO_SEND, CID_ECHO_REQ, CID_ECHO_RESP, CID_ECHO_ERROR,
  CID_NAV_QUERY_SEND, CID_NAV_QUERY_REQ, CID_NAV_QUERY_RESP, CID_NAV_ERROR,
  CID_NAV_REF_POS_SEND, CID_NAV_REF_POS_UPDATE, CID_NAV_BEACON_POS_SEND, CID_NAV_BEACON_POS_UPDATE,
  CID_DAT_SEND, CID_DAT_RECEIVE, CID_DAT_ERROR, CID_DAT_QUEUE_SET,
  CID_DAT_QUEUE_CLR, CID_DAT_QUEUE_STATUS, CID_DEX_CLOSE, CID_DEX_DEBUG,
  CID_DEX_ENQUEUE, CID_DEX_OPEN, CID_DEX_RESET, CID_DEX_SEND,
  CID_DEX_SOCKETS, CID_DEX_RECEIVE
}
 
enum  BeaconType_E { BT_X110, BT_X150 }
 
enum  StatusMode_E {
  STATUS_MODE_MANUAL, STATUS_MODE_1HZ, STATUS_MODE_2HZ5, STATUS_MODE_5HZ,
  STATUS_MODE_10HZ, STATUS_MODE_25HZ
}
 
enum  StatusOutputFlags_E {
  ENVIRONMENT_FLAG, ATTITUDE_FLAG, MAG_CAL_FLAG, ACC_CAL_FLAG,
  AHRS_RAW_DATA_FLAG, AHRS_COMP_DATA_FLAG
}
 
enum  ControlEnvFlags_E { AUTO_VOS_FLAG, AUTO_PRESSURE_OFS_FLAG }
 
enum  ControlAhrsFlags_E { AUTO_CAL_MAG_FLAG }
 
enum  ControlXcvrFlags_E {
  USBL_USE_AHRS_FLAG, XCVR_POSFLT_ENABLE_FLAG, XCVR_USBL_MSGS_FLAG, XCVR_FIX_MSGS_FLAG,
  XCVR_DIAG_MSGS_FLAG
}
 
enum  AmsgType_E {
  MSG_OWAY, MSG_OWAYU, MSG_REQ, MSG_RESP,
  MSG_REQU, MSG_RESPU, MSG_REQX, MSG_RESPX,
  MSG_UNKNOWN
}
 
enum  CST_E {
  CST_OK, CST_FAIL, CST_EEPROM_ERROR, CST_CMD_PARAM_MISSING,
  CST_CMD_PARAM_INVALID, CST_PROG_FLASH_ERROR, CST_PROG_FIRMWARE_ERROR, CST_PROG_SECTION_ERROR,
  CST_PROG_LENGTH_ERROR, CST_PROG_DATA_ERROR, CST_PROG_CHECKSUM_ERROR, CST_XCVR_BUSY,
  CST_XCVR_ID_REJECTED, CST_XCVR_CSUM_ERROR, CST_XCVR_LENGTH_ERROR, CST_XCVR_RESP_TIMEOUT,
  CST_XCVR_RESP_ERROR, CST_XCVR_RESP_WRONG, CST_XCVR_PLOAD_ERROR, CST_XCVR_STATE_STOPPED,
  CST_XCVR_STATE_IDLE, CST_XCVR_STATE_TX, CST_XCVR_STATE_REQ, CST_XCVR_STATE_RX,
  CST_XCVR_STATE_RESP, CST_DEX_SOCKET_ERROR, CST_DEX_RX_SYNC, CST_DEX_RX_DATA,
  CST_DEX_RX_SEQ_ERROR, CST_DEX_RX_MSG_ERROR, CST_DEX_REQ_ERROR, CST_DEX_RESP_TMO_ERROR,
  CST_DEX_RESP_MSG_ERROR, CST_DEX_RESP_REMOTE_ERROR
}
 
enum  EntityStates {
  STA_BOOT, STA_IDLE, STA_ACTIVE, STA_ERR_COM,
  STA_ERR_STP, STA_MAX
}
 

Functions

void printAcoFixData (std::string msg_name, Acofix_t *aco_fix, Tasks::Task *task=NULL)
 
void printDebugFunction (unsigned message_type, DataSeatrac &data_Beacon, Tasks::Task *task=NULL)
 
uint16_t updateEcoFix (Acofix_t *aco_fix, uint16_t ind, const char *msg_raw)
 
void dataParser (uint16_t message_type, const char *msg_raw, DataSeatrac &data_Beacon)
 
std::string commandCreateSeatrac (CommandID cid_type, DataSeatrac &data_Beacon)
 

Typedef Documentation

typedef std::map<unsigned, std::string> Transports::Seatrac::MapAddr

Map of system's addresses.

typedef std::map<std::string, unsigned> Transports::Seatrac::MapName

Map of system's names.

Enumeration Type Documentation

Enumerator
MSG_OWAY 
MSG_OWAYU 
MSG_REQ 
MSG_RESP 
MSG_REQU 
MSG_RESPU 
MSG_REQX 
MSG_RESPX 
MSG_UNKNOWN 
Enumerator
BT_X110 
BT_X150 
Enumerator
CID_SYS_ALIVE 
CID_SYS_INFO 
CID_SYS_REBOOT 
CID_SYS_ENGINEERING 
CID_PROG_INIT 
CID_PROG_BLOCK 
CID_PROG_UPDATE 
CID_STATUS 
CID_STATUS_CFG_GET 
CID_STATUS_CFG_SET 
CID_SETTINGS_GET 
CID_SETTINGS_SET 
CID_SETTINGS_LOAD 
CID_SETTINGS_SAVE 
CID_SETTINGS_RESET 
CID_CAL_ACTION 
CID_AHRS_CAL_GET 
CID_AHRS_CAL_SET 
CID_XCVR_ANALYSE 
CID_XCVR_TX_MSG 
CID_XCVR_RX_ERR 
CID_XCVR_RX_MSG 
CID_XCVR_RX_REQ 
CID_XCVR_RX_RESP 
CID_XCVR_RX_UNHANDLED 
CID_XCVR_USBL 
CID_XCVR_FIX 
CID_XCVR_STATUS 
CID_PING_SEND 
CID_PING_REQ 
CID_PING_RESP 
CID_PING_ERROR 
CID_ECHO_SEND 
CID_ECHO_REQ 
CID_ECHO_RESP 
CID_ECHO_ERROR 
CID_NAV_QUERY_SEND 
CID_NAV_QUERY_REQ 
CID_NAV_QUERY_RESP 
CID_NAV_ERROR 
CID_NAV_REF_POS_SEND 
CID_NAV_REF_POS_UPDATE 
CID_NAV_BEACON_POS_SEND 
CID_NAV_BEACON_POS_UPDATE 
CID_DAT_SEND 
CID_DAT_RECEIVE 
CID_DAT_ERROR 
CID_DAT_QUEUE_SET 
CID_DAT_QUEUE_CLR 
CID_DAT_QUEUE_STATUS 
CID_DEX_CLOSE 
CID_DEX_DEBUG 
CID_DEX_ENQUEUE 
CID_DEX_OPEN 
CID_DEX_RESET 
CID_DEX_SEND 
CID_DEX_SOCKETS 
CID_DEX_RECEIVE 
Enumerator
AUTO_CAL_MAG_FLAG 
Enumerator
AUTO_VOS_FLAG 
AUTO_PRESSURE_OFS_FLAG 
Enumerator
USBL_USE_AHRS_FLAG 
XCVR_POSFLT_ENABLE_FLAG 
XCVR_USBL_MSGS_FLAG 
XCVR_FIX_MSGS_FLAG 
XCVR_DIAG_MSGS_FLAG 
Enumerator
CST_OK 
CST_FAIL 
CST_EEPROM_ERROR 
CST_CMD_PARAM_MISSING 
CST_CMD_PARAM_INVALID 
CST_PROG_FLASH_ERROR 
CST_PROG_FIRMWARE_ERROR 
CST_PROG_SECTION_ERROR 
CST_PROG_LENGTH_ERROR 
CST_PROG_DATA_ERROR 
CST_PROG_CHECKSUM_ERROR 
CST_XCVR_BUSY 
CST_XCVR_ID_REJECTED 
CST_XCVR_CSUM_ERROR 
CST_XCVR_LENGTH_ERROR 
CST_XCVR_RESP_TIMEOUT 
CST_XCVR_RESP_ERROR 
CST_XCVR_RESP_WRONG 
CST_XCVR_PLOAD_ERROR 
CST_XCVR_STATE_STOPPED 
CST_XCVR_STATE_IDLE 
CST_XCVR_STATE_TX 
CST_XCVR_STATE_REQ 
CST_XCVR_STATE_RX 
CST_XCVR_STATE_RESP 
CST_DEX_SOCKET_ERROR 
CST_DEX_RX_SYNC 
CST_DEX_RX_DATA 
CST_DEX_RX_SEQ_ERROR 
CST_DEX_RX_MSG_ERROR 
CST_DEX_REQ_ERROR 
CST_DEX_RESP_TMO_ERROR 
CST_DEX_RESP_MSG_ERROR 
CST_DEX_RESP_REMOTE_ERROR 

Entity states.

Enumerator
STA_BOOT 
STA_IDLE 
STA_ACTIVE 
STA_ERR_COM 
STA_ERR_STP 
STA_MAX 

States of the internal SM.

Enumerator
PS_NONE 
PS_PRE 
PS_DATA 
PS_COMPLETE 
Enumerator
STATUS_MODE_MANUAL 
STATUS_MODE_1HZ 
STATUS_MODE_2HZ5 
STATUS_MODE_5HZ 
STATUS_MODE_10HZ 
STATUS_MODE_25HZ 
Enumerator
ENVIRONMENT_FLAG 
ATTITUDE_FLAG 
MAG_CAL_FLAG 
ACC_CAL_FLAG 
AHRS_RAW_DATA_FLAG 
AHRS_COMP_DATA_FLAG 

Function Documentation

std::string Transports::Seatrac::commandCreateSeatrac ( CommandID  cid_type,
DataSeatrac &  data_Beacon 
)

Creates a command to the modem acoustic.

Parameters
[in]cid_typetype of message.
[in]data_Beaconmessage structure.
Returns
string with the command.

References Transports::Seatrac::AhrsCal_t::acc_max_x, Transports::Seatrac::AhrsCal_t::acc_max_y, Transports::Seatrac::AhrsCal_t::acc_max_z, Transports::Seatrac::AhrsCal_t::acc_min_x, Transports::Seatrac::AhrsCal_t::acc_min_y, Transports::Seatrac::AhrsCal_t::acc_min_z, Transports::Seatrac::CidSettingsMsg::ahrs_cal, Transports::Seatrac::CidSettingsMsg::ahrs_flags, Transports::Seatrac::CidSettingsMsg::ahrs_pitch_ofs, Transports::Seatrac::CidSettingsMsg::ahrs_roll_ofs, Transports::Seatrac::CidSettingsMsg::ahrs_yaw_ofs, Transports::Seatrac::CidNavBeaconPosSendMsg::beacon_id, Transports::Seatrac::MacAddr_T::bytes, Transports::Seatrac::IpAddr_T::bytes, CID_DAT_SEND, Transports::Seatrac::DataSeatrac::cid_dat_send_msg, CID_NAV_BEACON_POS_SEND, Transports::Seatrac::DataSeatrac::cid_nav_beacon_pos_send_msg, CID_NAV_QUERY_SEND, Transports::Seatrac::DataSeatrac::cid_nav_query_send_msg, CID_NAV_REF_POS_SEND, Transports::Seatrac::DataSeatrac::cid_nav_ref_pos_send_msg, CID_PING_SEND, Transports::Seatrac::DataSeatrac::cid_ping_send_msg, Transports::Seatrac::DataSeatrac::cid_settings_msg, CID_SETTINGS_SAVE, CID_SETTINGS_SET, CID_SYS_INFO, CID_SYS_REBOOT, Transports::Seatrac::CidPingSendMsg::dest_id, Transports::Seatrac::CidDatSendMsg::dest_id, Transports::Seatrac::CidNavQuerySendMsg::dest_id, Transports::Seatrac::CidSettingsMsg::env_flags, Transports::Seatrac::CidSettingsMsg::env_pressure_ofs, Transports::Seatrac::CidSettingsMsg::env_salinity, Transports::Seatrac::CidSettingsMsg::env_vos, Transports::Seatrac::AhrsCal_t::gyro_offset_x, Transports::Seatrac::AhrsCal_t::gyro_offset_y, Transports::Seatrac::AhrsCal_t::gyro_offset_z, Transports::Seatrac::AhrsCal_t::mag_error, Transports::Seatrac::AhrsCal_t::mag_field, Transports::Seatrac::AhrsCal_t::mag_hard_x, Transports::Seatrac::AhrsCal_t::mag_hard_y, Transports::Seatrac::AhrsCal_t::mag_hard_z, Transports::Seatrac::AhrsCal_t::mag_soft_x, Transports::Seatrac::AhrsCal_t::mag_soft_y, Transports::Seatrac::AhrsCal_t::mag_soft_z, Transports::Seatrac::AhrsCal_t::mag_valid, Transports::Seatrac::CidPingSendMsg::msg_type, Transports::Seatrac::CidDatSendMsg::msg_type, Transports::Seatrac::CidSettingsMsg::net_ip_addr, Transports::Seatrac::CidSettingsMsg::net_ip_dns, Transports::Seatrac::CidSettingsMsg::net_ip_gateway, Transports::Seatrac::CidSettingsMsg::net_ip_subnet, Transports::Seatrac::CidSettingsMsg::net_mac_addr, Transports::Seatrac::CidSettingsMsg::net_tcp_port, Transports::Seatrac::CidDatSendMsg::packet_data, Transports::Seatrac::CidDatSendMsg::packet_len, Transports::Seatrac::CidNavBeaconPosSendMsg::position_depth, Transports::Seatrac::CidNavBeaconPosSendMsg::position_easting, Transports::Seatrac::CidNavRefPosSendMsg::position_latitude, Transports::Seatrac::CidNavRefPosSendMsg::position_longitude, Transports::Seatrac::CidNavBeaconPosSendMsg::position_northing, Transports::Seatrac::CidNavQuerySendMsg::query_flags, Transports::Seatrac::CidSettingsMsg::status_flags, Transports::Seatrac::CidSettingsMsg::status_output, Transports::Seatrac::CidSettingsMsg::uart_aux_baud, Transports::Seatrac::CidSettingsMsg::uart_main_baud, Transports::Seatrac::CidSettingsMsg::xcvr_beacon_id, Transports::Seatrac::CidSettingsMsg::xcvr_flags, Transports::Seatrac::CidSettingsMsg::xcvr_pitch, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_ang, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_tmo, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_vel, Transports::Seatrac::CidSettingsMsg::xcvr_range_tmo, Transports::Seatrac::CidSettingsMsg::xcvr_resp_time, Transports::Seatrac::CidSettingsMsg::xcvr_roll, and Transports::Seatrac::CidSettingsMsg::xcvr_yaw.

Referenced by Transports::Seatrac::Task::consume(), Transports::Seatrac::Task::handleBinaryMessage(), Transports::Seatrac::Task::handleCommunicationError(), Transports::Seatrac::Task::handleDatSendResponse(), and Transports::Seatrac::Task::onResourceInitialization().

void Transports::Seatrac::dataParser ( uint16_t  message_type,
const char *  msg_raw,
DataSeatrac &  data_Beacon 
)

Extract to DataSeatrac data structure.

Parameters
[in]message_typetype of msessage to decode.
[in]msg_rawraw messagem received by uart
[out]data_Beaconpointer where the data is stored.

References Transports::Seatrac::CidStatusMsg::acc_lim_max_x, Transports::Seatrac::CidStatusMsg::acc_lim_max_y, Transports::Seatrac::CidStatusMsg::acc_lim_max_z, Transports::Seatrac::CidStatusMsg::acc_lim_min_x, Transports::Seatrac::CidStatusMsg::acc_lim_min_y, Transports::Seatrac::CidStatusMsg::acc_lim_min_z, Transports::Seatrac::AhrsCal_t::acc_max_x, Transports::Seatrac::AhrsCal_t::acc_max_y, Transports::Seatrac::AhrsCal_t::acc_max_z, Transports::Seatrac::AhrsCal_t::acc_min_x, Transports::Seatrac::AhrsCal_t::acc_min_y, Transports::Seatrac::AhrsCal_t::acc_min_z, Transports::Seatrac::CidDatReceiveMsg::ack_flag, Transports::Seatrac::CidPingRespMsg::aco_fix, Transports::Seatrac::CidNavBeaconPosUpdateMsg::aco_fix, Transports::Seatrac::CidPingRequestMsg::aco_fix, Transports::Seatrac::CidNavQueryReqMsg::aco_fix, Transports::Seatrac::CidNavRefPosUpdateMsg::aco_fix, Transports::Seatrac::CidDatReceiveMsg::aco_fix, Transports::Seatrac::CidXcvrFixMsg::aco_fix, Transports::Seatrac::CidNavQuerryRespMsg::aco_fix, Transports::Seatrac::CidSettingsMsg::ahrs_cal, Transports::Seatrac::CidStatusMsg::ahrs_comp_acc_x, Transports::Seatrac::CidStatusMsg::ahrs_comp_acc_y, Transports::Seatrac::CidStatusMsg::ahrs_comp_acc_z, Transports::Seatrac::CidStatusMsg::ahrs_comp_gyro_x, Transports::Seatrac::CidStatusMsg::ahrs_comp_gyro_y, Transports::Seatrac::CidStatusMsg::ahrs_comp_gyro_z, Transports::Seatrac::CidStatusMsg::ahrs_comp_mag_x, Transports::Seatrac::CidStatusMsg::ahrs_comp_mag_y, Transports::Seatrac::CidStatusMsg::ahrs_comp_mag_z, Transports::Seatrac::CidSettingsMsg::ahrs_flags, Transports::Seatrac::CidSettingsMsg::ahrs_pitch_ofs, Transports::Seatrac::CidStatusMsg::ahrs_raw_acc_x, Transports::Seatrac::CidStatusMsg::ahrs_raw_acc_y, Transports::Seatrac::CidStatusMsg::ahrs_raw_acc_z, Transports::Seatrac::CidStatusMsg::ahrs_raw_gyro_x, Transports::Seatrac::CidStatusMsg::ahrs_raw_gyro_y, Transports::Seatrac::CidStatusMsg::ahrs_raw_gyro_z, Transports::Seatrac::CidStatusMsg::ahrs_raw_mag_x, Transports::Seatrac::CidStatusMsg::ahrs_raw_mag_y, Transports::Seatrac::CidStatusMsg::ahrs_raw_mag_z, Transports::Seatrac::CidSettingsMsg::ahrs_roll_ofs, Transports::Seatrac::CidSettingsMsg::ahrs_yaw_ofs, Transports::Seatrac::CidStatusMsg::attitude_pitch, Transports::Seatrac::CidStatusMsg::attitude_roll, Transports::Seatrac::CidStatusMsg::attitude_yaw, Transports::Seatrac::CidXcvrUsblMsg::baselines, Transports::Seatrac::CidNavBeaconPosUpdateMsg::beacon_id, Transports::Seatrac::CidPingErrorMsg::beacon_id, Transports::Seatrac::CidPingSendMsg::beacon_id, Transports::Seatrac::CidNavRefPosUpdateMsg::beacon_id, Transports::Seatrac::CidDatSendMsg::beacon_id, Transports::Seatrac::CidSysInfo::boot_firmware, Transports::Seatrac::MacAddr_T::bytes, Transports::Seatrac::IpAddr_T::bytes, Transports::Seatrac::CidXcvrUsblMsg::channel_rssi, Transports::Seatrac::CidXcvrUsblMsg::channels, Transports::Seatrac::Firmware_t::checksum, CID_DAT_ERROR, CID_DAT_RECEIVE, Transports::Seatrac::DataSeatrac::cid_dat_receive_msg, CID_DAT_SEND, Transports::Seatrac::DataSeatrac::cid_dat_send_msg, CID_NAV_BEACON_POS_SEND, Transports::Seatrac::DataSeatrac::cid_nav_beacon_pos_send_msg, CID_NAV_BEACON_POS_UPDATE, Transports::Seatrac::DataSeatrac::cid_nav_beacon_pos_update_msg, Transports::Seatrac::DataSeatrac::cid_nav_querry_resp_msg, CID_NAV_QUERY_REQ, Transports::Seatrac::DataSeatrac::cid_nav_query_req_msg, CID_NAV_QUERY_RESP, CID_NAV_QUERY_SEND, Transports::Seatrac::DataSeatrac::cid_nav_query_send_msg, CID_NAV_REF_POS_SEND, Transports::Seatrac::DataSeatrac::cid_nav_ref_pos_send_msg, CID_NAV_REF_POS_UPDATE, Transports::Seatrac::DataSeatrac::cid_nav_ref_pos_update_msg, CID_PING_ERROR, Transports::Seatrac::DataSeatrac::cid_ping_error_msg, CID_PING_REQ, Transports::Seatrac::DataSeatrac::cid_ping_req_msg, CID_PING_RESP, Transports::Seatrac::DataSeatrac::cid_ping_resp_msg, CID_PING_SEND, Transports::Seatrac::DataSeatrac::cid_ping_send_msg, CID_SETTINGS_GET, Transports::Seatrac::DataSeatrac::cid_settings_msg, CID_SETTINGS_SAVE, Transports::Seatrac::DataSeatrac::cid_settings_save_msg, CID_STATUS, Transports::Seatrac::DataSeatrac::cid_status_msg, Transports::Seatrac::DataSeatrac::cid_sys_info, CID_SYS_INFO, CID_SYS_REBOOT, Transports::Seatrac::DataSeatrac::cid_sys_reboot_msg, CID_XCVR_FIX, Transports::Seatrac::DataSeatrac::cid_xcvr_fix_msg, CID_XCVR_USBL, Transports::Seatrac::DataSeatrac::cid_xcvr_usbl_msg, Transports::Seatrac::CidSettingsMsg::env_flags, Transports::Seatrac::CidSettingsMsg::env_pressure_ofs, Transports::Seatrac::CidSettingsMsg::env_salinity, Transports::Seatrac::CidSettingsMsg::env_vos, Transports::Seatrac::CidStatusMsg::environment_pressure, Transports::Seatrac::CidStatusMsg::environment_supply, Transports::Seatrac::CidStatusMsg::environment_temperature, Transports::Seatrac::CidStatusMsg::EnvironmentDepth, Transports::Seatrac::CidStatusMsg::EnvironmentVos, Transports::Seatrac::Hardware_t::flags_sys, Transports::Seatrac::Hardware_t::flags_user, Transports::Seatrac::AhrsCal_t::gyro_offset_x, Transports::Seatrac::AhrsCal_t::gyro_offset_y, Transports::Seatrac::AhrsCal_t::gyro_offset_z, Transports::Seatrac::CidSysInfo::hardware, Transports::Seatrac::CidStatusMsg::mag_cal_age, Transports::Seatrac::CidStatusMsg::mag_cal_buf, Transports::Seatrac::CidStatusMsg::mag_cal_fit, Transports::Seatrac::CidStatusMsg::mag_cal_valid, Transports::Seatrac::AhrsCal_t::mag_error, Transports::Seatrac::AhrsCal_t::mag_field, Transports::Seatrac::AhrsCal_t::mag_hard_x, Transports::Seatrac::AhrsCal_t::mag_hard_y, Transports::Seatrac::AhrsCal_t::mag_hard_z, Transports::Seatrac::AhrsCal_t::mag_soft_x, Transports::Seatrac::AhrsCal_t::mag_soft_y, Transports::Seatrac::AhrsCal_t::mag_soft_z, Transports::Seatrac::AhrsCal_t::mag_valid, Transports::Seatrac::CidSysInfo::main_firmware, Transports::Seatrac::CidNavQueryReqMsg::nav_query_t, Transports::Seatrac::CidSettingsMsg::net_ip_addr, Transports::Seatrac::CidSettingsMsg::net_ip_dns, Transports::Seatrac::CidSettingsMsg::net_ip_gateway, Transports::Seatrac::CidSettingsMsg::net_ip_subnet, Transports::Seatrac::CidSettingsMsg::net_mac_addr, Transports::Seatrac::CidSettingsMsg::net_tcp_port, Transports::Seatrac::CidStatusMsg::output_flags, Transports::Seatrac::CidStatusMsg::outputflags_list, Transports::Seatrac::CidStatusMsg::outputFlagsComp(), Transports::Seatrac::CidDatReceiveMsg::packet_data, Transports::Seatrac::CidDatReceiveMsg::packet_len, Transports::Seatrac::Hardware_t::part_number, Transports::Seatrac::Firmware_t::part_number, Transports::Seatrac::Hardware_t::part_rev, Transports::Seatrac::CidXcvrUsblMsg::phase_angle, Transports::Seatrac::CidNavBeaconPosUpdateMsg::position_depth, Transports::Seatrac::CidNavBeaconPosUpdateMsg::position_easting, Transports::Seatrac::CidNavRefPosUpdateMsg::position_latitude, Transports::Seatrac::CidNavRefPosUpdateMsg::position_longitude, Transports::Seatrac::CidNavBeaconPosUpdateMsg::position_northing, Transports::Seatrac::CidNavQuerryRespMsg::query_flags, Transports::Seatrac::CidNavQuerryRespMsg::query_flags_list, Transports::Seatrac::CidNavQuerryRespMsg::queryFlagsExtract(), Transports::Seatrac::CidNavQuerryRespMsg::remote_depth, Transports::Seatrac::CidNavQuerryRespMsg::remote_pitch, Transports::Seatrac::CidNavQuerryRespMsg::remote_roll, Transports::Seatrac::CidNavQuerryRespMsg::remote_supply, Transports::Seatrac::CidNavQuerryRespMsg::remote_temp, Transports::Seatrac::CidNavQuerryRespMsg::remote_yaw, Transports::Seatrac::CidSysInfo::seconds, Transports::Seatrac::CidSysInfo::section, Transports::Seatrac::Hardware_t::serial_number, Transports::Seatrac::DataSeatrac::set(), Transports::Seatrac::CidXcvrUsblMsg::signal_azimuth, Transports::Seatrac::CidXcvrUsblMsg::signal_elevation, Transports::Seatrac::CidXcvrUsblMsg::signal_fit_error, Transports::Seatrac::CidNavBeaconPosSendMsg::status, Transports::Seatrac::CidPingErrorMsg::status, Transports::Seatrac::CidPingSendMsg::status, Transports::Seatrac::CidSettingsSaveMsg::status, Transports::Seatrac::CidNavRefPosSendMsg::status, Transports::Seatrac::CidDatSendMsg::status, Transports::Seatrac::CidSysRebootMsg::status, Transports::Seatrac::CidNavQuerySendMsg::status, Transports::Seatrac::CidSettingsMsg::status_flags, Transports::Seatrac::CidSettingsMsg::status_output, Transports::Seatrac::CidStatusMsg::timestamp, Transports::Seatrac::CidSettingsMsg::uart_aux_baud, Transports::Seatrac::CidSettingsMsg::uart_main_baud, updateEcoFix(), Transports::Seatrac::Firmware_t::valid, Transports::Seatrac::Firmware_t::version_build, Transports::Seatrac::Firmware_t::version_maj, Transports::Seatrac::Firmware_t::version_min, Transports::Seatrac::CidXcvrUsblMsg::xcor_cross_mag, Transports::Seatrac::CidXcvrUsblMsg::xcor_cross_point, Transports::Seatrac::CidXcvrUsblMsg::xcor_data, Transports::Seatrac::CidXcvrUsblMsg::xcor_detect, Transports::Seatrac::CidXcvrUsblMsg::xcor_length, Transports::Seatrac::CidXcvrUsblMsg::xcor_sig_peak, Transports::Seatrac::CidXcvrUsblMsg::xcor_threshold, Transports::Seatrac::CidSettingsMsg::xcvr_beacon_id, Transports::Seatrac::CidSettingsMsg::xcvr_flags, Transports::Seatrac::CidSettingsMsg::xcvr_pitch, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_ang, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_tmo, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_vel, Transports::Seatrac::CidSettingsMsg::xcvr_range_tmo, Transports::Seatrac::CidSettingsMsg::xcvr_resp_time, Transports::Seatrac::CidSettingsMsg::xcvr_roll, and Transports::Seatrac::CidSettingsMsg::xcvr_yaw.

Referenced by Transports::Seatrac::Task::readSentence().

void Transports::Seatrac::printDebugFunction ( unsigned  message_type,
DataSeatrac &  data_Beacon,
Tasks::Task *  task = NULL 
)

Msg Debug print.

Parameters
[in]message_typetype of message.
[in]data_Beacondata structure.
[in]taskparent task.

References Transports::Seatrac::CidStatusMsg::acc_lim_max_x, Transports::Seatrac::CidStatusMsg::acc_lim_max_y, Transports::Seatrac::CidStatusMsg::acc_lim_max_z, Transports::Seatrac::CidStatusMsg::acc_lim_min_x, Transports::Seatrac::CidStatusMsg::acc_lim_min_y, Transports::Seatrac::CidStatusMsg::acc_lim_min_z, Transports::Seatrac::AhrsCal_t::acc_max_x, Transports::Seatrac::AhrsCal_t::acc_max_y, Transports::Seatrac::AhrsCal_t::acc_max_z, Transports::Seatrac::AhrsCal_t::acc_min_x, Transports::Seatrac::AhrsCal_t::acc_min_y, Transports::Seatrac::AhrsCal_t::acc_min_z, Transports::Seatrac::CidDatReceiveMsg::ack_flag, Transports::Seatrac::CidPingRespMsg::aco_fix, Transports::Seatrac::CidNavBeaconPosUpdateMsg::aco_fix, Transports::Seatrac::CidPingRequestMsg::aco_fix, Transports::Seatrac::CidNavQueryReqMsg::aco_fix, Transports::Seatrac::CidNavRefPosUpdateMsg::aco_fix, Transports::Seatrac::CidDatReceiveMsg::aco_fix, Transports::Seatrac::CidXcvrFixMsg::aco_fix, Transports::Seatrac::CidNavQuerryRespMsg::aco_fix, Transports::Seatrac::CidSettingsMsg::ahrs_cal, Transports::Seatrac::CidStatusMsg::ahrs_comp_acc_x, Transports::Seatrac::CidStatusMsg::ahrs_comp_acc_y, Transports::Seatrac::CidStatusMsg::ahrs_comp_acc_z, Transports::Seatrac::CidStatusMsg::ahrs_comp_gyro_x, Transports::Seatrac::CidStatusMsg::ahrs_comp_gyro_y, Transports::Seatrac::CidStatusMsg::ahrs_comp_gyro_z, Transports::Seatrac::CidStatusMsg::ahrs_comp_mag_x, Transports::Seatrac::CidStatusMsg::ahrs_comp_mag_y, Transports::Seatrac::CidStatusMsg::ahrs_comp_mag_z, Transports::Seatrac::CidSettingsMsg::ahrs_flags, Transports::Seatrac::CidSettingsMsg::ahrs_pitch_ofs, Transports::Seatrac::CidStatusMsg::ahrs_raw_acc_x, Transports::Seatrac::CidStatusMsg::ahrs_raw_acc_y, Transports::Seatrac::CidStatusMsg::ahrs_raw_acc_z, Transports::Seatrac::CidStatusMsg::ahrs_raw_gyro_x, Transports::Seatrac::CidStatusMsg::ahrs_raw_gyro_y, Transports::Seatrac::CidStatusMsg::ahrs_raw_gyro_z, Transports::Seatrac::CidStatusMsg::ahrs_raw_mag_x, Transports::Seatrac::CidStatusMsg::ahrs_raw_mag_y, Transports::Seatrac::CidStatusMsg::ahrs_raw_mag_z, Transports::Seatrac::CidSettingsMsg::ahrs_roll_ofs, Transports::Seatrac::CidSettingsMsg::ahrs_yaw_ofs, Transports::Seatrac::CidStatusMsg::attitude_pitch, Transports::Seatrac::CidStatusMsg::attitude_roll, Transports::Seatrac::CidStatusMsg::attitude_yaw, Transports::Seatrac::CidXcvrUsblMsg::baselines, Transports::Seatrac::CidNavBeaconPosUpdateMsg::beacon_id, Transports::Seatrac::CidPingErrorMsg::beacon_id, Transports::Seatrac::CidPingSendMsg::beacon_id, Transports::Seatrac::CidNavRefPosUpdateMsg::beacon_id, Transports::Seatrac::CidDatSendMsg::beacon_id, Transports::Seatrac::CidSysInfo::boot_firmware, Transports::Seatrac::CidXcvrUsblMsg::channel_rssi, Transports::Seatrac::CidXcvrUsblMsg::channels, Transports::Seatrac::Firmware_t::checksum, CID_DAT_ERROR, CID_DAT_RECEIVE, Transports::Seatrac::DataSeatrac::cid_dat_receive_msg, CID_DAT_SEND, Transports::Seatrac::DataSeatrac::cid_dat_send_msg, CID_NAV_BEACON_POS_SEND, Transports::Seatrac::DataSeatrac::cid_nav_beacon_pos_send_msg, CID_NAV_BEACON_POS_UPDATE, Transports::Seatrac::DataSeatrac::cid_nav_beacon_pos_update_msg, CID_NAV_ERROR, Transports::Seatrac::DataSeatrac::cid_nav_querry_resp_msg, CID_NAV_QUERY_REQ, Transports::Seatrac::DataSeatrac::cid_nav_query_req_msg, CID_NAV_QUERY_RESP, CID_NAV_QUERY_SEND, Transports::Seatrac::DataSeatrac::cid_nav_query_send_msg, CID_NAV_REF_POS_SEND, Transports::Seatrac::DataSeatrac::cid_nav_ref_pos_send_msg, CID_NAV_REF_POS_UPDATE, Transports::Seatrac::DataSeatrac::cid_nav_ref_pos_update_msg, CID_PING_ERROR, Transports::Seatrac::DataSeatrac::cid_ping_error_msg, CID_PING_REQ, Transports::Seatrac::DataSeatrac::cid_ping_req_msg, CID_PING_RESP, Transports::Seatrac::DataSeatrac::cid_ping_resp_msg, CID_PING_SEND, Transports::Seatrac::DataSeatrac::cid_ping_send_msg, CID_SETTINGS_GET, Transports::Seatrac::DataSeatrac::cid_settings_msg, CID_SETTINGS_SAVE, Transports::Seatrac::DataSeatrac::cid_settings_save_msg, CID_SETTINGS_SET, CID_STATUS, Transports::Seatrac::DataSeatrac::cid_status_msg, Transports::Seatrac::DataSeatrac::cid_sys_info, CID_SYS_INFO, CID_SYS_REBOOT, Transports::Seatrac::DataSeatrac::cid_sys_reboot_msg, Transports::Seatrac::DataSeatrac::cid_sys_settings_set_msg, CID_XCVR_FIX, Transports::Seatrac::DataSeatrac::cid_xcvr_fix_msg, CID_XCVR_USBL, Transports::Seatrac::DataSeatrac::cid_xcvr_usbl_msg, CST_XCVR_RESP_ERROR, CST_XCVR_RESP_TIMEOUT, CST_XCVR_RESP_WRONG, Transports::Seatrac::CidSettingsMsg::env_flags, Transports::Seatrac::CidSettingsMsg::env_pressure_ofs, Transports::Seatrac::CidSettingsMsg::env_salinity, Transports::Seatrac::CidSettingsMsg::env_vos, Transports::Seatrac::CidStatusMsg::environment_pressure, Transports::Seatrac::CidStatusMsg::environment_supply, Transports::Seatrac::CidStatusMsg::environment_temperature, Transports::Seatrac::CidStatusMsg::EnvironmentDepth, Transports::Seatrac::CidStatusMsg::EnvironmentVos, Transports::Seatrac::Hardware_t::flags_sys, Transports::Seatrac::Hardware_t::flags_user, Transports::Seatrac::AhrsCal_t::gyro_offset_x, Transports::Seatrac::AhrsCal_t::gyro_offset_y, Transports::Seatrac::AhrsCal_t::gyro_offset_z, Transports::Seatrac::CidSysInfo::hardware, Transports::Seatrac::CidStatusMsg::mag_cal_age, Transports::Seatrac::CidStatusMsg::mag_cal_buf, Transports::Seatrac::CidStatusMsg::mag_cal_fit, Transports::Seatrac::CidStatusMsg::mag_cal_valid, Transports::Seatrac::AhrsCal_t::mag_error, Transports::Seatrac::AhrsCal_t::mag_field, Transports::Seatrac::AhrsCal_t::mag_hard_x, Transports::Seatrac::AhrsCal_t::mag_hard_y, Transports::Seatrac::AhrsCal_t::mag_hard_z, Transports::Seatrac::AhrsCal_t::mag_soft_x, Transports::Seatrac::AhrsCal_t::mag_soft_y, Transports::Seatrac::AhrsCal_t::mag_soft_z, Transports::Seatrac::AhrsCal_t::mag_valid, Transports::Seatrac::CidSysInfo::main_firmware, Transports::Seatrac::CidNavQueryReqMsg::nav_query_t, Transports::Seatrac::CidSettingsMsg::net_tcp_port, Transports::Seatrac::CidStatusMsg::output_flags, Transports::Seatrac::CidStatusMsg::outputflags_list, Transports::Seatrac::CidDatReceiveMsg::packet_data, Transports::Seatrac::CidDatReceiveMsg::packet_len, Transports::Seatrac::Hardware_t::part_number, Transports::Seatrac::Firmware_t::part_number, Transports::Seatrac::Hardware_t::part_rev, Transports::Seatrac::CidXcvrUsblMsg::phase_angle, Transports::Seatrac::CidNavBeaconPosUpdateMsg::position_depth, Transports::Seatrac::CidNavBeaconPosUpdateMsg::position_easting, Transports::Seatrac::CidNavRefPosUpdateMsg::position_latitude, Transports::Seatrac::CidNavRefPosUpdateMsg::position_longitude, Transports::Seatrac::CidNavBeaconPosUpdateMsg::position_northing, printAcoFixData(), Transports::Seatrac::CidNavQuerryRespMsg::query_flags, Transports::Seatrac::CidNavQuerryRespMsg::query_flags_list, Transports::Seatrac::CidNavQuerryRespMsg::remote_depth, Transports::Seatrac::CidNavQuerryRespMsg::remote_pitch, Transports::Seatrac::CidNavQuerryRespMsg::remote_roll, Transports::Seatrac::CidNavQuerryRespMsg::remote_supply, Transports::Seatrac::CidNavQuerryRespMsg::remote_temp, Transports::Seatrac::CidNavQuerryRespMsg::remote_yaw, Transports::Seatrac::CidSysInfo::seconds, Transports::Seatrac::CidSysInfo::section, Transports::Seatrac::Hardware_t::serial_number, Transports::Seatrac::CidXcvrUsblMsg::signal_azimuth, Transports::Seatrac::CidXcvrUsblMsg::signal_elevation, Transports::Seatrac::CidXcvrUsblMsg::signal_fit_error, Transports::Seatrac::CidNavBeaconPosSendMsg::status, Transports::Seatrac::CidPingErrorMsg::status, Transports::Seatrac::CidPingSendMsg::status, Transports::Seatrac::CidSettingsSetMsg::status, Transports::Seatrac::CidSettingsSaveMsg::status, Transports::Seatrac::CidNavRefPosSendMsg::status, Transports::Seatrac::CidDatSendMsg::status, Transports::Seatrac::CidSysRebootMsg::status, Transports::Seatrac::CidNavQuerySendMsg::status, Transports::Seatrac::CidSettingsMsg::status_flags, Transports::Seatrac::CidSettingsMsg::status_output, Transports::Seatrac::CidStatusMsg::timestamp, Transports::Seatrac::CidSettingsMsg::uart_aux_baud, Transports::Seatrac::CidSettingsMsg::uart_main_baud, Transports::Seatrac::Firmware_t::valid, Transports::Seatrac::Firmware_t::version_build, Transports::Seatrac::Firmware_t::version_maj, Transports::Seatrac::Firmware_t::version_min, Transports::Seatrac::CidXcvrUsblMsg::xcor_cross_mag, Transports::Seatrac::CidXcvrUsblMsg::xcor_cross_point, Transports::Seatrac::CidXcvrUsblMsg::xcor_data, Transports::Seatrac::CidXcvrUsblMsg::xcor_detect, Transports::Seatrac::CidXcvrUsblMsg::xcor_length, Transports::Seatrac::CidXcvrUsblMsg::xcor_sig_peak, Transports::Seatrac::CidXcvrUsblMsg::xcor_threshold, Transports::Seatrac::CidSettingsMsg::xcvr_beacon_id, Transports::Seatrac::CidSettingsMsg::xcvr_flags, Transports::Seatrac::CidSettingsMsg::xcvr_pitch, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_ang, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_tmo, Transports::Seatrac::CidSettingsMsg::xcvr_posflt_vel, Transports::Seatrac::CidSettingsMsg::xcvr_range_tmo, Transports::Seatrac::CidSettingsMsg::xcvr_resp_time, Transports::Seatrac::CidSettingsMsg::xcvr_roll, and Transports::Seatrac::CidSettingsMsg::xcvr_yaw.

Referenced by Transports::Seatrac::Task::readSentence().

uint16_t Transports::Seatrac::updateEcoFix ( Acofix_t *  aco_fix,
uint16_t  ind,
const char *  msg_raw 
)

Extract data to a Acofix_t structure.

Parameters
[out]aco_fixpointer hwre data is stored.
[in]indraw messagem index.
[in]msg_rawpointer to raw message.

References Transports::Seatrac::Acofix_t::outputflags_list, Transports::Seatrac::Acofix_t::outputFlagsComp(), Transports::Seatrac::Acofix_t::usbl_channels, and Transports::Seatrac::Acofix_t::usbl_rssi.

Referenced by dataParser().