DUNE::Navigation::UsblTools::Node Class Reference

Detailed Description

USBL tools node (that actively requests fixes from USBL modem).

Classes
struct	Arguments

Public Member Functions
	Node (Tasks::Task *task, const Arguments *args)
bool	run (std::vector< uint8_t > &data)
void	parse (uint16_t imc_src, const IMC::UamRxFrame *msg)
void	consume (const IMC::UsblConfig *msg)

Constructor & Destructor Documentation

DUNE::Navigation::UsblTools::Node::Node ( Tasks::Task *  task, const Arguments *  args  )

inline

Constructor.

References DUNE::Navigation::UsblTools::c_max_comm_timeout, DUNE::Navigation::UsblTools::c_requests_interval, DUNE::Navigation::UsblTools::Node::Arguments::fix, DUNE::Navigation::UsblTools::Node::Arguments::no_range, DUNE::Navigation::UsblTools::Node::Arguments::period, and DUNE::Time::Counter< T >::setTop().

Member Function Documentation

void DUNE::Navigation::UsblTools::Node::consume ( const IMC::UsblConfig *  msg )

inline

Consume a USBL configuration message.

param[in] msg The UsblConfig message with a list of UsblModem messages.

References DUNE::Tasks::Task::dispatchReply(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getSystemId(), DUNE::IMC::UsblConfig::op, DUNE::IMC::UsblConfig::OP_CUR_CFG, DUNE::IMC::UsblConfig::OP_GET_CFG, DUNE::IMC::UsblConfig::OP_SET_CFG, DUNE::IMC::Message::setSource(), and DUNE::IMC::Message::setSourceEntity().

void DUNE::Navigation::UsblTools::Node::parse ( uint16_t  imc_src, const IMC::UamRxFrame *  msg  )

inline

Parse incoming frame.

Parameters

[in]

msg

received acoustic frame.

References DUNE::Navigation::UsblTools::Fix::accuracy, DUNE::Navigation::UsblTools::Position::accuracy, DUNE::Navigation::UsblTools::Angles::accuracy, DUNE::IMC::UsblAnglesExtended::accuracy, DUNE::IMC::UsblPositionExtended::accuracy, DUNE::IMC::UsblFixExtended::accuracy, DUNE::Navigation::UsblTools::Angles::bearing, DUNE::IMC::UsblAnglesExtended::bearing, DUNE::Navigation::UsblTools::c_code, DUNE::Navigation::UsblTools::c_mask_fix, DUNE::Navigation::UsblTools::c_mask_start, DUNE::Navigation::UsblTools::c_max_comm_timeout, DUNE::Navigation::UsblTools::CODE_ANG, DUNE::Navigation::UsblTools::CODE_FIX, DUNE::Navigation::UsblTools::CODE_POS, DUNE::Navigation::UsblTools::CODE_RPL, DUNE::Navigation::UsblTools::Position::d, DUNE::IMC::UsblPositionExtended::d, DUNE::IMC::UamRxFrame::data, DUNE::Navigation::UsblTools::Fix::decode(), DUNE::Navigation::UsblTools::Position::decode(), DUNE::Navigation::UsblTools::Angles::decode(), DUNE::Tasks::Task::dispatch(), DUNE::Navigation::UsblTools::Position::e, DUNE::IMC::UsblPositionExtended::e, DUNE::Navigation::UsblTools::Angles::elevation, DUNE::IMC::UsblAnglesExtended::elevation, DUNE::Tasks::Task::getSystemName(), DUNE::Navigation::UsblTools::Fix::lat, DUNE::IMC::UsblFixExtended::lat, DUNE::Navigation::UsblTools::Angles::lbearing, DUNE::IMC::UsblAnglesExtended::lbearing, DUNE::Navigation::UsblTools::Angles::lelevation, DUNE::IMC::UsblAnglesExtended::lelevation, DUNE::Navigation::UsblTools::Fix::lon, DUNE::IMC::UsblFixExtended::lon, DUNE::Navigation::UsblTools::Position::n, DUNE::IMC::UsblPositionExtended::n, DUNE::Navigation::UsblTools::REQ_PERIOD, DUNE::Navigation::UsblTools::REQ_START, DUNE::Time::Counter< T >::reset(), DUNE::IMC::Message::setSource(), DUNE::Time::Counter< T >::setTop(), DUNE::IMC::UamRxFrame::sys_dst, DUNE::IMC::UamRxFrame::sys_src, DUNE::IMC::UsblAnglesExtended::target, DUNE::IMC::UsblPositionExtended::target, DUNE::IMC::UsblFixExtended::target, DUNE::Navigation::UsblTools::Position::x, DUNE::IMC::UsblPositionExtended::x, DUNE::Navigation::UsblTools::Position::y, DUNE::IMC::UsblPositionExtended::y, DUNE::Navigation::UsblTools::Fix::z, DUNE::Navigation::UsblTools::Position::z, DUNE::IMC::UsblPositionExtended::z, DUNE::IMC::UsblFixExtended::z, DUNE::Navigation::UsblTools::Fix::z_units, and DUNE::IMC::UsblFixExtended::z_units.

bool DUNE::Navigation::UsblTools::Node::run ( std::vector< uint8_t > &  data )

inline

Check if node has anything to request.

Parameters

[out]

data

frame to be send.

Returns

true if there's data to be sent, false otherwise.

References DUNE::Navigation::UsblTools::c_requests_interval, DUNE::Navigation::UsblTools::Node::Arguments::enabled, DUNE::Navigation::UsblTools::Node::Arguments::fix, DUNE::Navigation::UsblTools::Node::Arguments::no_range, DUNE::Time::Counter< T >::overflow(), DUNE::Navigation::UsblTools::Node::Arguments::period, and DUNE::Time::Counter< T >::setTop().

Collaboration diagram for DUNE::Navigation::UsblTools::Node: