DUNE: Uniform Navigational Environment  2019.02.0
Sensors::Imagenex837B::Frame83P Class Reference

Detailed Description

Data logger to Imagenex .83P format.

Public Types

enum  HeaderIndices {
  HDR_IDX_LATITUDE, HDR_IDX_LONGITUDE, HDR_IDX_SPEED, HDR_IDX_COURSE,
  HDR_IDX_PITCH, HDR_IDX_ROLL, HDR_IDX_HEADING, HDR_IDX_BEAMS,
  HDR_IDX_SAMPLES_PER_BEAM, HDR_IDX_SECTOR_SIZE, HDR_IDX_START_ANGLE, HDR_IDX_ANGLE_INCR,
  HDR_IDX_RANGE, HDR_IDX_FREQUENCY, HDR_IDX_SOUND_SPEED, HDR_IDX_RANGE_RESOLUTION,
  HDR_IDX_TILT_ANGLE, HDR_IDX_REP_RATE, HDR_IDX_PING_NUMBER, HDR_IDX_X_OFFSET,
  HDR_IDX_Y_OFFSET, HDR_IDX_Z_OFFSET, HDR_IDX_MILLI, HDR_IDX_INTENSITY,
  HDR_IDX_PING_LATENCY, HDR_IDX_DATA_LATENCY, HDR_IDX_SAMPLE_RATE, HDR_IDX_FLAGS,
  HDR_IDX_PINGS_AVG, HDR_IDX_CENTER_PING_OFFSET, HDR_IDX_HEAVE, HDR_IDX_ALTITUDE,
  HDR_IDX_EXTERNAL_FLAGS, HDR_IDX_EXTERNAL_PITCH, HDR_IDX_EXTERNAL_ROLL, HDR_IDX_EXTERNAL_HEADING,
  HDR_IDX_TRANSMIT_SCAN_FLAG, HDR_IDX_TRANSMIT_SCAN_ANGLE
}
 
enum  FooterIndices {
  FTR_IDX_TYPE, FTR_IDX_PITCH, FTR_IDX_ROLL, FTR_IDX_HEADING,
  FTR_IDX_AZIMUTH_UP
}
 
- Public Types inherited from Sensors::Imagenex837B::Frame
enum  HeaderIndices {
  HDR_IDX_TBYTES_HI, HDR_IDX_TBYTES_LO, HDR_IDX_DATE, HDR_IDX_TIME,
  HDR_IDX_TIME_HSEC
}
 
enum  FooterIndices {
  FTR_IDX_TYPE, FTR_IDX_PITCH, FTR_IDX_ROLL, FTR_IDX_HEADING,
  FTR_IDX_AZIMUTH_UP
}
 

Public Member Functions

 Frame83P (void)
 
 ~Frame83P (void)
 
uint8_t * getMessageData (void)
 
size_t getSize (void) const
 
size_t getMaxSize (void) const
 
size_t getMessageSize (void) const
 
size_t getHeaderSize (void) const
 
uint16_t getRange (void)
 
void verifyReturn (size_t size)
 
unsigned getIndexRange (void)
 
unsigned getIndexTiltAngle (void)
 
unsigned getIndexLatitude (void)
 
unsigned getIndexLongitude (void)
 
unsigned getIndexSpeed (void)
 
unsigned getIndexSoundSpeed (void)
 
unsigned getIndexCourse (void)
 
unsigned getIndexMilli (void)
 
unsigned getIndexRoll (void)
 
unsigned getIndexPitch (void)
 
unsigned getIndexHeading (void)
 
unsigned getIndexRepRate (void)
 
unsigned getIndexFrequency (void)
 
- Public Member Functions inherited from Sensors::Imagenex837B::Frame
 Frame (void)
 
virtual ~Frame (void)
 
uint8_t * getData (void)
 
virtual uint8_t * getFooterData (void)
 
virtual size_t getFooterSize (void) const
 
virtual void setRange (uint8_t range)
 
void setProfileTiltAngle (float angle)
 
void setSoundVelocity (float speed)
 
void setSpeed (float speed)
 
void setCourse (float course)
 
void setRoll (float roll)
 
void setPitch (float pitch)
 
void setHeading (float heading)
 
void setRepRate (uint16_t rate)
 
void setGpsData (double lat, double lon)
 
void setDateTime (uint64_t now)
 
virtual void setExtendedDataPoints (bool mode)
 

Additional Inherited Members

- Protected Member Functions inherited from Sensors::Imagenex837B::Frame
void setFrequency (void)
 
- Protected Attributes inherited from Sensors::Imagenex837B::Frame
std::vector< uint8_t > m_data
 

Member Enumeration Documentation

83P Footer Indices.

Enumerator
FTR_IDX_TYPE 
FTR_IDX_PITCH 
FTR_IDX_ROLL 
FTR_IDX_HEADING 
FTR_IDX_AZIMUTH_UP 

83P Header Indices.

Enumerator
HDR_IDX_LATITUDE 
HDR_IDX_LONGITUDE 
HDR_IDX_SPEED 
HDR_IDX_COURSE 
HDR_IDX_PITCH 
HDR_IDX_ROLL 
HDR_IDX_HEADING 
HDR_IDX_BEAMS 
HDR_IDX_SAMPLES_PER_BEAM 
HDR_IDX_SECTOR_SIZE 
HDR_IDX_START_ANGLE 
HDR_IDX_ANGLE_INCR 
HDR_IDX_RANGE 
HDR_IDX_FREQUENCY 
HDR_IDX_SOUND_SPEED 
HDR_IDX_RANGE_RESOLUTION 
HDR_IDX_TILT_ANGLE 
HDR_IDX_REP_RATE 
HDR_IDX_PING_NUMBER 
HDR_IDX_X_OFFSET 
HDR_IDX_Y_OFFSET 
HDR_IDX_Z_OFFSET 
HDR_IDX_MILLI 
HDR_IDX_INTENSITY 
HDR_IDX_PING_LATENCY 
HDR_IDX_DATA_LATENCY 
HDR_IDX_SAMPLE_RATE 
HDR_IDX_FLAGS 
HDR_IDX_PINGS_AVG 
HDR_IDX_CENTER_PING_OFFSET 
HDR_IDX_HEAVE 
HDR_IDX_ALTITUDE 
HDR_IDX_EXTERNAL_FLAGS 
HDR_IDX_EXTERNAL_PITCH 
HDR_IDX_EXTERNAL_ROLL 
HDR_IDX_EXTERNAL_HEADING 
HDR_IDX_TRANSMIT_SCAN_FLAG 
HDR_IDX_TRANSMIT_SCAN_ANGLE 

Constructor & Destructor Documentation

Sensors::Imagenex837B::Frame83P::Frame83P ( void  )
inline

Constructor.

References getMaxSize(), and Sensors::Imagenex837B::Frame::m_data.

Sensors::Imagenex837B::Frame83P::~Frame83P ( void  )
inline

Destructor.

Member Function Documentation

size_t Sensors::Imagenex837B::Frame83P::getHeaderSize ( void  ) const
inline

Retrieve message header size.

Returns
message header size.
unsigned Sensors::Imagenex837B::Frame83P::getIndexCourse ( void  )
inlinevirtual

Get course index.

Implements Sensors::Imagenex837B::Frame.

References HDR_IDX_COURSE.

unsigned Sensors::Imagenex837B::Frame83P::getIndexFrequency ( void  )
inlinevirtual

Get frequency index.

Implements Sensors::Imagenex837B::Frame.

References HDR_IDX_FREQUENCY.

unsigned Sensors::Imagenex837B::Frame83P::getIndexHeading ( void  )
inlinevirtual

Get heading index.

Implements Sensors::Imagenex837B::Frame.

References HDR_IDX_HEADING.

unsigned Sensors::Imagenex837B::Frame83P::getIndexLatitude ( void  )
inlinevirtual

Get latitude index.

Implements Sensors::Imagenex837B::Frame.

References HDR_IDX_LATITUDE.

unsigned Sensors::Imagenex837B::Frame83P::getIndexLongitude ( void  )
inlinevirtual

Get longitude index.

Implements Sensors::Imagenex837B::Frame.

References HDR_IDX_LONGITUDE.

unsigned Sensors::Imagenex837B::Frame83P::getIndexMilli ( void  )
inlinevirtual

Get milliseconds index.

Implements Sensors::Imagenex837B::Frame.

References HDR_IDX_MILLI.

unsigned Sensors::Imagenex837B::Frame83P::getIndexPitch ( void  )
inlinevirtual

Get pitch index.

Implements Sensors::Imagenex837B::Frame.

References HDR_IDX_PITCH.

unsigned Sensors::Imagenex837B::Frame83P::getIndexRange ( void  )
inlinevirtual

Get range index.

Implements Sensors::Imagenex837B::Frame.

References HDR_IDX_RANGE.

unsigned Sensors::Imagenex837B::Frame83P::getIndexRepRate ( void  )
inlinevirtual

Get repetition rate index.

Implements Sensors::Imagenex837B::Frame.

References HDR_IDX_REP_RATE.

unsigned Sensors::Imagenex837B::Frame83P::getIndexRoll ( void  )
inlinevirtual

Get roll index.

Implements Sensors::Imagenex837B::Frame.

References HDR_IDX_ROLL.

unsigned Sensors::Imagenex837B::Frame83P::getIndexSoundSpeed ( void  )
inlinevirtual

Get speed index.

Implements Sensors::Imagenex837B::Frame.

References HDR_IDX_SOUND_SPEED.

unsigned Sensors::Imagenex837B::Frame83P::getIndexSpeed ( void  )
inlinevirtual

Get speed index.

Implements Sensors::Imagenex837B::Frame.

References HDR_IDX_SPEED.

unsigned Sensors::Imagenex837B::Frame83P::getIndexTiltAngle ( void  )
inlinevirtual

Get tilt angle index.

Implements Sensors::Imagenex837B::Frame.

References HDR_IDX_TILT_ANGLE.

size_t Sensors::Imagenex837B::Frame83P::getMaxSize ( void  ) const
inline

Retrieve maximum size of the frame.

Returns
maximum frame size.

Referenced by Frame83P(), and Sensors::Imagenex837B::Task::getEcho().

uint8_t* Sensors::Imagenex837B::Frame83P::getMessageData ( void  )
inlinevirtual

Get data start address.

Returns
pointer to address.

Reimplemented from Sensors::Imagenex837B::Frame.

References Sensors::Imagenex837B::Frame::m_data.

Referenced by Sensors::Imagenex837B::Task::getEcho().

size_t Sensors::Imagenex837B::Frame83P::getMessageSize ( void  ) const
inlinevirtual

Retrieve message size.

Returns
message size.

Reimplemented from Sensors::Imagenex837B::Frame.

Referenced by Sensors::Imagenex837B::Task::getEcho(), getSize(), and Sensors::Imagenex837B::Task::onUpdateParameters().

uint16_t Sensors::Imagenex837B::Frame83P::getRange ( void  )
inline

Get current range.

Returns
current multibeam range.

References HDR_IDX_RANGE, and Sensors::Imagenex837B::Frame::m_data.

Referenced by Sensors::Imagenex837B::Task::getEcho().

size_t Sensors::Imagenex837B::Frame83P::getSize ( void  ) const
inlinevirtual

Retrieve the size of the frame.

Returns
frame size.

Reimplemented from Sensors::Imagenex837B::Frame.

References getMessageSize().

Referenced by Sensors::Imagenex837B::Task::writeToFile().

void Sensors::Imagenex837B::Frame83P::verifyReturn ( size_t  size)
inline

Verify sonar return.

Parameters
[in]rvreturn size.

Referenced by Sensors::Imagenex837B::Task::getEcho().

Collaboration diagram for Sensors::Imagenex837B::Frame83P:
Collaboration graph