willowgarage::ocean::ocean Class Reference

#include <ocean.h>

Classes
struct	regPair
Public Member Functions
void	initialize (const std::string &input_dev)
	ocean (int id, int debug=0)
void	read_file (const std::string &input)
int	run ()
void	setDebugLevel (int)
	~ocean ()
Public Attributes
pr2_msgs::BatteryServer2	server
Static Public Attributes
static const int	BAD_PACKET = -1
static const int	INPUT_BUF_SIZE = 128
static const unsigned int	MAX_PACKET_LENGTH = 120
static const int	MAXCHANNELS = 16
static const int	MAXTAGLEN = 8
static const int	NMEA_MAX = 120
static const int	NMEA_PACKET = 1
static const int	NO_PACKET = 0
static const int	OUTPUT_BUF_SIZE = 128
static struct regPair	regList []
static const unsigned	regListLength
Private Member Functions
void	character_discard ()
int	commTest ()
void	flush (void)
int	get_speed (void)
char *	gpsd_hexdump (void *binbuf, size_t binbuflen)
time_t	mkgmtime (register struct tm *t)
void	nextstate (unsigned char c)
void	nmea_add_checksum (char *sentence)
unsigned int	nmea_parse ()
int	nmea_send (const char *fmt,...)
void	packet_accept (int packet_type)
void	packet_discard ()
ssize_t	packet_get ()
ssize_t	packet_parse (size_t newdata)
void	packet_reset ()
unsigned int	processBattery (int count, char *field[])
unsigned int	processController (int count, char *field[])
unsigned int	processSystem (int count, char *field[])
void	report (int errlevel, const char *fmt,...)
void	resetOcean ()
void	set_speed (int speed)
int	string_send (const char *fmt,...)
Private Attributes
int	acknowledge
unsigned long	char_counter
int	currentBattery
int	currentBaudRate
int	currentBaudRateIndex
int	currentPort
int	cycleComplete
int	debuglevel
char *	idString
unsigned char	inbuffer [INPUT_BUF_SIZE+1]
size_t	inbuflen
unsigned char *	inbufptr
int	inputDevice
unsigned char	outbuffer [OUTPUT_BUF_SIZE+1]
size_t	outbuflen
int	packetState
int	packetType
int	sentenceCount
int	sentenceLength
char	tag [MAXTAGLEN]
struct termios	ttyset

Detailed Description

Definition at line 17 of file ocean.h.

Constructor & Destructor Documentation

ocean::ocean	(	int	id,
		int	debug = `0`
	)

Open the required device and establish communications with the OCEAN.

Definition at line 73 of file ocean.cpp.

ocean::~ocean ( )

Definition at line 84 of file ocean.cpp.

Member Function Documentation

void ocean::character_discard ( ) [private]

Definition at line 489 of file ocean.cpp.

int ocean::commTest ( ) [private]

Definition at line 161 of file ocean.cpp.

void ocean::flush ( void ) [private]

Flush out the serial buffer.

Definition at line 247 of file ocean.cpp.

int ocean::get_speed ( void ) [private]

Definition at line 254 of file ocean.cpp.

char * ocean::gpsd_hexdump	(	void *	binbuf,
		size_t	binbuflen
	)			`[private]`

Definition at line 365 of file ocean.cpp.

void ocean::initialize ( const std::string & input_dev )

Definition at line 99 of file ocean.cpp.

time_t willowgarage::ocean::ocean::mkgmtime ( register struct tm * t ) [private]

void ocean::nextstate ( unsigned char c ) [private]

A sentence looks something like this: $GPRMC,224759.85,A,3713.45089,N,12145.99453,W,000.04,161.59,280805,14.95,E,A*22 $GPRMC,224759.90,A,3713.45088,N,12145.99453,W,000.07,162.37,280805,14.95,E,A*2F

Definition at line 389 of file ocean.cpp.

void ocean::nmea_add_checksum ( char * sentence ) [private]

Definition at line 916 of file ocean.cpp.

unsigned int ocean::nmea_parse ( ) [private]

Definition at line 828 of file ocean.cpp.