#include <USBLManager.hpp>

Inheritance diagram for labust::tritech::USBLManager:

Public Member Functions
void	changeState (int next)
void	onInit ()
	USBLManager ()
	~USBLManager ()
Protected Member Functions
void	incoming_def_txt ()
void	incoming_kml ()
void	init_diver ()
std::string	intToMsg (int len)
void	kml_send ()
int	msgToInt (int len)
void	onIncomingDefaults (const std_msgs::Int32::ConstPtr msg)
void	onIncomingForceState (const std_msgs::Int32::ConstPtr msg)
void	onIncomingKML (const std_msgs::Float64MultiArray::ConstPtr msg)
void	onIncomingMsg (const std_msgs::String::ConstPtr msg)
void	onIncomingText (const std_msgs::String::ConstPtr msg)
void	onNavMsg (const auv_msgs::NavSts::ConstPtr nav)
void	onUSBLTimeout (const std_msgs::Bool::ConstPtr msg)
void	publishDiverOrigin ()
void	resendLastPackage ()
void	run ()
void	send_msg ()
Protected Attributes
ros::Publisher	auto_mode
std::queue< char >	defaultMsgs
std::map< int, boost::function < void(void)> >	dispatch
ros::Publisher	diverDefaults
ros::Publisher	diverOrigin
double	diverOriginLat
double	diverOriginLon
ros::Publisher	diverText
int	emptyIterations
ros::Subscriber	forceState
ros::Subscriber	incoming
DiverMsg	incoming_msg
std_msgs::String	incoming_package
ros::Subscriber	inDefaults
int	initValidation
ros::Subscriber	inKml
ros::Subscriber	intext
std::queue< std::pair< double, double > >	kmlBuffer
std::pair< int, int >	kmlEndValidation
std::vector< int >	kmlValidIdx
std::vector< std::pair< int, int > >	kmlVec
int	lastKmlIdxSent
int	lastState
ros::Subscriber	navData
bool	newMessage
ros::Publisher	outCurState
ros::Publisher	outgoing
DiverMsg	outgoing_msg
std_msgs::String	outgoing_package
ros::Publisher	retKml
int	state
std::queue< char >	textBuffer
int	timeout
ros::Subscriber	timeoutNotification
bool	validNav
boost::thread	worker
Private Types
enum	{ idle = 0, initDiver, waitForReply, transmission, lastStateNum }
enum	{ kmlNotSent = 0, kmlSent, kmlWaitValidation, kmlSentAndValid }

Detailed Description

The class implements the Tritech USBL manager that allows specifying which messages and what data to relay to the modem. It also encodes arrived modem messages.

Todo:

Should we extract message handlers into different class/classes ?

Probably Yes, it is getting messy and heavy

Definition at line 113 of file USBLManager.hpp.

Member Enumeration Documentation

anonymous enum [private]

The communication states.

Enumerator:

idle
initDiver
waitForReply
transmission
lastStateNum

Definition at line 118 of file USBLManager.hpp.

anonymous enum [private]

Enumerator:

kmlNotSent
kmlSent
kmlWaitValidation
kmlSentAndValid

Definition at line 119 of file USBLManager.hpp.

Constructor & Destructor Documentation

USBLManager::USBLManager ( )

Default constructor.

Definition at line 50 of file USBLManager.cpp.

USBLManager::~USBLManager ( )

Default destructor.

Definition at line 70 of file USBLManager.cpp.

Member Function Documentation

void labust::tritech::USBLManager::changeState ( int next ) [inline]

State changer.

Definition at line 138 of file USBLManager.hpp.

void USBLManager::incoming_def_txt ( ) [protected]

Helper function for handling incoming text messages.

Definition at line 142 of file USBLManager.cpp.

void USBLManager::incoming_kml ( ) [protected]

Incoming KML message.

Definition at line 179 of file USBLManager.cpp.

void USBLManager::init_diver ( ) [protected]

Helper function for initialization.

Definition at line 93 of file USBLManager.cpp.

std::string USBLManager::intToMsg ( int len ) [protected]

Helper function for message decoding from int.

Definition at line 211 of file USBLManager.cpp.

void USBLManager::kml_send ( ) [protected]

Kml message send handler.

Todo:: Simplify this message logic when we have time, it can be rewritten in a nicer shape using and automaton.

Definition at line 301 of file USBLManager.cpp.

int USBLManager::msgToInt ( int len ) [protected]

Helper function for message encoding to int.

Definition at line 226 of file USBLManager.cpp.

void USBLManager::onIncomingDefaults ( const std_msgs::Int32::ConstPtr msg ) [protected]

Handles the incoming default messages.

Definition at line 556 of file USBLManager.cpp.

void USBLManager::onIncomingForceState ( const std_msgs::Int32::ConstPtr msg ) [protected]

Handles the incoming default messages.

Definition at line 562 of file USBLManager.cpp.

void USBLManager::onIncomingKML ( const std_msgs::Float64MultiArray::ConstPtr msg ) [protected]

Handles the incoming KML messages.

Definition at line 575 of file USBLManager.cpp.

void USBLManager::onIncomingMsg ( const std_msgs::String::ConstPtr msg ) [protected]

Handles arrived modem messages.

Definition at line 496 of file USBLManager.cpp.

void USBLManager::onIncomingText ( const std_msgs::String::ConstPtr msg ) [protected]

Handles arrived modem messages.

Definition at line 526 of file USBLManager.cpp.

void USBLManager::onInit ( ) [virtual]

Node initialization.

Implements nodelet::Nodelet.

Definition at line 72 of file USBLManager.cpp.

void USBLManager::onNavMsg ( const auv_msgs::NavSts::ConstPtr nav ) [protected]

Handles arrived USBL navigation messages.

Definition at line 487 of file USBLManager.cpp.

void USBLManager::onUSBLTimeout ( const std_msgs::Bool::ConstPtr msg ) [protected]

Handles the USBL timeout.

Definition at line 534 of file USBLManager.cpp.

void USBLManager::publishDiverOrigin ( ) [protected]

Helper diver origin publisher.

Definition at line 593 of file USBLManager.cpp.

void USBLManager::resendLastPackage ( ) [protected]

Helper function for resending the last package.

Definition at line 543 of file USBLManager.cpp.

void USBLManager::run ( ) [protected]

The main runner thread.

Todo:

Switch all automata like this to a boost state chart or something to avoid switch

Switch the manager to async triggered instead of having a run method.

Definition at line 441 of file USBLManager.cpp.

void USBLManager::send_msg ( ) [protected]

Helper function for message sending.

Definition at line 243 of file USBLManager.cpp.

Member Data Documentation

ros::Publisher labust::tritech::USBLManager::auto_mode [protected]

Definition at line 222 of file USBLManager.hpp.

std::queue<char> labust::tritech::USBLManager::defaultMsgs [protected]

The preset messages buffer.

Definition at line 260 of file USBLManager.hpp.

std::map<int, boost::function<void(void)> > labust::tritech::USBLManager::dispatch [protected]

Message decoder dispatcher.

Definition at line 289 of file USBLManager.hpp.

ros::Publisher labust::tritech::USBLManager::diverDefaults [protected]

Definition at line 222 of file USBLManager.hpp.

ros::Publisher labust::tritech::USBLManager::diverOrigin [protected]

Definition at line 222 of file USBLManager.hpp.

double labust::tritech::USBLManager::diverOriginLat [protected]

The diver frame origin.

Definition at line 297 of file USBLManager.hpp.

double labust::tritech::USBLManager::diverOriginLon [protected]

Definition at line 297 of file USBLManager.hpp.

ros::Publisher labust::tritech::USBLManager::diverText [protected]

Definition at line 222 of file USBLManager.hpp.

int labust::tritech::USBLManager::emptyIterations [protected]

Definition at line 293 of file USBLManager.hpp.

ros::Subscriber labust::tritech::USBLManager::forceState [protected]

Definition at line 227 of file USBLManager.hpp.

ros::Subscriber labust::tritech::USBLManager::incoming [protected]

Definition at line 227 of file USBLManager.hpp.

DiverMsg labust::tritech::USBLManager::incoming_msg [protected]

Definition at line 248 of file USBLManager.hpp.

std_msgs::String labust::tritech::USBLManager::incoming_package [protected]

Definition at line 252 of file USBLManager.hpp.

ros::Subscriber labust::tritech::USBLManager::inDefaults [protected]

Definition at line 227 of file USBLManager.hpp.

int labust::tritech::USBLManager::initValidation [protected]

The init validation.

Definition at line 281 of file USBLManager.hpp.

ros::Subscriber labust::tritech::USBLManager::inKml [protected]

Definition at line 227 of file USBLManager.hpp.

ros::Subscriber labust::tritech::USBLManager::intext [protected]

Definition at line 227 of file USBLManager.hpp.

std::queue< std::pair<double, double> > labust::tritech::USBLManager::kmlBuffer [protected]

The incoming kml queue.

Definition at line 264 of file USBLManager.hpp.

std::pair<int, int> labust::tritech::USBLManager::kmlEndValidation [protected]

The default and next kml message validation. The pair is <validation_flag, expected message>.

Definition at line 277 of file USBLManager.hpp.

std::vector<int> labust::tritech::USBLManager::kmlValidIdx [protected]

The validated kml indexes.

Definition at line 272 of file USBLManager.hpp.

std::vector< std::pair<int, int> > labust::tritech::USBLManager::kmlVec [protected]

The current kml transmit buffer.

Definition at line 268 of file USBLManager.hpp.

int labust::tritech::USBLManager::lastKmlIdxSent [protected]

The last kml debugging output.

Definition at line 301 of file USBLManager.hpp.

int labust::tritech::USBLManager::lastState [protected]

Definition at line 240 of file USBLManager.hpp.

ros::Subscriber labust::tritech::USBLManager::navData [protected]

The navigation data subscription.

Definition at line 227 of file USBLManager.hpp.

bool labust::tritech::USBLManager::newMessage [protected]

Flag for the turnaround message.

Definition at line 285 of file USBLManager.hpp.

ros::Publisher labust::tritech::USBLManager::outCurState [protected]

Definition at line 222 of file USBLManager.hpp.

ros::Publisher labust::tritech::USBLManager::outgoing [protected]

The navigation and incoming data publisher.

Definition at line 222 of file USBLManager.hpp.

DiverMsg labust::tritech::USBLManager::outgoing_msg [protected]

The diver message encoder.

Definition at line 248 of file USBLManager.hpp.

std_msgs::String labust::tritech::USBLManager::outgoing_package [protected]

The last sent package.

Definition at line 252 of file USBLManager.hpp.

ros::Publisher labust::tritech::USBLManager::retKml [protected]

Definition at line 222 of file USBLManager.hpp.

int labust::tritech::USBLManager::state [protected]

The current comms state.

Definition at line 240 of file USBLManager.hpp.

std::queue<char> labust::tritech::USBLManager::textBuffer [protected]

Text message buffer.

Definition at line 256 of file USBLManager.hpp.

int labust::tritech::USBLManager::timeout [protected]

Internal timeout in iterations and general counter.

Definition at line 293 of file USBLManager.hpp.

ros::Subscriber labust::tritech::USBLManager::timeoutNotification [protected]

Definition at line 227 of file USBLManager.hpp.

bool labust::tritech::USBLManager::validNav [protected]

Navigation message flag.

Definition at line 244 of file USBLManager.hpp.

boost::thread labust::tritech::USBLManager::worker [protected]

The message encoder. The worker thread.

Definition at line 236 of file USBLManager.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation