#include <DiverMsg.hpp>

Classes
struct	AutoDiver
struct	AutoTopside
Public Types
enum	{ msgByteCount = 6 }
enum	{ nextKMLSet = 6, endOfKML = 7, initReq = 8 }
enum	{ type = 0, z, lat, lon, def, msg, kmlno, kmlx, kmly, img, empty, chksum, num_elements }
typedef std::vector< int >	BitMap
typedef std::map< int, BitMap >	BitsCollection
Public Member Functions
template<class MsgType >
void	decode (uint64_t data, int type=-1)
void	decode (uint64_t data, int type=-1)
	DEFINE_MAPPED_MESSAGES (topsideMap,(PositionInit, 0,(0, 22, 22, 0, 0, 0, 0, 0, 0, 0, 0))(Position_18, 1,(7, 18, 18, 0, 0, 0, 0, 0, 0, 1, 0))(PositionMsg, 2,(7, 7, 7, 0, 18, 0, 0, 0, 0, 5, 0))(PositionImg, 3,(7, 7, 0, 0, 0, 0, 0, 0, 23, 0, 0))(Position_14Def, 4,(7, 14, 14, 5, 0, 0, 0, 0, 0, 4, 0))(PositionMsgDef, 5,(7, 7, 7, 5, 18, 0, 0, 0, 0, 0, 0))(PositionImgDef, 6,(7, 7, 7, 5, 0, 0, 0, 0, 18, 0, 0))(PositionKml, 7,(7, 7, 7, 0, 0, 3, 10, 10, 0, 0, 0))(PositionChk, 8,(7, 7, 7, 0, 0, 0, 0, 0, 0, 17, 6))(PositionMsgChk, 9,(7, 7, 7, 0, 12, 0, 0, 0, 0, 5, 6))(PositionImgChk, 10,(7, 7, 7, 0, 0, 0, 0, 0, 17, 0, 6))(PositionDefChk, 11,(7, 7, 7, 5, 0, 0, 0, 0, 0, 12, 6))(PositionMsgDefChk, 12,(7, 7, 7, 5, 12, 0, 0, 0, 0, 0, 6))(PositionImgDefChk, 13,(7, 7, 7, 5, 0, 0, 0, 0, 12, 0, 6)))
	DEFINE_MAPPED_MESSAGES (diverMap,(PositionInitAck, 0,(0, 22, 22, 0, 0, 0, 0, 0, 0, 0, 0))(MsgReply, 1,(0, 0, 0, 0, 42, 0, 0, 0, 0, 2, 0))(ImgReply, 2,(0, 0, 0, 0, 0, 0, 0, 0, 44, 0, 0))(DefReply, 3,(0, 0, 0, 5, 0, 0, 0, 0, 0, 39, 0))(MsgDefReply, 4,(0, 0, 0, 5, 36, 0, 0, 0, 0, 3, 0))(ImgDefReply, 5,(0, 0, 0, 5, 39, 0, 0, 0, 0, 0, 0))(MsgChkReply, 6,(0, 0, 0, 0, 36, 0, 0, 0, 0, 2, 6))(ImgChkReply, 7,(0, 0, 0, 0, 0, 0, 0, 0, 38, 0, 6))(KmlReply, 11,(0, 0, 0, 0, 0, 3, 10, 10, 0, 21, 0)))
	DiverMsg (bool default_topside=true)
template<class MsgType >
uint64_t	encode (int msg_type=-1)
uint64_t	encode (int type=-1)
template<class MsgType >
void	fromString (const std::string &msg, int type=-1)
void	fromString (const std::string &msg, int type=-1)
template<class MsgType >
std::string	toString (int type=-1)
std::string	toString (int type=-1)
Static Public Member Functions
static uint8_t	testType (const std::string &data)
static uint8_t	testType (uint64_t data, size_t msgSize=48)
Public Attributes
std::vector< int64_t >	data
bool	default_topside
double	depth
double	depthRes
double	kml_latitude
double	kml_longitude
double	latitude
LatLon2Bits	llEncoder
double	longitude
Static Public Attributes
static BitsCollection	diverMap
static BitsCollection	topsideMap

Detailed Description

The diver message list. Keep in mind that the final string version of the message contains the bit number as the first byte. The bytes are flipped due to little-big endian issues. Additional dynamic or static message sets can be utilized by the DiverMsg union by defining structures similar to AutoDiver, AutoTopside that will provide the necessary collection of bitmasks - extension feature.

Todo:

Document extension feature

Add auto-load messages from ROS.

Separate the diver and topside messages into separate subclasses.

Definition at line 91 of file DiverMsg.hpp.

Member Typedef Documentation

typedef std::vector<int> labust::tritech::DiverMsg::BitMap

Definition at line 118 of file DiverMsg.hpp.

typedef std::map<int, BitMap > labust::tritech::DiverMsg::BitsCollection

Definition at line 119 of file DiverMsg.hpp.

Member Enumeration Documentation

anonymous enum

The maximum length of the message.

Enumerator:

msgByteCount

Definition at line 96 of file DiverMsg.hpp.

anonymous enum

Default messages enum

Enumerator:

nextKMLSet
endOfKML
initReq

Definition at line 100 of file DiverMsg.hpp.

anonymous enum

The list of encoded variables.

Enumerator:

type
z
lat
lon
def
msg
kmlno
kmlx
kmly
img
empty
chksum
num_elements

Definition at line 104 of file DiverMsg.hpp.

Constructor & Destructor Documentation

labust::tritech::DiverMsg::DiverMsg ( bool default_topside = true ) [inline]

Definition at line 151 of file DiverMsg.hpp.

Member Function Documentation

template<class MsgType >

void labust::tritech::DiverMsg::decode	(	uint64_t	data,
		int	type = `-1`
	)		`[inline]`

Definition at line 214 of file DiverMsg.hpp.

void labust::tritech::DiverMsg::decode	(	uint64_t	data,
		int	type = `-1`
	)		`[inline]`

Definition at line 225 of file DiverMsg.hpp.

labust::tritech::DiverMsg::DEFINE_MAPPED_MESSAGES	(	topsideMap	,
		(PositionInit, 0,(0, 22, 22, 0, 0, 0, 0, 0, 0, 0, 0))(Position_18, 1,(7, 18, 18, 0, 0, 0, 0, 0, 0, 1, 0))(PositionMsg, 2,(7, 7, 7, 0, 18, 0, 0, 0, 0, 5, 0))(PositionImg, 3,(7, 7, 0, 0, 0, 0, 0, 0, 23, 0, 0))(Position_14Def, 4,(7, 14, 14, 5, 0, 0, 0, 0, 0, 4, 0))(PositionMsgDef, 5,(7, 7, 7, 5, 18, 0, 0, 0, 0, 0, 0))(PositionImgDef, 6,(7, 7, 7, 5, 0, 0, 0, 0, 18, 0, 0))(PositionKml, 7,(7, 7, 7, 0, 0, 3, 10, 10, 0, 0, 0))(PositionChk, 8,(7, 7, 7, 0, 0, 0, 0, 0, 0, 17, 6))(PositionMsgChk, 9,(7, 7, 7, 0, 12, 0, 0, 0, 0, 5, 6))(PositionImgChk, 10,(7, 7, 7, 0, 0, 0, 0, 0, 17, 0, 6))(PositionDefChk, 11,(7, 7, 7, 5, 0, 0, 0, 0, 0, 12, 6))(PositionMsgDefChk, 12,(7, 7, 7, 5, 12, 0, 0, 0, 0, 0, 6))(PositionImgDefChk, 13,(7, 7, 7, 5, 0, 0, 0, 0, 12, 0, 6))
	)

labust::tritech::DiverMsg::DEFINE_MAPPED_MESSAGES	(	diverMap	,
		(PositionInitAck, 0,(0, 22, 22, 0, 0, 0, 0, 0, 0, 0, 0))(MsgReply, 1,(0, 0, 0, 0, 42, 0, 0, 0, 0, 2, 0))(ImgReply, 2,(0, 0, 0, 0, 0, 0, 0, 0, 44, 0, 0))(DefReply, 3,(0, 0, 0, 5, 0, 0, 0, 0, 0, 39, 0))(MsgDefReply, 4,(0, 0, 0, 5, 36, 0, 0, 0, 0, 3, 0))(ImgDefReply, 5,(0, 0, 0, 5, 39, 0, 0, 0, 0, 0, 0))(MsgChkReply, 6,(0, 0, 0, 0, 36, 0, 0, 0, 0, 2, 6))(ImgChkReply, 7,(0, 0, 0, 0, 0, 0, 0, 0, 38, 0, 6))(KmlReply, 11,(0, 0, 0, 0, 0, 3, 10, 10, 0, 21, 0))
	)