dsp3000_node.cpp File Reference

KVH DSP-3000 Fiber optic gyro controller. Parses data from DSP-3000 and publishes to dsp3000. Serial interface handled by cereal_port. More...

#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <sstream>
#include <string>
#include <tuple>
#include <vector>
#include "kvh/dsp3000_mode.h"
#include "kvh/dsp3000_parser.h"
#include "kvh/serial_port.h"
#include "ros/ros.h"
#include "std_msgs/Float32.h"

Include dependency graph for dsp3000_node.cpp:

Go to the source code of this file.

Functions
bool	configure_dsp3000 (SerialPort *device, KvhDsp3000Mode mode)
tuple< string, string >	get_mode_data (KvhDsp3000Mode mode)
string	get_mode_topic_name (KvhDsp3000Mode const mode)
int	main (int argc, char **argv)

Variables
static constexpr float	PI = 3.14159265359f
static constexpr int	TIMEOUT = 1000

Detailed Description

KVH DSP-3000 Fiber optic gyro controller. Parses data from DSP-3000 and publishes to dsp3000. Serial interface handled by cereal_port.

Author

Jeff Schmidt jschm.nosp@m.idt@.nosp@m.clear.nosp@m.path.nosp@m.robot.nosp@m.ics..nosp@m.com

Copyright

Copyright (c) 2013, Clearpath Robotics, Inc.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
• Neither the name of Clearpath Robotics, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Please send comments, questions, or patches to code@.nosp@m.clea.nosp@m.rpath.nosp@m.robo.nosp@m.tics..nosp@m.com

Definition in file dsp3000_node.cpp.

Function Documentation

bool configure_dsp3000	(	SerialPort *	device,
		KvhDsp3000Mode	mode
	)

Definition at line 110 of file dsp3000_node.cpp.

tuple< string, string > get_mode_data

(

KvhDsp3000Mode

mode

)

Returns

serial string, mode name

Definition at line 67 of file dsp3000_node.cpp.

string get_mode_topic_name

(

KvhDsp3000Mode const

mode

)

Definition at line 90 of file dsp3000_node.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 143 of file dsp3000_node.cpp.

Variable Documentation

constexpr float PI = 3.14159265359f

static

Definition at line 52 of file dsp3000_node.cpp.

constexpr int TIMEOUT = 1000

static

Definition at line 51 of file dsp3000_node.cpp.