#include <sbg_device.h>

Public Member Functions
uint32_t	getUpdateFrequency (void) const

void	initDeviceForMagCalibration (void)

void	initDeviceForReceivingData (void)

void	periodicHandle (void)

	SbgDevice (ros::NodeHandle &ref_node_handle)

	~SbgDevice (void)

Private Member Functions
void	configure (void)

void	connect (void)

void	displayMagCalibrationStatusResult (void) const

bool	endMagCalibration (void)

void	exportMagCalibrationResults (void) const

std::string	getVersionAsString (uint32 sbg_version_enc) const

void	initPublishers (void)

void	loadParameters (void)

void	onLogReceived (SbgEComClass msg_class, SbgEComMsgId msg, const SbgBinaryLogData &ref_sbg_data)

bool	processMagCalibration (std_srvs::Trigger::Request &ref_ros_request, std_srvs::Trigger::Response &ref_ros_response)

void	readDeviceInfo (void)

bool	saveMagCalibration (std_srvs::Trigger::Request &ref_ros_request, std_srvs::Trigger::Response &ref_ros_response)

bool	startMagCalibration (void)

bool	uploadMagCalibrationToDevice (void)

Static Private Member Functions
static SbgErrorCode	onLogReceivedCallback (SbgEComHandle p_handle, SbgEComClass msg_class, SbgEComMsgId msg, const SbgBinaryLogData p_log_data, void *p_user_arg)

Static Private Attributes
static std::map< SbgEComMagCalibBandwidth, std::string >	g_mag_calib_bandwidth

static std::map< SbgEComMagCalibConfidence, std::string >	g_mag_calib_confidence_

static std::map< SbgEComMagCalibMode, std::string >	g_mag_calib_mode_

static std::map< SbgEComMagCalibQuality, std::string >	g_mag_calib_quality_

Detailed Description

Class to handle a connected SBG device.

Definition at line 56 of file sbg_device.h.

Constructor & Destructor Documentation

SbgDevice::SbgDevice ( ros::NodeHandle & ref_node_handle )

Default constructor.

Parameters

[in] ref_node_handle ROS NodeHandle.

Class to handle a connected SBG device.

Definition at line 59 of file sbg_device.cpp.

SbgDevice::~SbgDevice ( void )

Default destructor.

Definition at line 68 of file sbg_device.cpp.

Member Function Documentation

void SbgDevice::configure ( void )

private

Configure the connected SBG device. This function will configure the device if the config file allows it. It will log warning for unavailable parameters for the connected device.

Exceptions

Unable to configure the connected device.

Definition at line 212 of file sbg_device.cpp.

void SbgDevice::connect ( void )

private

Create the connection to the SBG device.

Exceptions

Unable to connect to the SBG device.

Definition at line 129 of file sbg_device.cpp.

void SbgDevice::displayMagCalibrationStatusResult ( void ) const

private

Display magnetometers calibration status result.

Definition at line 364 of file sbg_device.cpp.

bool SbgDevice::endMagCalibration ( void )

private

End the magnetometer calibration process.

Returns: True if the calibration process has ended successfully.

Definition at line 316 of file sbg_device.cpp.

void SbgDevice::exportMagCalibrationResults ( void ) const

private

Export magnetometers calibration results.

Definition at line 416 of file sbg_device.cpp.

uint32_t SbgDevice::getUpdateFrequency ( void ) const

Get the frequency to update the main rate loop for device handling.

Returns: Device frequency to read the logs (in Hz).

Definition at line 460 of file sbg_device.cpp.

std::string SbgDevice::getVersionAsString ( uint32 sbg_version_enc ) const

private

Get the SBG version as a string.

Parameters

[in] sbg_version_enc SBG version encoded.

Returns: String version decoded.

Definition at line 187 of file sbg_device.cpp.

void SbgDevice::initDeviceForMagCalibration ( void )

Initialize the device for magnetometers calibration.

Definition at line 483 of file sbg_device.cpp.

void SbgDevice::initDeviceForReceivingData ( void )

Initialize the SBG device for receiving data.

Exceptions

Unable to initialize the SBG device.

Definition at line 469 of file sbg_device.cpp.

void SbgDevice::initPublishers ( void )

private

Initialize the publishers according to the configuration.

Definition at line 195 of file sbg_device.cpp.

void SbgDevice::loadParameters ( void )

private

Load the parameters.

Definition at line 120 of file sbg_device.cpp.

void SbgDevice::onLogReceived	(	SbgEComClass	msg_class,
		SbgEComMsgId	msg,
		const SbgBinaryLogData &	ref_sbg_data
	)

private

Function to handle the received log.

Parameters

[in]	msg_class	Class of the message we have received
[in]	msg	Message ID of the log received.
[in]	ref_sbg_data	Contains the received log data as an union.

Definition at line 112 of file sbg_device.cpp.

SbgErrorCode SbgDevice::onLogReceivedCallback	(	SbgEComHandle *	p_handle,
		SbgEComClass	msg_class,
		SbgEComMsgId	msg,
		const SbgBinaryLogData *	p_log_data,
		void *	p_user_arg
	)

staticprivate

Callback definition called each time a new log is received.

Parameters

[in]	pHandle	Valid handle on the sbgECom instance that has called this callback.
[in]	msg_class	Class of the message we have received
[in]	msg	Message ID of the log received.
[in]	p_log_data	Contains the received log data as an union.
[in]	p_user_arg	Optional user supplied argument.

Returns: SBG_NO_ERROR if the received log has been used successfully.

Definition at line 98 of file sbg_device.cpp.

void SbgDevice::periodicHandle ( void )

Periodic handle of the connected SBG device.

Definition at line 491 of file sbg_device.cpp.

bool SbgDevice::processMagCalibration	(	std_srvs::Trigger::Request &	ref_ros_request,
		std_srvs::Trigger::Response &	ref_ros_response
	)

private

Process the magnetometer calibration.

Parameters

[in]	ref_ros_request	ROS service request.
[in]	ref_ros_response	ROS service response.

Returns: Return true if the calibration process has been succesfull.

Definition at line 221 of file sbg_device.cpp.

void SbgDevice::readDeviceInfo ( void )

private

Read the device informations.

Exceptions

Unable to read the device information.

Definition at line 165 of file sbg_device.cpp.

bool SbgDevice::saveMagCalibration	(	std_srvs::Trigger::Request &	ref_ros_request,
		std_srvs::Trigger::Response &	ref_ros_response
	)

private

Save the magnetometer calibration.

Parameters

[in]	ref_ros_request	ROS service request.
[in]	ref_ros_response	ROS service response.

Returns: Return true if the calibration has been saved.

Definition at line 260 of file sbg_device.cpp.

bool SbgDevice::startMagCalibration ( void )

private

Start the magnetometer calibration process.

Returns: True if the calibration process has started successfully.

Definition at line 291 of file sbg_device.cpp.

bool SbgDevice::uploadMagCalibrationToDevice ( void )

private

Upload the magnetometers calibration results to the device.

Returns: True if the magnetometers calibration has been successfully uploaded to the device.

Definition at line 336 of file sbg_device.cpp.

Member Data Documentation

std::map< SbgEComMagCalibBandwidth, std::string > SbgDevice::g_mag_calib_bandwidth

staticprivate

Initial value:

= {{SBG_ECOM_MAG_CALIB_HIGH_BW, "High Bandwidth"},
                                                                                    {SBG_ECOM_MAG_CALIB_MEDIUM_BW, "Medium Bandwidth"},
                                                                                    {SBG_ECOM_MAG_CALIB_LOW_BW, "Low Bandwidth"}}

Definition at line 67 of file sbg_device.h.

std::map< SbgEComMagCalibConfidence, std::string > SbgDevice::g_mag_calib_confidence_

staticprivate

Initial value:

= { {SBG_ECOM_MAG_CALIB_TRUST_HIGH, "Confidence: high"},
                                                                                        {SBG_ECOM_MAG_CALIB_TRUST_MEDIUM, "Confidence: medium"},
                                                                                        {SBG_ECOM_MAG_CALIB_TRUST_LOW, "Confidence: low"}}

Definition at line 65 of file sbg_device.h.

std::map< SbgEComMagCalibMode, std::string > SbgDevice::g_mag_calib_mode_

staticprivate

Initial value:

= { {SBG_ECOM_MAG_CALIB_MODE_2D, "Mode 2D"},

{SBG_ECOM_MAG_CALIB_MODE_3D, "Mode 3D"}}

Definition at line 66 of file sbg_device.h.

std::map< SbgEComMagCalibQuality, std::string > SbgDevice::g_mag_calib_quality_

staticprivate

Initial value:

= { {SBG_ECOM_MAG_CALIB_QUAL_OPTIMAL, "Quality: optimal"},
                                                                                  {SBG_ECOM_MAG_CALIB_QUAL_GOOD, "Quality: good"},
                                                                                  {SBG_ECOM_MAG_CALIB_QUAL_POOR, "Quality: poor"},
                                                                                  {SBG_ECOM_MAG_CALIB_QUAL_INVALID, "Quality: invalid"}}

Definition at line 64 of file sbg_device.h.

ros::ServiceServer sbg::SbgDevice::m_calib_save_service_

private

Definition at line 85 of file sbg_device.h.

ros::ServiceServer sbg::SbgDevice::m_calib_service_

private

Definition at line 84 of file sbg_device.h.

SbgEComHandle sbg::SbgDevice::m_com_handle_

private

Definition at line 73 of file sbg_device.h.

ConfigStore sbg::SbgDevice::m_config_store_

private

Definition at line 77 of file sbg_device.h.

bool sbg::SbgDevice::m_mag_calibration_done_

private

Definition at line 82 of file sbg_device.h.

bool sbg::SbgDevice::m_mag_calibration_ongoing_

private

Definition at line 81 of file sbg_device.h.

SbgEComMagCalibResults sbg::SbgDevice::m_magCalibResults

private

Definition at line 83 of file sbg_device.h.

MessagePublisher sbg::SbgDevice::m_message_publisher_

private

Definition at line 76 of file sbg_device.h.

uint32_t sbg::SbgDevice::m_rate_frequency_

private

Definition at line 79 of file sbg_device.h.

ros::NodeHandle& sbg::SbgDevice::m_ref_node_

private

Definition at line 75 of file sbg_device.h.

ros::Time sbg::SbgDevice::m_ros_processing_time_

private

Definition at line 87 of file sbg_device.h.

SbgInterface sbg::SbgDevice::m_sbg_interface_

private

Definition at line 74 of file sbg_device.h.

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

Private Attributes
ros::ServiceServer	m_calib_save_service_

ros::ServiceServer	m_calib_service_

SbgEComHandle	m_com_handle_

ConfigStore	m_config_store_

bool	m_mag_calibration_done_

bool	m_mag_calibration_ongoing_

SbgEComMagCalibResults	m_magCalibResults

MessagePublisher	m_message_publisher_

uint32_t	m_rate_frequency_

ros::NodeHandle &	m_ref_node_

ros::Time	m_ros_processing_time_

SbgInterface	m_sbg_interface_

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation