Public Member Functions | Protected Member Functions | Protected Attributes
labust::tritech::USBLNodelet Class Reference

#include <USBLNodelet.hpp>

Inheritance diagram for labust::tritech::USBLNodelet:
Inheritance graph
[legend]

List of all members.

Public Member Functions

void onInit ()
void run ()
void stop ()
 USBLNodelet ()
 ~USBLNodelet ()

Protected Member Functions

void onAttMsg (labust::tritech::TCONMsgPtr tmsg)
void onAutoMode (const std_msgs::Bool::ConstPtr mode)
void onNavMsg (labust::tritech::TCONMsgPtr tmsg)
void onOutgoingMsg (const std_msgs::String::ConstPtr msg)
void onTCONMsg (labust::tritech::TCONMsgPtr tmsg)
void sendUSBLPkg ()

Protected Attributes

std::string address
ros::Publisher attData
TCPDevicePtr attitude
ros::Publisher attRaw
bool autoMode
boost::mutex dataMux
ros::Publisher dataPub
ros::Subscriber dataSub
tf::TransformBroadcaster frameBroadcast
boost::thread guard
ros::Time lastUSBL
std::string msg_out
ros::Publisher navPub
ros::Subscriber opMode
int ping_timeout
boost::mutex pingLock
int port
TCPDevicePtr usbl
bool usblBusy
boost::condition_variable usblCondition
ros::Publisher usblTimeout
boost::thread worker

Detailed Description

The class implements the Tritech USBL acquisition nodelet.

Definition at line 58 of file USBLNodelet.hpp.


Constructor & Destructor Documentation

Default constructor.

Definition at line 53 of file USBLNodelet.cpp.

Default destructor.

Definition at line 60 of file USBLNodelet.cpp.


Member Function Documentation

Handles arrived USBL navigation messages.

Definition at line 149 of file USBLNodelet.cpp.

void USBLNodelet::onAutoMode ( const std_msgs::Bool::ConstPtr  mode) [protected]

Handles outgoing messages requests.

Definition at line 112 of file USBLNodelet.cpp.

void USBLNodelet::onInit ( ) [virtual]

Node initialization.

Implements nodelet::Nodelet.

Definition at line 66 of file USBLNodelet.cpp.

Handles arrived USBL navigation messages.

Definition at line 170 of file USBLNodelet.cpp.

void USBLNodelet::onOutgoingMsg ( const std_msgs::String::ConstPtr  msg) [protected]

Handles outgoing messages requests.

Definition at line 130 of file USBLNodelet.cpp.

Handles other USBL messages.

Definition at line 137 of file USBLNodelet.cpp.

void USBLNodelet::run ( )

The main run method.

Todo:
Determine if transform broadcast is neeeded
Todo:
add transform settings in initial parameters.
Todo:
determine real transform values relative to base_link

Definition at line 272 of file USBLNodelet.cpp.

void USBLNodelet::sendUSBLPkg ( ) [protected]

Send one USBL encoded package.

Definition at line 231 of file USBLNodelet.cpp.

Cleanly stops the main method but leaves on the USBL connection.

Definition at line 101 of file USBLNodelet.cpp.


Member Data Documentation

std::string labust::tritech::USBLNodelet::address [protected]

The USBL address.

Definition at line 121 of file USBLNodelet.hpp.

Definition at line 155 of file USBLNodelet.hpp.

Definition at line 117 of file USBLNodelet.hpp.

Definition at line 155 of file USBLNodelet.hpp.

Auto interrogate mode.

Definition at line 167 of file USBLNodelet.hpp.

boost::mutex labust::tritech::USBLNodelet::dataMux [protected]

The data and condition mux.

Definition at line 146 of file USBLNodelet.hpp.

Definition at line 155 of file USBLNodelet.hpp.

The outgoing data subscription.

Definition at line 159 of file USBLNodelet.hpp.

USBL frame transformation broadcaster.

Definition at line 163 of file USBLNodelet.hpp.

boost::thread labust::tritech::USBLNodelet::guard [protected]

Definition at line 150 of file USBLNodelet.hpp.

Last message from USBL.

Definition at line 129 of file USBLNodelet.hpp.

std::string labust::tritech::USBLNodelet::msg_out [protected]

The outgoing message.

Definition at line 133 of file USBLNodelet.hpp.

The navigation and incoming data publisher.

Definition at line 155 of file USBLNodelet.hpp.

Definition at line 159 of file USBLNodelet.hpp.

Ping timeout.

Definition at line 112 of file USBLNodelet.hpp.

boost::mutex labust::tritech::USBLNodelet::pingLock [protected]

Definition at line 146 of file USBLNodelet.hpp.

The USBL port.

Definition at line 125 of file USBLNodelet.hpp.

The USBL device.

Definition at line 117 of file USBLNodelet.hpp.

The USBL status.

Definition at line 137 of file USBLNodelet.hpp.

boost::condition_variable labust::tritech::USBLNodelet::usblCondition [protected]

The lock condition variable.

Definition at line 141 of file USBLNodelet.hpp.

Definition at line 155 of file USBLNodelet.hpp.

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

The worker thread.

Definition at line 150 of file USBLNodelet.hpp.


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


usbl
Author(s): Gyula Nagy
autogenerated on Thu Jul 10 2014 10:34:22