Implements functions for raw data stream. More...

#include <raw_data_pa.h>

Public Member Functions
void	getRosParams (void)
	Get the raw data stream parameters.
void	initialize (void)
	Initializes raw data streams If storing to file is enabled, the filename is created and the corresponding filedescriptor will be opened. If publishing ros messages is enabled, an empty msg will be published. (This will implicitly create the publisher)
bool	isEnabled (void)
	Returns the if raw data streaming is enabled.
void	msgCallback (const std_msgs::UInt8MultiArray::ConstPtr &msg)
	Callback function which handles raw data.
	RawDataStreamPa (bool is_ros_subscriber=false)
	Constructor. Initialises variables and the nodehandle.
void	ubloxCallback (const unsigned char *data, const std::size_t size)
	Callback function which handles raw data.
Private Member Functions
void	publishMsg (const std::string str)
	Publishes data stream as ros message.
void	saveToFile (const std::string str)
	Stores data to given file.
std_msgs::UInt8MultiArray	str2uint8 (const std::string str)
	Converts a string into an uint8 multibyte array.
Private Attributes
std::string	file_dir_
	Directoy name for storing raw data.
std::ofstream	file_handle_
	Handle for file access.
std::string	file_name_
	Filename for storing raw data.
bool	flag_publish_
	Flag for publishing raw data.
bool	is_ros_subscriber_
ros::NodeHandle	nh_
	ROS node handle (only for subscriber)
ros::NodeHandle	pnh_
	ROS private node handle (for params and publisher)

Detailed Description

Implements functions for raw data stream.

Definition at line 60 of file raw_data_pa.h.

Constructor & Destructor Documentation

RawDataStreamPa::RawDataStreamPa ( bool is_ros_subscriber = false )

Constructor. Initialises variables and the nodehandle.

Definition at line 50 of file raw_data_pa.cpp.

Member Function Documentation

void RawDataStreamPa::getRosParams ( void )

Get the raw data stream parameters.

Definition at line 57 of file raw_data_pa.cpp.

void RawDataStreamPa::initialize ( void )

Initializes raw data streams If storing to file is enabled, the filename is created and the corresponding filedescriptor will be opened. If publishing ros messages is enabled, an empty msg will be published. (This will implicitly create the publisher)

Definition at line 77 of file raw_data_pa.cpp.

bool RawDataStreamPa::isEnabled ( void )

Returns the if raw data streaming is enabled.

Definition at line 67 of file raw_data_pa.cpp.

void RawDataStreamPa::msgCallback ( const std_msgs::UInt8MultiArray::ConstPtr & msg )

Callback function which handles raw data.

Parameters:

msg	ros message

Definition at line 148 of file raw_data_pa.cpp.

void RawDataStreamPa::publishMsg ( const std::string str ) [private]

Publishes data stream as ros message.

Parameters:

str	raw data stream as string

Definition at line 173 of file raw_data_pa.cpp.

void RawDataStreamPa::saveToFile ( const std::string str ) [private]

Stores data to given file.

Parameters:

str	raw data stream as string

Definition at line 181 of file raw_data_pa.cpp.

std_msgs::UInt8MultiArray RawDataStreamPa::str2uint8 ( const std::string str ) [private]

Converts a string into an uint8 multibyte array.

Definition at line 156 of file raw_data_pa.cpp.

void RawDataStreamPa::ubloxCallback	(	const unsigned char *	data,
		const std::size_t	size
	)

Callback function which handles raw data.

Parameters:

data	the buffer of u-blox messages to process
size	the size of the buffer

Definition at line 136 of file raw_data_pa.cpp.

Member Data Documentation

std::string ublox_node::RawDataStreamPa::file_dir_ [private]

Directoy name for storing raw data.

Definition at line 122 of file raw_data_pa.h.

std::ofstream ublox_node::RawDataStreamPa::file_handle_ [private]

Handle for file access.

Definition at line 126 of file raw_data_pa.h.

std::string ublox_node::RawDataStreamPa::file_name_ [private]

Filename for storing raw data.

Definition at line 124 of file raw_data_pa.h.

bool ublox_node::RawDataStreamPa::flag_publish_ [private]

Flag for publishing raw data.

Definition at line 129 of file raw_data_pa.h.

bool ublox_node::RawDataStreamPa::is_ros_subscriber_ [private]

Internal flag true : subscribing to ros messages and storing those to file false: publishing ros messages and/or storing to file

Definition at line 134 of file raw_data_pa.h.

ros::NodeHandle ublox_node::RawDataStreamPa::nh_ [private]

ROS node handle (only for subscriber)

Definition at line 139 of file raw_data_pa.h.

ros::NodeHandle ublox_node::RawDataStreamPa::pnh_ [private]

ROS private node handle (for params and publisher)

Definition at line 137 of file raw_data_pa.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation