#include <labust/preprocessor/mem_serialized_struct.hpp>
#include <labust/tools/StringUtilities.hpp>
#include <cart2/RadioModemConfig.h>
#include <std_msgs/Float32MultiArray.h>
#include <labust/control/crc16.h>
#include <dynamic_reconfigure/server.h>
#include <boost/asio.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread.hpp>
#include <boost/archive/binary_oarchive.hpp>
#include <sensor_msgs/Joy.h>
#include <std_msgs/Int32.h>
#include <geometry_msgs/PointStamped.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include <auv_msgs/NavSts.h>
#include <ros/ros.h>
#include <sstream>

Include dependency graph for TopsideRadio.hpp:

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Functions
	PP_LABUST_DEFINE_BOOST_SERIALIZED_STRUCT_CLEAN ((labust)(radio), TopsideModemData,(int8_t, surgeForce)(int8_t, torqueForce)(int32_t, lat)(int32_t, lon)(uint8_t, radius)(uint8_t, surge)(int8_t, yaw)(uint8_t, mode)(uint8_t, launch)(uint8_t, mode_update)) namespace labust
	PP_LABUST_DEFINE_BOOST_SERIALIZED_STRUCT_CLEAN ((labust)(radio), CARTModemData,(int32_t, origin_lat)(int32_t, origin_lon)(uint8_t, mode)(measVec, state_meas)(stateVec, state_hat)(measVec, sf_state)(int16_t, portRPM)(int16_t, stbdRPM)(uint8_t, voltage)(uint8_t, temp)) namespace labust

Function Documentation

PP_LABUST_DEFINE_BOOST_SERIALIZED_STRUCT_CLEAN	(	(labust)(radio)	,
		TopsideModemData	,
		(int8_t, surgeForce)(int8_t, torqueForce)(int32_t, lat)(int32_t, lon)(uint8_t, radius)(uint8_t, surge)(int8_t, yaw)(uint8_t, mode)(uint8_t, launch)(uint8_t, mode_update)
	)

The topside transmitted message.

force, torque - (-100,100)

Definition at line 66 of file TopsideRadio.hpp.

PP_LABUST_DEFINE_BOOST_SERIALIZED_STRUCT_CLEAN	(	(labust)(radio)	,
		CARTModemData	,
		(int32_t, origin_lat)(int32_t, origin_lon)(uint8_t, mode)(measVec, state_meas)(stateVec, state_hat)(measVec, sf_state)(int16_t, portRPM)(int16_t, stbdRPM)(uint8_t, voltage)(uint8_t, temp)
	)

The class implements the topside radio modem node.

Todo:: Split into two policies.

Todo:: Add in ros utils a generic conversion of different message, i.e. NavSts, to a vector or named map.

Todo:: Replace synchonization with read_until

Main constructor

Main deconstructor

Initialize and setup the manager.

Start the radio node.

Dynamic reconfigure callback.

Handle the joystick input.

Handle the external target point.

Handle the estimates.

Handle the measurements.

Helper function.

Start the receiving thread.

Handle incoming modem data.

Helper function for checksum calculation.

Modem timeout detection.

The ROS node handles.

The last arrived message.

The timeout length.

The publishers.

The subscribed topics.

The transform listener.

The transform broadcaster.

The io service.

The serial port

The io service thread.

The dynamic reconfigure server.

The last dynamic reconfiguration.

Exchanged data.

The return data.

The data protector.

The asio streambuffer.

The sync buffer.

Location flag.

The service client.

The frame transformer.

Definition at line 89 of file TopsideRadio.hpp.

Functions

Function Documentation