NavQuestSocketNode.hpp
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00034 #ifndef NAVQUESTSOCKETNODE_HPP_
00035 #define NAVQUESTSOCKETNODE_HPP_
00036 
00037 #include <labust/navigation/NavQuestMessages.hpp>
00038 #include <labust/navigation/BeamPublisher.hpp>
00039 
00040 #include <tf/transform_broadcaster.h>
00041 #include <ros/ros.h>
00042 
00043 #include <boost/asio.hpp>
00044 #include <boost/thread.hpp>
00045 
00046 namespace labust
00047 {
00048         namespace navigation
00049         {
00058                 class NavQuestSocketNode
00059                 {
00060                         enum {u=0,v,w};
00061 
00062                 public:
00066                         NavQuestSocketNode();
00070                         ~NavQuestSocketNode();
00074                         void onInit();
00075 
00076                 protected:
00080                         void onDvlData(const boost::system::error_code& e, std::size_t size);
00081 
00085                         bool setup_socket();
00086                         //bool setup_port();
00087                 
00091                         void start_receive();
00095                         void setup_messaging();
00099                         void setup_publishers();
00103                         bool test_header(const std::string& match , const std::string& stream);
00107                         void publishDvlData(const NQRes& data);
00111                         void conditionDvlData(const NQRes& data);
00112 
00113                         typedef BeamPublisher<4> NavQuestBP;
00117                         std::map<std::string, NavQuestBP::Ptr > beam_pub;
00121                         std::map<std::string, TwistPublisher::Ptr > speed_pub;
00125                         ros::Publisher imuPub, lock, altitude;;
00129                         tf::TransformBroadcaster broadcast;
00133                         bool useFixed;
00137                         double base_orientation;
00141                         double magnetic_declination;
00142 
00146                         boost::asio::io_service io;
00150                         boost::asio::ip::tcp::socket socket;
00151                         //boost::asio::serial_port port;
00155                         boost::thread runner;
00159                         boost::asio::streambuf buffer;
00160                 };
00161         }
00162 }
00163 
00164 
00165 
00166 /* NAVQUESTSOCKETNODE_HPP_ */
00167 #endif


navquest_dvl
Author(s): Gyula Nagy
autogenerated on Thu Jul 10 2014 10:34:00