#include <ocean.h>

Classes
struct	regPair

Public Member Functions
void	initialize (const std::string &input_dev)

	ocean (int id, int debug=0)

void	read_file (const std::string &input)

int	run ()

void	setDebugLevel (int)

	~ocean ()

Public Attributes
pr2_msgs::BatteryServer2	server

Static Public Attributes
static const int	BAD_PACKET = -1

static const int	INPUT_BUF_SIZE = 128

static const unsigned int	MAX_PACKET_LENGTH = 120

static const int	MAXCHANNELS = 16

static const int	MAXTAGLEN = 8

static const int	NMEA_MAX = 120

static const int	NMEA_PACKET = 1

static const int	NO_PACKET = 0

static const int	OUTPUT_BUF_SIZE = 128

static const struct regPair	regList []

static const unsigned	regListLength

Private Member Functions
void	character_discard ()

int	commTest ()

long int	convertStringBase16 (const char *input)

void	flush (void)

int	get_speed (void)

char *	gpsd_hexdump (void *binbuf, size_t binbuflen)

time_t	mkgmtime (struct tm *t)

void	nextstate (unsigned char c)

void	nmea_add_checksum (char *sentence)

unsigned int	nmea_parse ()

int	nmea_send (const char *fmt,...)

void	packet_accept (int packet_type)

void	packet_discard ()

ssize_t	packet_get ()

ssize_t	packet_parse (size_t newdata)

void	packet_reset ()

unsigned int	processBattery (int count, char *field[])

unsigned int	processController (int count, char *field[])

unsigned int	processSystem (int count, char *field[])

void	report (int errlevel, const char *fmt,...)

void	resetOcean ()

void	set_speed (int speed)

int	string_send (const char *fmt,...)

Private Attributes
int	acknowledge

unsigned long	char_counter

int	currentBattery

int	currentBaudRate

int	currentBaudRateIndex

int	currentPort

int	cycleComplete

int	debuglevel

char *	idString

unsigned char	inbuffer [INPUT_BUF_SIZE+1]

size_t	inbuflen

unsigned char *	inbufptr

int	inputDevice

unsigned char	outbuffer [OUTPUT_BUF_SIZE+1]

size_t	outbuflen

int	packetState

int	packetType

int	sentenceCount

int	sentenceLength

char	tag [MAXTAGLEN]

struct termios	ttyset

Detailed Description

Definition at line 17 of file ocean.h.

Constructor & Destructor Documentation

◆ ocean()

ocean::ocean	(	int	id,
		int	debug = `0`
	)

Open the required device and establish communications with the OCEAN.

Definition at line 72 of file ocean.cpp.

◆ ~ocean()

ocean::~ocean ( )

Definition at line 83 of file ocean.cpp.

Member Function Documentation

◆ character_discard()

void ocean::character_discard ( )

private

Definition at line 518 of file ocean.cpp.

◆ commTest()

int ocean::commTest ( )

private

Definition at line 190 of file ocean.cpp.

◆ convertStringBase16()

long int ocean::convertStringBase16 ( const char * input )

private

Definition at line 148 of file ocean.cpp.

◆ flush()

void ocean::flush ( void )

private

Flush out the serial buffer.

Definition at line 276 of file ocean.cpp.

◆ get_speed()

int ocean::get_speed ( void )

private

Definition at line 283 of file ocean.cpp.

◆ gpsd_hexdump()

char * ocean::gpsd_hexdump	(	void *	binbuf,
		size_t	binbuflen
	)

private

Definition at line 394 of file ocean.cpp.

◆ initialize()

void ocean::initialize ( const std::string & input_dev )

Definition at line 98 of file ocean.cpp.

◆ mkgmtime()

time_t willowgarage::ocean::ocean::mkgmtime ( struct tm * t )

private

◆ nextstate()

void ocean::nextstate ( unsigned char c )

private

A sentence looks something like this: $GPRMC,224759.85,A,3713.45089,N,12145.99453,W,000.04,161.59,280805,14.95,E,A*22 $GPRMC,224759.90,A,3713.45088,N,12145.99453,W,000.07,162.37,280805,14.95,E,A*2F

Definition at line 418 of file ocean.cpp.

◆ nmea_add_checksum()

void ocean::nmea_add_checksum ( char * sentence )

private

Definition at line 955 of file ocean.cpp.

◆ nmea_parse()

unsigned int ocean::nmea_parse ( )

private

Definition at line 869 of file ocean.cpp.

◆ nmea_send()

int ocean::nmea_send	(	const char *	fmt,
			...
	)

private

Definition at line 979 of file ocean.cpp.

◆ packet_accept()

void ocean::packet_accept ( int packet_type )

private

Definition at line 481 of file ocean.cpp.

◆ packet_discard()

void ocean::packet_discard ( )

private

Definition at line 504 of file ocean.cpp.

◆ packet_get()

ssize_t ocean::packet_get ( )

private

Definition at line 605 of file ocean.cpp.

◆ packet_parse()

ssize_t ocean::packet_parse ( size_t newdata )

private

Definition at line 537 of file ocean.cpp.

◆ packet_reset()

void ocean::packet_reset ( )

private

Definition at line 624 of file ocean.cpp.

◆ processBattery()

unsigned int ocean::processBattery	(	int	count,
		char *	field[]
	)

private

Definition at line 803 of file ocean.cpp.

◆ processController()

unsigned int ocean::processController	(	int	count,
		char *	field[]
	)

private

Definition at line 688 of file ocean.cpp.

◆ processSystem()

unsigned int ocean::processSystem	(	int	count,
		char *	field[]
	)

private

Functions for parsing NMEA sentences.

Definition at line 641 of file ocean.cpp.

◆ read_file()

void ocean::read_file ( const std::string & input )

Definition at line 179 of file ocean.cpp.

◆ report()

void ocean::report	(	int	errlevel,
		const char *	fmt,
			...
	)

private

Definition at line 357 of file ocean.cpp.

◆ resetOcean()

void ocean::resetOcean ( )

private

Definition at line 250 of file ocean.cpp.

◆ run()

int ocean::run ( void )

Definition at line 260 of file ocean.cpp.

◆ set_speed()

void ocean::set_speed ( int speed )

private

Definition at line 312 of file ocean.cpp.

◆ setDebugLevel()

void ocean::setDebugLevel ( int level )

Definition at line 92 of file ocean.cpp.

◆ string_send()

int ocean::string_send	(	const char *	fmt,
			...
	)

private

Definition at line 1009 of file ocean.cpp.

Member Data Documentation

◆ acknowledge

int willowgarage::ocean::ocean::acknowledge

private

Definition at line 96 of file ocean.h.

◆ BAD_PACKET

const int ocean::BAD_PACKET = -1

static

Definition at line 27 of file ocean.h.

◆ char_counter

unsigned long willowgarage::ocean::ocean::char_counter

private

Definition at line 92 of file ocean.h.

◆ currentBattery

int willowgarage::ocean::ocean::currentBattery

private

Definition at line 83 of file ocean.h.

◆ currentBaudRate

int willowgarage::ocean::ocean::currentBaudRate

private

Definition at line 77 of file ocean.h.

◆ currentBaudRateIndex

int willowgarage::ocean::ocean::currentBaudRateIndex

private

Definition at line 78 of file ocean.h.

◆ currentPort

int willowgarage::ocean::ocean::currentPort

private

Definition at line 79 of file ocean.h.

◆ cycleComplete

int willowgarage::ocean::ocean::cycleComplete

private

Definition at line 95 of file ocean.h.

◆ debuglevel

int willowgarage::ocean::ocean::debuglevel

private

Definition at line 81 of file ocean.h.

◆ idString

char* willowgarage::ocean::ocean::idString

private

Definition at line 80 of file ocean.h.

◆ inbuffer

unsigned char willowgarage::ocean::ocean::inbuffer[INPUT_BUF_SIZE+1]

private

Definition at line 88 of file ocean.h.

◆ inbuflen

size_t willowgarage::ocean::ocean::inbuflen

private

Definition at line 90 of file ocean.h.

◆ inbufptr

unsigned char* willowgarage::ocean::ocean::inbufptr

private

Definition at line 91 of file ocean.h.

◆ INPUT_BUF_SIZE

const int ocean::INPUT_BUF_SIZE = 128

static

Definition at line 24 of file ocean.h.

◆ inputDevice

int willowgarage::ocean::ocean::inputDevice

private

Definition at line 72 of file ocean.h.

◆ MAX_PACKET_LENGTH

const unsigned int ocean::MAX_PACKET_LENGTH = 120

static

Definition at line 26 of file ocean.h.

◆ MAXCHANNELS

const int ocean::MAXCHANNELS = 16

static

Definition at line 22 of file ocean.h.

◆ MAXTAGLEN

const int ocean::MAXTAGLEN = 8

static

Definition at line 21 of file ocean.h.

◆ NMEA_MAX

const int ocean::NMEA_MAX = 120

static

Definition at line 20 of file ocean.h.

◆ NMEA_PACKET

const int ocean::NMEA_PACKET = 1

static

Definition at line 29 of file ocean.h.

◆ NO_PACKET

const int ocean::NO_PACKET = 0

static

Definition at line 28 of file ocean.h.

◆ outbuffer

unsigned char willowgarage::ocean::ocean::outbuffer[OUTPUT_BUF_SIZE+1]

private

Definition at line 89 of file ocean.h.

◆ outbuflen

size_t willowgarage::ocean::ocean::outbuflen

private

Definition at line 90 of file ocean.h.

◆ OUTPUT_BUF_SIZE

const int ocean::OUTPUT_BUF_SIZE = 128

static

Definition at line 25 of file ocean.h.

◆ packetState

int willowgarage::ocean::ocean::packetState

private

Definition at line 86 of file ocean.h.

◆ packetType

int willowgarage::ocean::ocean::packetType

private

Definition at line 86 of file ocean.h.

◆ regList

const struct regPair willowgarage::ocean::ocean::regList[]

static

Definition at line 99 of file ocean.h.

◆ regListLength

const unsigned ocean::regListLength

static

Definition at line 100 of file ocean.h.

◆ sentenceCount

int willowgarage::ocean::ocean::sentenceCount

private

Definition at line 82 of file ocean.h.

◆ sentenceLength

int willowgarage::ocean::ocean::sentenceLength

private

Definition at line 94 of file ocean.h.

◆ server

pr2_msgs::BatteryServer2 willowgarage::ocean::ocean::server

Definition at line 102 of file ocean.h.

◆ tag

char willowgarage::ocean::ocean::tag[MAXTAGLEN]

private

Definition at line 93 of file ocean.h.

◆ ttyset

struct termios willowgarage::ocean::ocean::ttyset

private

Definition at line 76 of file ocean.h.

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

Classes

Public Member Functions

Public Attributes

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ocean()

◆ ~ocean()

Member Function Documentation

◆ character_discard()

◆ commTest()

◆ convertStringBase16()

◆ flush()

◆ get_speed()

◆ gpsd_hexdump()

◆ initialize()

◆ mkgmtime()

◆ nextstate()

◆ nmea_add_checksum()

◆ nmea_parse()

◆ nmea_send()

◆ packet_accept()

◆ packet_discard()

◆ packet_get()

◆ packet_parse()

◆ packet_reset()

◆ processBattery()

◆ processController()

◆ processSystem()

◆ read_file()

◆ report()

◆ resetOcean()

◆ run()

◆ set_speed()

◆ setDebugLevel()

◆ string_send()

Member Data Documentation

◆ acknowledge

◆ BAD_PACKET

◆ char_counter

◆ currentBattery

◆ currentBaudRate

◆ currentBaudRateIndex

◆ currentPort

◆ cycleComplete

◆ debuglevel

◆ idString

◆ inbuffer

◆ inbuflen

◆ inbufptr

◆ INPUT_BUF_SIZE

◆ inputDevice

◆ MAX_PACKET_LENGTH

◆ MAXCHANNELS

◆ MAXTAGLEN

◆ NMEA_MAX

◆ NMEA_PACKET

◆ NO_PACKET

◆ outbuffer

◆ outbuflen

◆ OUTPUT_BUF_SIZE

◆ packetState

◆ packetType

◆ regList

◆ regListLength

◆ sentenceCount

◆ sentenceLength

◆ server

◆ tag

◆ ttyset