#include <DVLInstrument.h>

Inheritance diagram for CDVLInstrument:

Collaboration diagram for CDVLInstrument:

Classes
struct	SendTermPair
Public Member Functions
	CDVLInstrument ()
virtual	~CDVLInstrument ()
Protected Member Functions
bool	ParseRDIReply (std::string &sReply)
bool	InitialiseSensor ()
bool	Iterate ()
bool	OnNewMail (MOOSMSG_LIST &NewMail)
bool	OnConnectToServer ()
bool	OnStartUp ()
bool	GetData ()
bool	PublishData ()
Protected Attributes
MOOSDVLSensorType	m_eType
double	m_dfX
double	m_dfY
double	m_dfZ
double	m_dfPitch
double	m_dfYaw
double	m_dfSpeed
double	m_dfHeading

Detailed Description

Definition at line 49 of file DVLInstrument.h.

Constructor & Destructor Documentation

CDVLInstrument::CDVLInstrument ( )

Definition at line 51 of file DVLInstrument.cpp.

CDVLInstrument::~CDVLInstrument ( ) [virtual]

Definition at line 62 of file DVLInstrument.cpp.

Member Function Documentation

bool CDVLInstrument::GetData ( ) [protected]

The DVL returns data about the Attitude of the vehicle: Pitch, Roll, Heading. Currently using it in PD6 mode, with Bottom Track enabled, thus we will receive information about the velocity in XYZ w.r.t. bottom. The returned strings are recognized in the ParseRDIReply(string &sWhat) method, thus eliminating the need of a 'for()' loop to grab all data in this method.

Definition at line 340 of file DVLInstrument.cpp.

bool CDVLInstrument::InitialiseSensor ( ) [protected, virtual]

called from OnStartUp - overload to execute custom start up code for sensor

Reimplemented from CMOOSInstrument.

Definition at line 230 of file DVLInstrument.cpp.

bool CDVLInstrument::Iterate ( ) [protected, virtual]

this is where it all happens..

Reimplemented from CMOOSApp.

Definition at line 70 of file DVLInstrument.cpp.

bool CDVLInstrument::OnConnectToServer ( ) [protected, virtual]

Called when the class has succesully connected to the server. Overload this function and place use it to register for notification when variables of interest change

Reimplemented from CMOOSApp.

Definition at line 214 of file DVLInstrument.cpp.

bool CDVLInstrument::OnNewMail ( MOOSMSG_LIST & NewMail ) [protected, virtual]

called when new mail has arrived. Overload this method in a derived class to process new mail. It will be called at approximately 1/CommsTick Hz. In this function you'll most likely interate over the collection of mail message received or call a m_Comms::PeekMail() to look for a specific named message.

Parameters:

NewMail a list of new mail messages

Reimplemented from CMOOSApp.

Definition at line 164 of file DVLInstrument.cpp.

bool CDVLInstrument::OnStartUp ( ) [protected, virtual]

CMOOSApp overide

Reimplemented from CMOOSInstrument.

Definition at line 82 of file DVLInstrument.cpp.

bool CDVLInstrument::ParseRDIReply ( std::string & sReply ) [protected]

This method interprets the RDI strings taken from the serial port. Be aware that changing the settings of the sensor will change what strings it returns to us! This method only returns attitude data at the moment. The DVLInstrument will have to Publish new variables in order to accomodate the bottom track related information. RDI Setup: +Output Data format PD6 +No Water Reference Data +Bottom Track enabled +Velocities are in mm/s, need to convert this to m/s for our world

Definition at line 390 of file DVLInstrument.cpp.

bool CDVLInstrument::PublishData ( ) [protected]

Definition at line 184 of file DVLInstrument.cpp.