#ifndef _KEARFOT_H #define _KEARFOT_H #include "Task.h" #include "SerialDevice.h" #include "DeviceIF.h" #include "GpsIF.h" #include "DepthSensorIF.h" #include "FastCatIF.h" #include "AcousticModemIF.h" #include "KearfottDefs.h" //#include "KearfottOutput.h" #include "KearfottLog.h" #include "DvlLog.h" #include "KearfottGpsLog.h" #include "DvlOutput.h" #include "GpsOutput.h" #include "LoggableGps.h" #include "TimeIF.h" class Kearfott { public: enum KEARFOTT_MSG_ID { accept_configuration=2, accept_operational=4, return_configuration=6, navigation_data=1, configuration_data=3, slow_test_message=27, high_speed_IMU_data=19, doppler_PD4=21, gps_PVT_A=13, gps_PVT_B=15, gps_GGA=7, gps_GSA=9, gps_VTG=11 }; enum KEARFOTT_MSG_SUBID { IMU_raw_sums=1, IMU_compensated_sums=2, IMU_ctrl_loop1=3, IMU_ctrl_loop2=4, NAV_calibration=5, system_status=6, kalman_state_A=7, kalman_state_B=8, kalman_state_C=16, kalman_state_covar_A=9, kalman_state_covar_B=10, kalman_state_covar_C=18, observ_status=17, zupt_residual=11, gps_vel_residual=12, gps_pos_residual=13, dvl_vel_residual=14, pos_fix_residual=15 }; typedef struct { unsigned char cmdID; unsigned char numBytes; unsigned char data[255]; unsigned char checksum; } KEARFOTT_MSG_TYPE; typedef struct { unsigned char validity; unsigned char modes; int init_lat; int init_lon; int idepth; short inithdg; unsigned short salinity; unsigned short cepos; unsigned char forcomm; } KEARFOTT_OP_TYPE; typedef struct { short valpha; short vbeta; short vgamma; unsigned char configBits; unsigned char satime; short vdelx; short vdely; short vdelz; short gpslx; short gpsly; short gpslz; short doplx; short doply; short doplz; } KEARFOTT_CONFIG_TYPE; //definitions for navigation data message (ID 1) enum KEARFOTT_NAV_MODE_TYPE { Idle = 0x00, Coarse_Stat_Align=0x01, Fine_Stat_Align_Incomplete=0x02, Fine_Stat_Align_Complete=0x03, Coarse_GPS_Align=0x04, Fine_GPS_Align_Incomplete=0x05, Fine_GPS_Align_Complete=0x06, Dop_Align_Incomplete=0x07, Dop_Align_Complete=0x08, Aided_Navigation=0x09, No_Go=0x0a }; //data structure to hold raw state vector typedef struct { unsigned short cycles; unsigned char mode; unsigned char monitor; int lat; int lon; int depth; unsigned short bheight; short roll; short pitch; unsigned short heading; short vbodyx; short vbodyy; short vbodyz; short accelx; short accely; short accelz; short prate; short qrate; short rrate; unsigned int utcTime; } KEARFOTT_RAW_NAV_TYPE; //data structure to hold scaled state vector typedef struct { unsigned short cycles; unsigned char mode; unsigned char monitor; double lat; double lon; double northing; double easting; float depth; float bheight; float roll; float pitch; float heading; float vbodyx; float vbodyy; float vbodyz; float accelx; float accely; float accelz; float prate; float qrate; float rrate; float utcTime; } KEARFOTT_SCALED_NAV_TYPE; typedef struct { unsigned char dvlid; //data valid unsigned char datstr; //data structure unsigned short numbyte; unsigned char sysconfig; short xvelbtm; short yvelbtm; short zvelbtm; short evelbtm; unsigned short bm1; unsigned short bm2; unsigned short bm3; unsigned short bm4; unsigned short botstat; short xvelref; short yvelref; short zvelref; short evelref; short refstrt; short refend; unsigned char refstat; unsigned char toping_hr; unsigned char toping_min; unsigned char toping_sec; unsigned char toping_hun; unsigned short bit; unsigned short spdsnd; short temp; unsigned short checksum; unsigned short ktnav; } RDI_PD4_TYPE; /////////////////////////////////////////////////////////////////////// // Sample time virtual long sampleTime(); virtual short hours(); virtual short minutes(); virtual short seconds(); virtual short centiSeconds(); /////////////////////////////////////////////////////////////////////// // Latitude (degrees) virtual double latitude(); /////////////////////////////////////////////////////////////////////// // Latitude hemisphere; 'N' or 'S' virtual char nsHemisphere(); /////////////////////////////////////////////////////////////////////// // Longitude (degrees) virtual double longitude(); /////////////////////////////////////////////////////////////////////// // Longitude hemisphere; 'E' or 'W' virtual char ewHemisphere(); /////////////////////////////////////////////////////////////////////// // GPS Quality virtual GpsIF::Quality quality(); /////////////////////////////////////////////////////////////////////// // Number of satellites virtual short nSatellites(); /////////////////////////////////////////////////////////////////////// // Horizontal dilution of precision virtual double hdop(); /////////////////////////////////////////////////////////////////////// // Altitude above geoid (mean sea level) virtual double altitude(); /////////////////////////////////////////////////////////////////////// // Height of geoid above WGS84 ellipsoid virtual double geoidHeight(); /////////////////////////////////////////////////////////////////////// // Age of DGPS data (seconds) virtual short dgpsDataAge(); /////////////////////////////////////////////////////////////////////// // DGPS reference station ID virtual short dgpsStationId(); Kearfott(char *file); Kearfott(CSerial *device, Boolean Ext); ~Kearfott(); Boolean _externalSensors; virtual void run(); void displayNavigationMessages(int skip); DeviceIF::Status sendConfigData(KEARFOTT_CONFIG_TYPE *data); DeviceIF::Status getConfigData(KEARFOTT_CONFIG_TYPE *data); DeviceIF::Status sendOpData(KEARFOTT_OP_TYPE *data); DeviceIF::Status parseMsg(KEARFOTT_MSG_TYPE *msg); KearfottOutput *_kearfottOutput; DvlOutput *_dvlOutput; GpsOutput *_gpsOutput; KEARFOTT_SCALED_NAV_TYPE _scaledNavData; protected: private: //serial device SerialDevice *_device; int _fd; Boolean _displayNavMessages; int _navSkip, _navMsgCnt; int _rawLog; KearfottLog *_kearfottLog; DvlLog *_dvlLog; KearfottGpsLog *_gpsLog; AcousticModemIF *_acommsIF; DepthSensorIF *_depthIF; FastCatIF *_ctdIF; GpsIF::Fix _fix; GpsIF::GsaStruct _gsa; GpsIF::VgtStruct _vgt; //most recent data output. Need to add timestamps somewhere KEARFOTT_RAW_NAV_TYPE _rawNavData; KEARFOTT_CONFIG_TYPE _configData; KEARFOTT_OP_TYPE _opData; Boolean _opValid, _configValid; unsigned char _slowTestMsgData[64]; unsigned char _highSpeedIMUData[28]; RDI_PD4_TYPE _dopplerPD4; char _gpsGGA[512]; char _gpsGSA[512]; char _gpsVTG[512]; GpsIF::GgaTime _lasttime; //private methods DeviceIF::Status initialize(); DeviceIF::Status parseConfigMessage(KEARFOTT_MSG_TYPE *msg); DeviceIF::Status parseNavigationMessage(KEARFOTT_MSG_TYPE *msg); DeviceIF::Status parseSlowTestMessage(KEARFOTT_MSG_TYPE *msg); DeviceIF::Status parseHighSpeedIMUData(KEARFOTT_MSG_TYPE *msg); DeviceIF::Status parseDopplerPD4(KEARFOTT_MSG_TYPE *msg); DeviceIF::Status parseGPS_PVTA(KEARFOTT_MSG_TYPE *msg); DeviceIF::Status parseGPS_PVTB(KEARFOTT_MSG_TYPE *msg); DeviceIF::Status parseGPS_GGA(KEARFOTT_MSG_TYPE *msg); DeviceIF::Status parseGPS_GSA(KEARFOTT_MSG_TYPE *msg); DeviceIF::Status parseGPS_VTG(KEARFOTT_MSG_TYPE *msg); DeviceIF::Status parseSlowTestMessage(unsigned char *data); DeviceIF::Status parseFastTestMessage(unsigned char *data); DeviceIF::Status sendMsg(KEARFOTT_MSG_TYPE *msg); DeviceIF::Status readMsg(KEARFOTT_MSG_TYPE *msg); DeviceIF::Status readEcho(KEARFOTT_MSG_TYPE *msg); unsigned char checksum(KEARFOTT_MSG_TYPE *msg); void printRawNavType(KEARFOTT_RAW_NAV_TYPE *rawNav); void printScaledNavType(KEARFOTT_SCALED_NAV_TYPE *rawNav); void printDoppler(RDI_PD4_TYPE *pd4); void logMsg(KEARFOTT_MSG_TYPE *msg); void updateExternalSensors(); }; #endif