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[Gearbox-commit] SF.net SVN: gearbox: [187] gearbox/trunk/submitted/gbxnovatelacfr
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From: <rum...@us...> - 2008-06-18 12:20:25
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Revision: 187
http://gearbox.svn.sourceforge.net/gearbox/?rev=187&view=rev
Author: rumataxyz
Date: 2008-06-18 05:20:25 -0700 (Wed, 18 Jun 2008)
Log Message:
-----------
added isValid() to configurations, changed the default constructor a bit, added "verbose" option to the example
Modified Paths:
--------------
gearbox/trunk/submitted/gbxnovatelacfr/driver.cpp
gearbox/trunk/submitted/gbxnovatelacfr/driver.h
gearbox/trunk/submitted/gbxnovatelacfr/test/test.cpp
Modified: gearbox/trunk/submitted/gbxnovatelacfr/driver.cpp
===================================================================
--- gearbox/trunk/submitted/gbxnovatelacfr/driver.cpp 2008-06-18 09:08:07 UTC (rev 186)
+++ gearbox/trunk/submitted/gbxnovatelacfr/driver.cpp 2008-06-18 12:20:25 UTC (rev 187)
@@ -408,6 +408,7 @@
dtGpsVel_(0.2),
fixInvalidRateSettings_(false),
imuToGpsOffset_(simpleCfg.imuToGpsOffset_),
+ imuToGpsOffsetUncertainty_(0,0.0),
enableInsOffset_(false),
enableInsPhaseUpdate_(true),
enableCDGPS_(true),
@@ -448,10 +449,10 @@
dtGpsPos_(1.0),
dtGpsVel_(1.0),
fixInvalidRateSettings_(false),
- imuToGpsOffset_(1,0.0),
- imuToGpsOffsetUncertainty_(1,0.0),
+ imuToGpsOffset_(0,0.0),
+ imuToGpsOffsetUncertainty_(0,0.0),
enableInsOffset_(false),
- insOffset_(1,0.0),
+ insOffset_(0,0.0),
enableInsPhaseUpdate_(false),
enableCDGPS_(false),
enableSBAS_(false),
@@ -460,14 +461,86 @@
enableSetImuOrientation_(false),
setImuOrientation_(0),
enableVehicleBodyRotation_(false),
- vehicleBodyRotation_(1,0.0),
- vehicleBodyRotationUncertainty_(1,0.0) {
+ vehicleBodyRotation_(0,0.0),
+ vehicleBodyRotationUncertainty_(0,0.0) {
}
bool
-Config::isValid() const {
- cout << __func__ << "implement me\n";
- return true;
+Config::isValid() {
+ bool valid = true;
+ //check serial setup
+ if( 0 == serialDevice_.compare("")
+ || (9600 != baudRate_
+ && 19200 != baudRate_
+ && 38400 != baudRate_
+ && 57600 != baudRate_
+ && 115200 != baudRate_
+ && 230400 != baudRate_)){
+ std::cout << "serial settings invalid\n";
+ valid = false;
+ }
+ //imu gear
+ if(enableImu_
+ && ( 0 == imuType_.compare("")
+ || 3 != imuToGpsOffset_.size()
+ || ( 3 != imuToGpsOffsetUncertainty_.size()
+ && 0 != imuToGpsOffsetUncertainty_.size()))){
+ std::cout << "imuType/imuToGpsOffset invalid\n";
+ valid = false;
+ }
+ if(enableImu_ && enableSetImuOrientation_
+ && ( 0 > setImuOrientation_
+ || 6 < setImuOrientation_)){
+ std::cout << "setImuOrientation invalid\n";
+ valid = false;
+ }
+ if(enableImu_ && enableVehicleBodyRotation_
+ && ( 3 != vehicleBodyRotation_.size()
+ || ( 3 != vehicleBodyRotationUncertainty_.size()
+ && 0 != vehicleBodyRotationUncertainty_.size()))){
+ std::cout << "vehicleBodyRotation invalid\n";
+ valid = false;
+ }
+ //ins gear
+ if(enableImu_ && enableInsOffset_
+ && 3 != insOffset_.size()){
+ std::cout << "insOffset invalid\n";
+ valid = false;
+ }
+ //data
+ if(false == (enableInsPva_ || enableGpsPos_ || enableGpsVel_ || enableRawImu_)){
+ std::cout << "data settings invalid, you need to enable at least one message\n";
+ valid = false;
+ }
+ if(enableRawImu_ && 0.02 > dtInsPva_){
+ if(fixInvalidRateSettings_){
+ std::cout << "data rate for InsPva too high; must be 50Hz or less if RawImu is enabled. FIXED!\n";
+ dtInsPva_ = 0.02;
+ }else{
+ std::cout << "data rate for InsPva too high; must be 50Hz or less if RawImu is enabled\n";
+ valid = false;
+ }
+ }
+ if( (enableRawImu_ || enableInsPva_) && 0.2 > dtGpsPos_ ){
+ if(fixInvalidRateSettings_){
+ std::cout << "data rate for BestGpsPos too high; must be 5Hz or less if RawImu or InsPva is enabled. FIXED!\n";
+ dtGpsPos_ = 0.2;
+ }else{
+ std::cout << "data rate for BestGpsPos too high; must be 5Hz or less if RawImu or InsPva is enabled\n";
+ valid = false;
+ }
+ }
+ if( (enableRawImu_ || enableInsPva_) && 0.2 > dtGpsVel_ ){
+ if(fixInvalidRateSettings_){
+ std::cout << "data rate for BestGpsVel too high; must be 5Hz or less if RawImu or InsPva is enabled. FIXED!\n";
+ dtGpsVel_ = 0.2;
+ }else{
+ std::cout << "data rate for BestGpsVel too high; must be 5Hz or less if RawImu or InsPva is enabled\n";
+ valid = false;
+ }
+ }
+
+ return valid;
}
std::string
@@ -505,8 +578,15 @@
bool
SimpleConfig::isValid() const {
- cout << __func__ << "implement me\n";
- return true;
+ return 0 != serialDevice_.compare("")
+ && imuType_.compare("")
+ && 3 == imuToGpsOffset_.size()
+ && (9600 == baudRate_
+ || 19200 == baudRate_
+ || 38400 == baudRate_
+ || 57600 != baudRate_
+ || 115200 == baudRate_
+ || 230400 == baudRate_) ;
}
std::string
@@ -521,8 +601,13 @@
bool
GpsOnlyConfig::isValid() const {
- cout << __func__ << "implement me\n";
- return true;
+ return 0 != serialDevice_.compare("")
+ && (9600 == baudRate_
+ || 19200 == baudRate_
+ || 38400 == baudRate_
+ || 57600 != baudRate_
+ || 115200 == baudRate_
+ || 230400 == baudRate_) ;
}
std::string
Modified: gearbox/trunk/submitted/gbxnovatelacfr/driver.h
===================================================================
--- gearbox/trunk/submitted/gbxnovatelacfr/driver.h 2008-06-18 09:08:07 UTC (rev 186)
+++ gearbox/trunk/submitted/gbxnovatelacfr/driver.h 2008-06-18 12:20:25 UTC (rev 187)
@@ -88,7 +88,7 @@
//! - imuType refers to a known type
//! - offset has size 3
//! - message rates are consistent and don't exceed serial-data-rate
- bool isValid() const;
+ bool isValid(); //!< not const, since it has limited self-fixing capabilities
//! Dumps the config in human readable form
std::string toString();
Modified: gearbox/trunk/submitted/gbxnovatelacfr/test/test.cpp
===================================================================
--- gearbox/trunk/submitted/gbxnovatelacfr/test/test.cpp 2008-06-18 09:08:07 UTC (rev 186)
+++ gearbox/trunk/submitted/gbxnovatelacfr/test/test.cpp 2008-06-18 12:20:25 UTC (rev 187)
@@ -71,6 +71,9 @@
case 'd':
showDebug = true;
break;
+ case 'v':
+ verbose = true;
+ break;
case 'h':
usage(argv[0], optString);
return EXIT_SUCCESS;
@@ -94,6 +97,7 @@
cout << "|\tport:\t\t" << port << "\n";
cout << "|\tbaud:\t\t" << baud << "\n";
cout << "|\tImu:\t\t" << imuType << "\n";
+ cout << "|\tverbose:\t" << verbose << "\n";
cout << "|\tshow debug:\t" << showDebug << "\n";
cout << "-------------------------------------------------\n";
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