[Gearbox-commit] SF.net SVN: gearbox: [195] gearbox/trunk/submitted/gbxnovatelacfr/driver. cpp

[<rum...@us...>]

Revision: 195
          http://gearbox.svn.sourceforge.net/gearbox/?rev=195&view=rev
Author:   rumataxyz
Date:     2008-06-19 07:19:59 -0700 (Thu, 19 Jun 2008)

Log Message:
-----------
added check for overall data-rate, minor corrections

Modified Paths:
--------------
    gearbox/trunk/submitted/gbxnovatelacfr/driver.cpp

Modified: gearbox/trunk/submitted/gbxnovatelacfr/driver.cpp
===================================================================
--- gearbox/trunk/submitted/gbxnovatelacfr/driver.cpp	2008-06-19 14:18:45 UTC (rev 194)
+++ gearbox/trunk/submitted/gbxnovatelacfr/driver.cpp	2008-06-19 14:19:59 UTC (rev 195)
@@ -499,6 +499,7 @@
         std::cout << "serial settings invalid\n";
         valid = false;
     }
+
     //imu gear
     if(enableImu_
             && ( 0 == imuType_.compare("")
@@ -521,12 +522,14 @@
         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";
@@ -560,6 +563,28 @@
         }
     }
 
+    //datarate
+    double dataRate = 0.0;
+    if(enableRawImu_){
+        dataRate += 1.0/0.01 * 8 * sizeof (gnua::RawImuLogSB); // TODO: there is one IMU running at 200Hz, no idea how to check for it
+    }
+    if(enableInsPva_){
+        dataRate += 1.0/dtInsPva_ * 8 * sizeof (gnua::InsPvaLogSB);
+    }
+    if(enableGpsPos_){
+        dataRate += 1.0/dtGpsPos_ * 8 * sizeof (gnua::BestGpsPosLogB);
+    }
+    if(enableGpsVel_){
+        dataRate += 1.0/dtGpsVel_ * 8 * sizeof (gnua::BestGpsVelLogB);
+    }
+    if(dataRate > (double)baudRate_){
+        std::cout << "The combined data-rate of the messages/message rates you configured excceeds the configured baud rate " << dataRate << " / " << baudRate_ << "\n";
+        valid = false;
+    }else if(dataRate > 0.95 * baudRate_){
+        std::cout << "The combined data-rate of the messages/message rates you configured is more than 95\% of the configured baud rate! " << dataRate << " / " << baudRate_ << "\n";
+        std::cout << "Consider using a higher baud rate (maximum 230400) or less messages or lower message-rates.";
+    }
+
     return valid;
 }
 
@@ -604,7 +629,7 @@
         && (9600 == baudRate_
                 || 19200 == baudRate_
                 || 38400 == baudRate_
-                || 57600 != baudRate_
+                || 57600 == baudRate_
                 || 115200 == baudRate_
                 || 230400 == baudRate_) ;
 }
@@ -625,7 +650,7 @@
         && (9600 == baudRate_
                 || 19200 == baudRate_
                 || 38400 == baudRate_
-                || 57600 != baudRate_
+                || 57600 == baudRate_
                 || 115200 == baudRate_
                 || 230400 == baudRate_) ;
 }
@@ -760,11 +785,11 @@
         switch( insPva.data.insStatus ) {
             case 0:
                 data->statusMessage = "Ins is inactive";
-                data->statusMessageType = gna::Fault;
+                data->statusMessageType = gna::Fault; // TODO: check if this happens during startup
                 break;
             case 1:
                 data->statusMessage = "Ins is aligning";
-                data->statusMessageType = gna::Warning;
+                data->statusMessageType = gna::Initialising;
                 break;
             case 2:
                 data->statusMessage = "Ins solution is bad";
@@ -789,7 +814,7 @@
                 break;
             case 7:
                 data->statusMessage = "Ins alignment is complete but vehicle must perform maneuvers so that the attitude can converge";
-                data->statusMessageType = gna::Ok;
+                data->statusMessageType = gna::Ok; // TODO: this is not quite Ok, check if it is usable (no sudden jumps, etc.)
                 break;
             default:
                 {


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