diff --git a/src/asterx1_gps.cpp b/src/asterx1_gps.cpp
index 5f623c31a9dcf91535dc6efafead8a2d3d5ea958..7533be0d94b28c7accb095655d4d240a7040fb94 100644
--- a/src/asterx1_gps.cpp
+++ b/src/asterx1_gps.cpp
@@ -1,10 +1,10 @@
#include "asterx1_gps.h"
-CasteRx1::CasteRx1(const string & hwPortName, const int acqRateIndex)
+CasteRx1::CasteRx1(const string & hwPortName, const int acqRate)
{
status = 0;
config.portName = hwPortName;
- config.acqPeriod = acqPeriodValues[acqRateIndex];
+ config.acqPeriod = acqPeriodValues[acqRate];
}
CasteRx1::~CasteRx1()
@@ -12,14 +12,14 @@ CasteRx1::~CasteRx1()
blockList.clear();
if( (status & ACQUISITION_RUNNING) ) stopAcquisition();
if( (status & DEVICE_OPEN) ) closeDevice();
+ delete serialPort;
cout << "CasteRx1::~CasteRx1(). End of CasteRx1 destructor" << endl; //bye bye message
}
-int CasteRx1::openDevice(int xx)
+int CasteRx1::openDevice()
{
- cout << xx << endl;
+ TRS232_config serialConfig;
int retValue = BASIC_SUCCESS;
- TRS232_config serialConfig;
try{
serialPort = new CRS232(config.portName); //creates a new object to manage serial connection
@@ -84,13 +84,11 @@ int CasteRx1::closeDevice()
retValue = PORT_CLOSE_ERROR;
//status |= DEVICE_OPEN; //close() has failed , so it is still opened
}
-
}
if ( retValue == BASIC_SUCCESS ) //if close() is successful, we delete the object
{
status &= ~DEVICE_OPEN;
cout << "CasteRx1::closeDevice(). SUCCESS. Serial port " << config.portName << " closed successfully." << endl;
- delete serialPort;
}
return retValue;
@@ -102,7 +100,7 @@ int CasteRx1::startAcquisition()
sbfBlockManager *blockMng;
string cmnd;
- //enables commands as input at USB1
+ //enables commands at USB1 device input
retValue += sendCommand("setDataInOut,USB1,CMD,none\n");
//stops data transmission if it was running
@@ -138,7 +136,6 @@ int CasteRx1::startAcquisition()
cmnd.append(config.acqPeriod);
cmnd.append("\n");
retValue += sendCommand(cmnd);
- //retValue += sendCommand("setSBFOutput,Stream1,USB1,Group1,msec500\n");
if ( retValue == BASIC_SUCCESS*11 ) //success on all commands
{
@@ -221,7 +218,7 @@ int CasteRx1::readDataFromDevice()
retValue += readNbytes(&buffer[0],2,DATA_TIMEOUT);//reads transmitted crc value
crcValue = getUI2(&buffer[0]); //decodes crc value
retValue += readNbytes(&buffer[0],2,DATA_TIMEOUT);//reads block id field
- blockId = (buffer[0] & 0xff)|((buffer[1] & 0x1f)<<8);//decodes blockId (usies only the 13 LS bits)
+ blockId = (buffer[0] & 0xff)|((buffer[1] & 0x1f)<<8);//decodes blockId (uses only the 13 LS bits)
retValue += readNbytes(&buffer[2],2,DATA_TIMEOUT);//reads block length
blockLength = getUI2(&buffer[2]);//decodes block length (in bytes)
diff --git a/src/asterx1_gps.h b/src/asterx1_gps.h
index 0d0e38dfef140801623a0208cbbb8e50a544c435..8f4bb5db339225b119c79e9ab86287f3c35f3ccd 100644
--- a/src/asterx1_gps.h
+++ b/src/asterx1_gps.h
@@ -131,59 +131,69 @@ const bool inDEGREES = 1;
class CasteRx1
{
public:
- /**
- Constructor: just catch the name of the serial port
+ /** \brief Default constructor
+ *
+ * Constructor. Requires port file name and, optionally, acquisition rate.
+ *
*/
- CasteRx1(const string & hwPortName = "/dev/ttyACM0", const int acqRateIndex = MSEC500);
+ CasteRx1(const string & hwPortName = "/dev/ttyACM0", const int acqRate = MSEC500);
- /**
- Destructor: Stops acquisition in case it was running and closes serial Port in case it was opened.
+ /** \brief Destructor
+ *
+ * Destructor: Stops acquisition in case it was running and closes serial Port in case it was opened.
+ *
*/
virtual ~CasteRx1();
- /**
- Opens serial communications and starts serial comm thread.
- If success , sets status bit DEVICE_OPEN.
- Return values are:
- BASIC_SUCCESS
- PORT_OPEN_ERROR if thread can't be created or port can't be opened
- PORT_CONFIG_ERROR if port can't be configured
+ /** \brief Open and configure serial device.
+ *
+ * Open and configure serial device to 8N1 Byte transmission.
+ * Launches a thread for serial in/out comms
+ * Return values are:
+ * BASIC_SUCCESS
+ * PORT_OPEN_ERROR if thread can't be created or port can't be opened
+ * PORT_CONFIG_ERROR if port can't be configured
*/
- int openDevice(int xx=3);
+ int openDevice();
- /**
- Closes serial comm's , stops comm thread and deletes comm object.
- If success , resets status bit DEVICE_OPEN.
- Return values are:
- BASIC_SUCCESS
- PORT_CLOSE_ERROR
+ /** \brief Closes serial comm
+ *
+ * Closes serial comm's , stops comm thread and deletes comm object.
+ * If success , resets status bit DEVICE_OPEN.
+ * Return values are:
+ * BASIC_SUCCESS
+ * PORT_CLOSE_ERROR
*/
int closeDevice();
- /**
- Configures the device to perform some signal processing basics for mobile robotics.
- Starts a mode of operation of continuos data flow from the device at a rate of 2Hz.
- Return values are:
- BASIC_SUCCESS
- ASTERX1_CONFIG_ERROR
+ /** \brief Starts basic data acquisition
+ *
+ * Configures the device to perform some signal processing basics for mobile robotics.
+ * Starts a mode of operation of continuos data flow from the device at a rate of 2Hz.
+ * Return values are:
+ * BASIC_SUCCESS
+ * ASTERX1_CONFIG_ERROR
*/
int startAcquisition();
- /**
- Stops mode of operation of continuous data flow
- Return values are:
- BASIC_SUCCESS when device stop is ok
- ASTERX1_STOPPINTG_ERROR otherwise.
+ /** \brief Stops acquisition
+ *
+ * Stops continuous acquisition mode
+ * Return values are:
+ * BASIC_SUCCESS when device stop is ok
+ * ASTERX1_STOPPINTG_ERROR otherwise.
*/
int stopAcquisition();
- /**
- Reads current data produced by the device. Ends when all data blocks requested have been received.
- Sets status and all data fields.
- Return values are:
- BASIC_SUCCESS if all blocks are successfully decodes.
- ACQUISITION_ERROR otherwise.
- Afterwards, call getStatus() to check for gps availability.
+ /** \brief Decodes the device SBF stream
+ *
+ * Reads current data produced by the device. Ends when all data blocks requested have been received.
+ * Sets status and all data fields.
+ * Return values are:
+ * BASIC_SUCCESS if all blocks are successfully decodes.
+ * ACQUISITION_ERROR otherwise.
+ *
+ * After calling this function, call getStatus() to check for gps availability.
*/
int readDataFromDevice();