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Viewing changes to src/moos/frontseat/bluefin/bluefin.cpp

  • Committer: GitHub
  • Author(s): Toby Schneider
  • Date: 2017-06-06 17:21:21 UTC
  • mfrom: (656.1.1)
  • Revision ID: git-v1:266d3647326d3ab512c4ed4f613578d4ed570afb
Merge pull request #28 from GobySoft/2.1-clean-up-gps-surface-bluefin

Simply GPS surfacing on Bluefin vehicles

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src/moos/frontseat/bluefin/bluefin.cpp
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        {
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            case gpb::BluefinExtraCommands::UNKNOWN_COMMAND:
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            case gpb::BluefinExtraCommands::DESIRED_COURSE:
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                break;
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            case gpb::BluefinExtraCommands::GPS_REQUEST:
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                glog.is(DEBUG1) && glog << "Bluefin Extra Command: GPS Fix requested by backseat."
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                                        << std::endl;
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                break;
 
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                break;                
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            case gpb::BluefinExtraCommands::TRIM_ADJUST:
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            {
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        {
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            glog.is(WARN) && glog << "Ignoring desired course information in this message, as an extra command was set. Only one command allowed per message." << std::endl;
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        }
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        else if(outstanding_requests_.count(gpb::BluefinExtraCommands::GPS_REQUEST) &&
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                static_cast<int>(command.desired_course().depth()) == 0 &&
 
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        else if(static_cast<int>(command.desired_course().depth()) == 0 &&
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                static_cast<int>(command.desired_course().speed()) == 0)
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        {
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            type = gpb::BluefinExtraCommands::DESIRED_COURSE;   
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        }
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    }
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    // we enforce a request outstanding for GPS, because we need to override course requests until this
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    // GPS request is fulfilled
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    if(!bf_config_.disable_ack()
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       && (command.response_requested() || type == gpb::BluefinExtraCommands::GPS_REQUEST))
 
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    if(!bf_config_.disable_ack() && command.response_requested())
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    {
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        if(outstanding_requests_.count(type))
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        {