← Back to branch summary

~tes/goby/2.1-git

« back to all changes in this revision

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

Show diffs side-by-side

added added

removed removed

Lines of Context:
src/moos/frontseat/bluefin/bluefin_incoming.cpp
193
193
        status_.mutable_global_fix()->set_lon(std::numeric_limits<double>::quiet_NaN());
194
194
    }
195
195
 
 
196
    if(nmea.as<int>(QUALITY_OF_POSITION) == 1)
 
197
    {
 
198
        status_.mutable_global_fix()->set_lat_source(goby::moos::protobuf::GPS);
 
199
        status_.mutable_global_fix()->set_lon_source(goby::moos::protobuf::GPS);
 
200
    }
 
201
    
196
202
    status_.mutable_global_fix()->set_altitude(nmea.as<double>(ALTITUDE));
197
203
    status_.mutable_global_fix()->set_depth(nmea.as<double>(DEPTH));
198
204
    status_.mutable_pose()->set_heading(nmea.as<double>(HEADING));
345
351
 
346
352
    glog.is(DEBUG1) && glog << "Bluefin ended frontseat mission: " << behavior_type << std::endl;
347
353
    
348
 
    if(behavior_type.find("GPS") != std::string::npos &&
349
 
       outstanding_requests_.count(gpb::BluefinExtraCommands::GPS_REQUEST))
350
 
    {
351
 
        // GPS request done
352
 
        gpb::CommandResponse response;
353
 
        response.set_request_successful(true);
354
 
        response.set_request_id(outstanding_requests_[gpb::BluefinExtraCommands::GPS_REQUEST].request_id());
355
 
        signal_command_response(response);
356
 
        outstanding_requests_.erase(gpb::BluefinExtraCommands::GPS_REQUEST);
357
 
        return;
358
 
    }    
359
354
}
360
355
 
361
356
void BluefinFrontSeat::bftop(const goby::util::NMEASentence& nmea)