no comment

src/pBoardSupportComm/BoardSupportComm.h

@@ -53,6 +53,12 @@ struct AUVEmbedded
   uint8_t dvl_status;       //30:[55]
   uint8_t crc;       //31:[56]
   uint16_t footer;       //32:[57,58]
+
+  float refLon;
+  float refLat;
+  float refAlt;  
+  float north;
+  float east;
 };
 
 struct AUVExecuteCommand
@@ -76,45 +82,22 @@ struct AUVExecuteCommand
   bool manual_mode;
 };
 
-struct EstimatedState {
-  float referenceLon;
-  float referenceLat;
-  float referenceAltitude;  
-  float currentLon;
-  float currentLat;
-  float currentAltitude;
-  float offsetNorth;
-  float offsetEast;
-  float offsetDown;	
-  float roll;
-  float pitch;
-  float yaw;
-  float linearVelocityNorth;
-  float linearVelocityEast;
-  float linearVelocityDown;
-  float height;	        
-  float depth;
-};
-
-class BoardSupportComm : public CMOOSApp
-// class BoardSupportComm : public AppCastingMOOSApp
+class BoardSupportComm : public AppCastingMOOSApp
 {
  public:
    BoardSupportComm();
    ~BoardSupportComm();
 
-protected: // Standard MOOSApp functions to overload  
+protected:
   bool OnNewMail(MOOSMSG_LIST &NewMail);
   bool Iterate();
   bool OnConnectToServer();
   bool OnStartUp();
   void RegisterVariables();
-  // bool buildReport();
+  bool buildReport();
 
 private:
 
-  struct EstimatedState estimatedState;
-
   void ConvertLLAToENU(std::vector<double> init_lla, 
                             std::vector<double> point_lla, 
                             std::vector<double>& point_enu);
@@ -129,7 +112,6 @@ private:
                             std::vector<double> &point_lla);
 
   void tcpProcessThread();
-  // std::string convertEmbeddedFormat();
   std::string convertEmbeddedFormat(Json::Value &embeddedState);  
   int tcpSockFD;
   int tcpConnectRet;
@@ -144,12 +126,11 @@ private:
 
   struct AUVEmbedded embeddedInfo;
   struct AUVExecuteCommand executeCommand;
-  int testFlag = 0;
-  bool testCount = false;
-	int sockfd = -1;
-	int connectFlg = -1;
-  std::string llaOriginPath;
 
+  std::string llaOriginPath;
+  int recvLen;
+  std::string recvContent;
+  std::string castLogStream;
 
 };