Sensors::ExplorerDVL::Driver Class Reference

Public Types
enum	InputTriggerBehaviour {   ITB_OFF, ITB_RISING_EDGE, ITB_FALLING_EDGE, ITB_BOTH_EDGES,   ITB_LOW_LEVEL, ITB_HIGH_LEVEL }

Public Member Functions
	Driver (Tasks::Task *task, const std::string &uart, unsigned baud)
	~Driver (void)
bool	restartPinging (void)
bool	startPinging (void)
bool	stopPinging (void)
bool	setDataFormat (unsigned value)
bool	setDepthCells (uint8_t number)
bool	setHeadingAlignment (double angle)
bool	setTurnKey (bool value)
bool	setMaximumTrackingDepth (unsigned value)
bool	setBottomTrackPingsPerEnsemble (unsigned value)
bool	setSoundSpeed (unsigned value)
bool	setEarthCoordinates (void)
bool	setManualSensorSource (void)
bool	setInputTriggerEnable (InputTriggerBehaviour behaviour, uint16_t delay, uint16_t timeout=65535)
void	setTimeout (double timeout)
size_t	getTimeoutCount (void) const
size_t	readData (uint8_t *bfr, size_t bfr_size)

Member Enumeration Documentation

enum Sensors::ExplorerDVL::Driver::InputTriggerBehaviour

Enumerator
ITB_OFF
ITB_RISING_EDGE
ITB_FALLING_EDGE
ITB_BOTH_EDGES
ITB_LOW_LEVEL
ITB_HIGH_LEVEL

Constructor & Destructor Documentation

Sensors::ExplorerDVL::Driver::Driver ( Tasks::Task *  task, const std::string &  uart, unsigned  baud  )

inline

Constructor.

Parameters

[in]	task	parent task.
[in]	uart	serial port device.
[in]	baud	serial port baud rate.

Sensors::ExplorerDVL::Driver::~Driver ( void  )

inline

Destructor.

Member Function Documentation

size_t Sensors::ExplorerDVL::Driver::getTimeoutCount ( void  ) const

inline

Get the number of timeouts that ocurred thus far.

Returns

number of timeouts.

Referenced by Sensors::ExplorerDVL::Task::dispatchStats().

size_t Sensors::ExplorerDVL::Driver::readData ( uint8_t *  bfr, size_t  bfr_size  )

inline

Read data.

Parameters

[in]	bfr	buffer to hold data.
[in]	bfr_size	size of data buffer.

Returns

number of bytes read.

Referenced by Sensors::ExplorerDVL::Task::readSample().

bool Sensors::ExplorerDVL::Driver::restartPinging ( void  )

inline

References startPinging(), and stopPinging().

Referenced by Sensors::ExplorerDVL::Task::onMain().

bool Sensors::ExplorerDVL::Driver::setBottomTrackPingsPerEnsemble ( unsigned  value )

inline

Set the number of bottom-track pings to average together in each data ensemble.

Parameters

[in]

number

of pings.

Returns

true if command succeeded, false otherwise.

Referenced by Sensors::ExplorerDVL::Task::setup().

bool Sensors::ExplorerDVL::Driver::setDataFormat ( unsigned  value )

inline

Set data format number.

Parameters

[in]

value

data format number.

Returns

true if command succeeded, false otherwise.

Referenced by Sensors::ExplorerDVL::Task::setup().

bool Sensors::ExplorerDVL::Driver::setDepthCells ( uint8_t  number )

inline

Set number of depth cells.

Parameters

[in]

number

number of depth cells.

Returns

true if command succeeded, false otherwise.

bool Sensors::ExplorerDVL::Driver::setEarthCoordinates ( void  )

inline

Referenced by Sensors::ExplorerDVL::Task::setup().

bool Sensors::ExplorerDVL::Driver::setHeadingAlignment ( double  angle )

inline

Set heading alignment.

Parameters

[in]

angle

alignment angle in degree.

Returns

true if command succeeded, false otherwise.

Referenced by Sensors::ExplorerDVL::Task::setup().

bool Sensors::ExplorerDVL::Driver::setInputTriggerEnable ( InputTriggerBehaviour  behaviour, uint16_t  delay, uint16_t  timeout = 65535  )

inline

Referenced by Sensors::ExplorerDVL::Task::setInputTrigger().

bool Sensors::ExplorerDVL::Driver::setManualSensorSource ( void  )

inline

Set the source of environmental sensor data to manual.

This is useful when the DVL doesn't have any installed optional sensors.

Returns

true if command succeeded, false otherwise.

Referenced by Sensors::ExplorerDVL::Task::setup().

bool Sensors::ExplorerDVL::Driver::setMaximumTrackingDepth ( unsigned  value )

inline

Set maximum tracking depth.

Parameters

[in]

value

maximum tracking depth in meter.

Returns

true if command succeeded, false otherwise.

Referenced by Sensors::ExplorerDVL::Task::setup().

bool Sensors::ExplorerDVL::Driver::setSoundSpeed ( unsigned  value )

inline

Set speed of sound.

Parameters

[in]

value

speed of sound in m/s.

Returns

true if command succeeded, false otherwise.

Referenced by Sensors::ExplorerDVL::Task::setup().

void Sensors::ExplorerDVL::Driver::setTimeout ( double  timeout )

inline

Set the number of seconds to wait for a reply.

Parameters

[in]

timeout

number of seconds to wait for a reply.

Referenced by Sensors::ExplorerDVL::Task::setup().

bool Sensors::ExplorerDVL::Driver::setTurnKey ( bool  value )

inline

Enable/disable automatic pinging.

Parameters

[in]

value

true to enable, false to disable automatic pinging.

Returns

true if command succeeded, false otherwise.

Referenced by Sensors::ExplorerDVL::Task::setup().

bool Sensors::ExplorerDVL::Driver::startPinging ( void  )

inline

Start pinging and collecting data.

Returns

true if command succeeded, false otherwise.

Referenced by Sensors::ExplorerDVL::Task::configureInputTrigger(), restartPinging(), and Sensors::ExplorerDVL::Task::setup().

bool Sensors::ExplorerDVL::Driver::stopPinging ( void  )

inline

Stop pinging and enter command mode.

Returns

true if command succeeded, false otherwise.

Referenced by Sensors::ExplorerDVL::Task::configureInputTrigger(), restartPinging(), and Sensors::ExplorerDVL::Task::setup().

Collaboration diagram for Sensors::ExplorerDVL::Driver: