Sensors::Klein3500 Namespace Reference

Detailed Description

Device driver for Klein's UUV3500 sidescan.

This driver was designed to configure the sidescan to record data files to an NFS mount.

Classes
class	CommandLink
class	Packet
class	Parser
struct	Arguments
struct	Task

Enumerations
enum	HeaderType { HT_LF, HT_HF }
enum	ConfigBit {   CFG_CHAN1, CFG_CHAN2, CFG_CHAN3, CFG_CHAN4,   CFG_BT, CFG_MASTER }
enum	PingType { PT_LF, PT_HF, PT_BT }
enum	GetDataPageOutcome { GDPS_SUCCESS, GDPS_NO_DATA, GDPS_ERROR_OLD, GDPS_ERROR_VERSION }
enum	Commands {   CMD_START_SLAVE, CMD_END_SLAVE, CMD_OPEN_SONAR, CMD_CLOSE_SONAR,   CMD_SET_RANGE, CMD_GET_RANGE, CMD_SET_SSOUND, CMD_SET_RES_MODE,   CMD_SEND_FISH_CMD, CMD_SET_STAND_BY, CMD_SET_TIME, CMD_SET_DESP_SW,   CMD_INQ_CAPS, CMD_GET_DATA_PAGE2, CMD_SET_FRAME_MODE, CMD_SET_RECORDING_MODE,   CMD_SET_FILE_PATH, CMD_SET_FILE_FORMAT, CMD_SET_PINGS_PER_FILE, CMD_SET_NEW_FILE,   CMD_SET_FILE_PREFIX, CMD_UNMOUNT_NFS }
enum	FramingMode { FM_LFSS, FM_HFSS, FM_LFSS_HFSS }
enum	Offset {   OFS_PAGE_VERSION, OFS_CONFIG, OFS_PING_NUMBER, OFS_NUM_SAMPLES,   OFS_BEAMS_TO_DISPLAY, OFS_ERROR_FLAGS, OFS_RANGE, OFS_SPEED_FISH,   OFS_SPEED_SOUND, OFS_PING_INTERVAL }
enum	StateMachineStates {   SM_IDLE, SM_ACT_BEGIN, SM_ACT_POWER_ON, SM_ACT_POWER_WAIT,   SM_ACT_SS_WAIT, SM_ACT_LOG_REQUEST, SM_ACT_LOG_WAIT, SM_ACT_DONE,   SM_ACT_SAMPLE, SM_DEACT_BEGIN, SM_DEACT_DISCONNECT, SM_DEACT_POWER_OFF,   SM_DEACT_POWER_WAIT, SM_DEACT_DONE }

Enumeration Type Documentation

enum Sensors::Klein3500::Commands

Sidescan commands.

Enumerator
CMD_START_SLAVE	Start slave connection.
CMD_END_SLAVE	End slave connection.
CMD_OPEN_SONAR	Open connection to sonar.
CMD_CLOSE_SONAR	Close connection to sonar.
CMD_SET_RANGE	Set range.
CMD_GET_RANGE	Get range.
CMD_SET_SSOUND	Get speed of sound.
CMD_SET_RES_MODE	Resolution mode.
CMD_SEND_FISH_CMD	Send fish command.
CMD_SET_STAND_BY	Set standby mode.
CMD_SET_TIME	Set date/time.
CMD_SET_DESP_SW	Set despeckle switch.
CMD_INQ_CAPS	Inquire sonar capabilities.
CMD_GET_DATA_PAGE2	Get data page.
CMD_SET_FRAME_MODE	Set framing mode.
CMD_SET_RECORDING_MODE	Set recording mode.
CMD_SET_FILE_PATH	Set recording file path.
CMD_SET_FILE_FORMAT	Set recording file format.
CMD_SET_PINGS_PER_FILE	Set number of pings per recorded file.
CMD_SET_NEW_FILE
CMD_SET_FILE_PREFIX	Set recording file prefix.
CMD_UNMOUNT_NFS	Unmount NFS device.

enum Sensors::Klein3500::ConfigBit

Configuration bits.

Enumerator
CFG_CHAN1	Low-frequency port channel.
CFG_CHAN2	Low-frequency starboard channel.
CFG_CHAN3	High-frequency port channel.
CFG_CHAN4	High-frequency starboard channel.
CFG_BT	Bathymetry channel.
CFG_MASTER	Master fish control.

enum Sensors::Klein3500::FramingMode

Framing mode.

Enumerator
FM_LFSS	Low-frequency sidescan.
FM_HFSS	High-frequency sidescan.
FM_LFSS_HFSS	Low-frequency and high-frequency sidescan.

enum Sensors::Klein3500::GetDataPageOutcome

Possible outcomes when getting data pages.

Enumerator
GDPS_SUCCESS	Server reported page returned successfully.
GDPS_NO_DATA	Server reported no data page available/ready yet.
GDPS_ERROR_OLD	Server reported data page no longer available.
GDPS_ERROR_VERSION	Server reported invalid page version.

enum Sensors::Klein3500::HeaderType

Header types.

Enumerator
HT_LF	UUV 3500 Low-frequency.
HT_HF	UUV 3500 High-frequency.

enum Sensors::Klein3500::Offset

Enumerator
OFS_PAGE_VERSION
OFS_CONFIG
OFS_PING_NUMBER
OFS_NUM_SAMPLES
OFS_BEAMS_TO_DISPLAY
OFS_ERROR_FLAGS
OFS_RANGE
OFS_SPEED_FISH
OFS_SPEED_SOUND
OFS_PING_INTERVAL

enum Sensors::Klein3500::PingType

Ping types.

Enumerator
PT_LF	Low-frequency sidescan.
PT_HF	High-frequency sidescan.
PT_BT	Bathymetric raw data.

enum Sensors::Klein3500::StateMachineStates

Finite state machine states.

Enumerator
SM_IDLE	Waiting for activation.
SM_ACT_BEGIN	Start activation sequence.
SM_ACT_POWER_ON	Turn power on.
SM_ACT_POWER_WAIT	Wait for power to be turned on.
SM_ACT_SS_WAIT	Wait for device to become available.
SM_ACT_LOG_REQUEST	Request log file.
SM_ACT_LOG_WAIT	Wait for log file.
SM_ACT_DONE	Activation sequence is complete.
SM_ACT_SAMPLE	Sampling.
SM_DEACT_BEGIN	Start deactivation sequence.
SM_DEACT_DISCONNECT	Disconnect from sidescan.
SM_DEACT_POWER_OFF	Switch power off.
SM_DEACT_POWER_WAIT	Wait for power to be turned off.
SM_DEACT_DONE	Deactivation sequence is complete.