Sensors::WaterLinkedDVL::Driver Class Reference

Public Member Functions
	Driver (Tasks::Task *task, IMC::Distance &alt_dvl, IMC::Distance &alt_flt)
void	setBeamFilter (Navigation::BeamFilter *beam_filter)
void	setIOHandle (IO::Handle *io, bool is_serial)
void	sendCommand (const std::string cmd, const std::string param_name="", const std::string param_value="")
bool	waitResponse (const std::string &cmd)
bool	readData ()
void	parseTCP (std::string &data)
uint8_t	getLastStatus ()
bool	getBottomLock ()
void	parseTCPReport (const nlohmann::json &msg)
void	parseTCPDeadReckoning (nlohmann::json &msg)
void	parseTCPConfig (const nlohmann::json &msg)
void	parseSerial (std::string &data)
void	checkFragment (std::vector< std::string > &list)
void	getConfig (void)
void	setAcoustics (const bool enable)
void	setSoundSpeed (double sound_speed)
void	setRange (const std::string spec)
void	setRotation (const double angle)
Configuration &	getLastConfig ()

Constructor & Destructor Documentation

Driver()

Sensors::WaterLinkedDVL::Driver::Driver ( Tasks::Task *  task, IMC::Distance &  alt_dvl, IMC::Distance &  alt_flt  )

inline

Member Function Documentation

checkFragment()

void Sensors::WaterLinkedDVL::Driver::checkFragment ( std::vector< std::string > &  list )

inline

Check for message fragments.

Parameters

[in]

list

message list.

Referenced by readData().

getBottomLock()

bool Sensors::WaterLinkedDVL::Driver::getBottomLock ( )

inline

getConfig()

void Sensors::WaterLinkedDVL::Driver::getConfig ( void  )

inline

Get device configuration.

References sendCommand().

Referenced by setAcoustics(), setRange(), setRotation(), and setSoundSpeed().

getLastConfig()

Configuration& Sensors::WaterLinkedDVL::Driver::getLastConfig ( )

inline

getLastStatus()

uint8_t Sensors::WaterLinkedDVL::Driver::getLastStatus ( )

inline

parseSerial()

void Sensors::WaterLinkedDVL::Driver::parseSerial ( std::string &  data )

inline

Parser to interpret incoming data through serial connection.

Parameters

[in]

data

JSON data string.

Referenced by readData().

parseTCP()

void Sensors::WaterLinkedDVL::Driver::parseTCP ( std::string &  data )

inline

Parser for incoming TPC data.

Parameters

[in]

data

JSON data string

References parseTCPConfig(), parseTCPDeadReckoning(), and parseTCPReport().

Referenced by readData().

parseTCPConfig()

void Sensors::WaterLinkedDVL::Driver::parseTCPConfig ( const nlohmann::json &  msg )

inline

Parse configuration response.

Parameters

[in]

msg

parsed JSON data.

References Sensors::WaterLinkedDVL::Configuration::acoustic_enabled, Sensors::WaterLinkedDVL::Configuration::dark_mode_enabled, Sensors::WaterLinkedDVL::Configuration::mounting_rotation_offset, Sensors::WaterLinkedDVL::Configuration::range_mode, and Sensors::WaterLinkedDVL::Configuration::speed_of_sound.

Referenced by parseTCP().

parseTCPDeadReckoning()

void Sensors::WaterLinkedDVL::Driver::parseTCPDeadReckoning ( nlohmann::json &  msg )

inline

Parse Dead Reckoning report.

Referenced by parseTCP().

parseTCPReport()

void Sensors::WaterLinkedDVL::Driver::parseTCPReport ( const nlohmann::json &  msg )

inline

Parse velocity-and-transducer report.

Parameters

[in]

msg

parsed JSON data.

Referenced by parseTCP().

readData()

bool Sensors::WaterLinkedDVL::Driver::readData ( )

inline

Read data from sensor.

Returns

true if data is read, false otherwise.

References checkFragment(), parseSerial(), and parseTCP().

Referenced by waitResponse().

sendCommand()

void Sensors::WaterLinkedDVL::Driver::sendCommand ( const std::string  cmd, const std::string  param_name = "", const std::string  param_value = ""  )

inline

Send command to device.

Parameters

[in]	cmd	command type.
[in]	param_name	parameter name, only used for "set_config" command. If empty only cmd is used.
[in]	param_value	parameter value, only used for "set_config" command. If empty only cmd is used.

References waitResponse().

Referenced by getConfig(), setAcoustics(), setRange(), setRotation(), and setSoundSpeed().

setAcoustics()

void Sensors::WaterLinkedDVL::Driver::setAcoustics ( const bool  enable )

inline

Enable or disable device acoustics.

Parameters

[in]

enable

true to enable, false to disable.

References Sensors::WaterLinkedDVL::Configuration::acoustic_enabled, getConfig(), and sendCommand().

setBeamFilter()

void Sensors::WaterLinkedDVL::Driver::setBeamFilter ( Navigation::BeamFilter *  beam_filter )

inline

setIOHandle()

void Sensors::WaterLinkedDVL::Driver::setIOHandle ( IO::Handle *  io, bool  is_serial  )

inline

setRange()

void Sensors::WaterLinkedDVL::Driver::setRange ( const std::string  spec )

inline

Set range mode.

Modes table: Mode Min alt (m) Max alt (m) 0 0.05 0.6 1 0.3 3.0 2 1.5 14 3 7.7 36 4 15 max

Parameters

[in]

spec

Range specifier option: auto - The DVL will search for bottom lock in it's full operational area (Default) =a - The DVL is locked to range mode a where a is a number from 0-4 a<=b - The DVL will search for bottom lock within range mode a and b

References getConfig(), Sensors::WaterLinkedDVL::Configuration::range_mode, and sendCommand().

setRotation()

void Sensors::WaterLinkedDVL::Driver::setRotation ( const double  angle )

inline

Set device rotation angle.

Parameters

[in]

angle

mounting rotation angle in degrees.

References getConfig(), Sensors::WaterLinkedDVL::Configuration::mounting_rotation_offset, and sendCommand().

setSoundSpeed()

void Sensors::WaterLinkedDVL::Driver::setSoundSpeed ( double  sound_speed )

inline

Enable or disable device acoustics.

Parameters

[in]

enable

true to enable, false to disable.

References getConfig(), sendCommand(), and Sensors::WaterLinkedDVL::Configuration::speed_of_sound.

waitResponse()

bool Sensors::WaterLinkedDVL::Driver::waitResponse ( const std::string &  cmd )

inline

Wait command response.

Returns

true if successful response, false otherwise

References readData().

Referenced by sendCommand().

Collaboration diagram for Sensors::WaterLinkedDVL::Driver: