#include <Driver.hpp>

Inheritance diagram for dvl_teledyne::Driver:

Public Member Functions
	Driver ()

void	open (std::string const &uri)

void	setDesiredBaudrate (int rate)

void	setOutputConfiguration (OutputConfiguration conf)

void	sendConfigurationFile (std::string const &file_name)

void	setConfigurationMode ()

void	startAcquisition ()

void	read ()

void	readConfigurationAck (base::Time const &timeout=base::Time::fromSeconds(1))

Public Member Functions inherited from dvl_teledyne::PD0Parser
void	parseEnsemble (uint8_t const *data, size_t size)

Additional Inherited Members
Public Attributes inherited from dvl_teledyne::PD0Parser
DeviceInfo	deviceInfo

AcquisitionConfiguration	acqConf

OutputConfiguration	outputConf

Status	status

CellReadings	cellReadings

BottomTrackingConfiguration	bottomTrackingConf

BottomTracking	bottomTracking

Protected Member Functions inherited from dvl_teledyne::PD0Parser
int	extractPacket (uint8_t const *buffer, size_t size, size_t max_size=0) const

int	getSizeOfMessage (uint16_t msg_id) const

void	invalidateCellReadings ()

void	parseMessage (uint8_t const *buffer, size_t size)

void	parseFixedLeader (uint8_t const *buffer, size_t size)

void	parseVariableLeader (uint8_t const *buffer, size_t size)

void	parseQualityReadings (uint8_t const *buffer, size_t size)

void	parseCorrelationReadings (uint8_t const *buffer, size_t size)

void	parseIntensityReadings (uint8_t const *buffer, size_t size)

void	parseVelocityReadings (uint8_t const *buffer, size_t size)

void	parseBottomTrackingReadings (uint8_t const *buffer, size_t size)

Constructor & Destructor Documentation

◆ Driver()

Driver::Driver ( )

Member Function Documentation

◆ open()

void Driver::open ( std::string const & uri )

Tries to access the DVL at the provided URI

For now, only a serial port can be provided. It is assumed that the DVL is using 9600 bauds (the manufacturer's default)

◆ read()

void Driver::read ( )

Read available packets on the I/O

◆ readConfigurationAck()

void Driver::readConfigurationAck ( base::Time const & timeout = base::Time::fromSeconds(1) )

Verifies that the DVL acked a configuration command

Throws std::runtime_error if an error is reported by the device

◆ sendConfigurationFile()

void Driver::sendConfigurationFile ( std::string const & file_name )

Sends a text file that contains commands to the device

The device is guaranteed to be in configuration mode afterwards (regardless of whether the configuration file contains a CS command). Use startAcquisition() to put it in acquisition mode

◆ setConfigurationMode()

void Driver::setConfigurationMode ( )

Sets the device into configuration mode (and make it stop pinging)

◆ setDesiredBaudrate()

void Driver::setDesiredBaudrate ( int rate )

Once open using the baudrate specified in the URI, configures the device to output at a different baud rate, and modifies the driver's configuration accordingly

◆ setOutputConfiguration()

void Driver::setOutputConfiguration ( OutputConfiguration conf )

Configures the output coordinate system

◆ startAcquisition()

void Driver::startAcquisition ( )

Start acquisition

Since the driver relies on receiving PD0 message frames, this method requires the DVL to send into this format, and then starts pinging

The documentation for this class was generated from the following files:

/build/rock-master-18.09-drivers-dvl-teledyne-0.20160621/src/Driver.hpp
/build/rock-master-18.09-drivers-dvl-teledyne-0.20160621/src/Driver.cpp

Public Member Functions

Additional Inherited Members