Driver.hpp

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#ifndef DVL_TELEDYNE_DRIVER_HPP
#define DVL_TELEDYNE_DRIVER_HPP

#include <iodrivers_base/Driver.hpp>
#include <dvl_teledyne/PD0Parser.hpp>

namespace dvl_teledyne
{
    class Driver : public iodrivers_base::Driver, public PD0Parser
    {
        std::vector<uint8_t> buffer;
        int extractPacket (uint8_t const *buffer, size_t buffer_size) const;

        bool mConfMode;
        int mDesiredBaudrate;

        void setDeviceBaudrate(int rate);

    public:
        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));
    };
}

#endif