#include <Driver.hpp>
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 | ( | ) |
Member Function Documentation
| 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)
| void Driver::read | ( | ) |
Read available packets on the I/O
| 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
| 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
| void Driver::setConfigurationMode | ( | ) |
Sets the device into configuration mode (and make it stop pinging)
| 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
| void Driver::setOutputConfiguration | ( | OutputConfiguration | conf | ) |
Configures the output coordinate system
| 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
