MBeamHandler.hpp

Go to the documentation of this file.

#ifndef _MBEAM_IMAGENEX_MBEAMHANDLER_HPP_
#define _MBEAM_IMAGENEX_MBEAMHANDLER_HPP_

#include <iostream>
#include <iodrivers_base/Driver.hpp>
#include "base/samples/SonarScan.hpp"
#include "Config.hpp"
#include "MBeamRaw.hpp"

namespace mbeam_imagenex
{
        class MBeamHandler : public iodrivers_base::Driver
        {
         public: 
          MBeamHandler(const Config& config = Config(), int max_packet_size = MBEAM_MAX_REPL_LENGTH, bool extract_last = false);
          void sendExtCmd();
          void setGain(const int& gain);
          void setRange(const int& range);
          base::samples::SonarScan getData() const;
         protected:
           Config mConfig;
           base::samples::SonarScan mSonarScan;
           virtual void parseReply(const std::vector<uint8_t>* buffer);
        };

} 

#endif