Micron.hpp

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#ifndef SONAR_DRIVER_TASK_HPP
#define SONAR_DRIVER_TASK_HPP

#include "sonar_tritech/SeaNetMicron.hpp"
#include "sonar_tritech/MicronBase.hpp"
#include <iodrivers_base/Timeout.hpp>

namespace sonar_tritech 
{
    class Micron : public MicronBase
    {
    protected:
        /* Dynamic Property setter of config
         */
        virtual bool setConfig(::sea_net::MicronConfig const & value);
    
    public:
        Micron(std::string const& name = "sonar_tritech::Micron");
        
        bool configureHook();

        bool startHook();

         void updateHook();

         void processIO();

         void processEchoSounderPacket();
        

        // void errorHook();

        void stopHook();

        void cleanupHook();

    private:
        sea_net::Micron micron;
        bool hasEchoSounderTimeout;
        iodrivers_base::Timeout timeoutEchoSounder;
        bool hasAcquisitionTimeout;
        iodrivers_base::Timeout timeoutAcquisition;

    };
}

#endif