sea_net::Echosounder Class Reference

#include <SeaNetEchosounder.hpp>

Inheritance diagram for sea_net::Echosounder:

Public Member Functions
	Echosounder ()
	~Echosounder ()
void	openSerial (std::string const &port, int baudrate=115200)
bool	getDistance (base::samples::RigidBodyState &state, int timeout)

Protected Member Functions
virtual int	extractPacket (uint8_t const *buffer, size_t buffer_size) const

Protected Attributes
uint8_t	buffer [50]

Constructor & Destructor Documentation

Echosounder()

sea_net::Echosounder::Echosounder

(

)

~Echosounder()

sea_net::Echosounder::~Echosounder

(

)

Member Function Documentation

extractPacket()

int sea_net::Echosounder::extractPacket ( uint8_t const *  buffer, size_t  buffer_size  ) const

protectedvirtual

getDistance()

bool sea_net::Echosounder::getDistance	(	base::samples::RigidBodyState &	state,
		int	timeout
	)

Reads one packat from the input buffer and returns its type. Use getAuxData, getVersion ... depending on the returned type to get the content of the package

openSerial()

void sea_net::Echosounder::openSerial	(	std::string const &	port,
		int	baudrate = 115200
	)

Opens a serial port and sets it up to a sane configuration.

Throws UnixError on error

Member Data Documentation

buffer

uint8_t sea_net::Echosounder::buffer[50]

protected

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

• /build/rock-master-18.09-drivers-sonar-tritech-0.20170427/src/SeaNetEchosounder.hpp
• /build/rock-master-18.09-drivers-sonar-tritech-0.20170427/src/SeaNetEchosounder.cpp