SeaNetEchosounder.hpp

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#ifndef _SEANETECHOSOUNDER_H_
#define _SEANETECHOSOUNDER_H_

#include <iodrivers_base/Driver.hpp>
#include <base/samples/RigidBodyState.hpp>

namespace sea_net {

class Echosounder : protected ::iodrivers_base::Driver
{
public:
        Echosounder();
        ~Echosounder();

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

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


protected:
        virtual int extractPacket(uint8_t const* buffer, size_t buffer_size) const;
        uint8_t buffer[50];

}; };
#endif