sea_net::SeaNet Class Reference

#include <SeaNet.hpp>

Inheritance diagram for sea_net::SeaNet:

Public Member Functions
	SeaNet (const DeviceType type)
	~SeaNet ()
void	openSerial (std::string const &port, int baudrate=115200)
void	openURI (std::string const &uri)
void	clear ()
void	reboot (int timeout)
PacketType	readPacket (int timeout)
void	waitForPacket (PacketType type, int timeout)
void	getVersion (VersionData &version, int timeout)
bool	isFullDuplex (int timeout)
bool	isFullDublex (int timeout)
void	setWriteTimeout (uint32_t timeout)
SeaNetPacket const &	getSeaNetPacket () const
void	requestData ()
bool	hasPendingData () const
void	receiveData (int timeout)

Protected Member Functions
void	writeHeadCommand (HeadCommand &hc, int timeout)
virtual int	extractPacket (uint8_t const *buffer, size_t buffer_size) const

Protected Attributes
SeaNetPacket	sea_net_packet
DeviceType	device_type
bool	has_pending_data

Constructor & Destructor Documentation

sea_net::SeaNet::SeaNet

(

const DeviceType

type

)

Base class for RS232 SeaNet devices The class has to be initialized with the right device type which is used as communictaion check

sea_net::SeaNet::~SeaNet

(

)

Member Function Documentation

void sea_net::SeaNet::clear

(

)

Overloaded from iodrivers_base::Driver

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

protectedvirtual

SeaNetPacket const & sea_net::SeaNet::getSeaNetPacket

(

)

const

Returns the structure holding the last received packet

void sea_net::SeaNet::getVersion	(	VersionData &	version,
		int	timeout
	)

extracts the software version of the device from a mtVersionData package

call this function if readPacket returns mtVersionData

bool sea_net::SeaNet::hasPendingData

(

)

const

Checks whether data has been requested but not received yet

Some operations (e.g. configure()) cannot be called if it is the case. For these operations, if you don't know whether data has been requested, you must check whether hasPendingData() returns true and call receiveData() first.

bool sea_net::SeaNet::isFullDublex

(

int

timeout

)

Deprecated:

use isFullDuplex instead

bool sea_net::SeaNet::isFullDuplex

(

int

timeout

)

Returns if the remote device is configured as full duplex or half duplex

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

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

Throws UnixError on error

void sea_net::SeaNet::openURI

(

std::string const &

uri

)

Overloaded from iodrivers_base::Driver

sea_net::PacketType sea_net::SeaNet::readPacket

(

int

timeout

)

Reads one packat from I/O and returns the packet type

The packet's content can be retrieved by the SeaNetPacket API on the value returned by getSeaNetPacket

Parameters

timeout

the timeout in milliseconds

Returns

the packet type

void sea_net::SeaNet::reboot

(

int

timeout

)

Reboots the Device and waits for a mtAlive package be careful this takes a while and even if you receive mtAlives the device my be in a state where it does not accept mtHeadCommands

void sea_net::SeaNet::receiveData

(

int

timeout

)

Wait for the beam data requested by requestData to be received

Parameters

timeout

the timeout in milliseconds

void sea_net::SeaNet::requestData

(

)

Request the sonar to acquire one beam

Calling this method will fail until the corresponding data packet has been received.

The timeout is the default write timeout

void sea_net::SeaNet::setWriteTimeout

(

uint32_t

timeout

)

void sea_net::SeaNet::waitForPacket	(	PacketType	type,
		int	timeout
	)

void sea_net::SeaNet::writeHeadCommand ( HeadCommand &  hc, int  timeout  )

protected

Member Data Documentation

DeviceType sea_net::SeaNet::device_type

protected

bool sea_net::SeaNet::has_pending_data

protected

SeaNetPacket sea_net::SeaNet::sea_net_packet

protected

---

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

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