DUNE: Uniform Navigational Environment  2016.05.0
Sensors::Klein3500 Namespace Reference

Detailed Description

Device driver for Klein's UUV3500 sidescan.

This driver was designed to configure the sidescan to record data files to an NFS mount.

Classes

class  CommandLink
 
class  Packet
 
class  Parser
 
struct  Arguments
 
struct  Task
 

Enumerations

enum  HeaderType { HT_LF, HT_HF }
 
enum  ConfigBit {
  CFG_CHAN1, CFG_CHAN2, CFG_CHAN3, CFG_CHAN4,
  CFG_BT, CFG_MASTER
}
 
enum  PingType { PT_LF, PT_HF, PT_BT }
 
enum  GetDataPageOutcome { GDPS_SUCCESS, GDPS_NO_DATA, GDPS_ERROR_OLD, GDPS_ERROR_VERSION }
 
enum  Commands {
  CMD_START_SLAVE, CMD_END_SLAVE, CMD_OPEN_SONAR, CMD_CLOSE_SONAR,
  CMD_SET_RANGE, CMD_GET_RANGE, CMD_SET_SSOUND, CMD_SET_RES_MODE,
  CMD_SEND_FISH_CMD, CMD_SET_STAND_BY, CMD_SET_TIME, CMD_SET_DESP_SW,
  CMD_INQ_CAPS, CMD_GET_DATA_PAGE2, CMD_SET_FRAME_MODE, CMD_SET_RECORDING_MODE,
  CMD_SET_FILE_PATH, CMD_SET_FILE_FORMAT, CMD_SET_PINGS_PER_FILE, CMD_SET_NEW_FILE,
  CMD_SET_FILE_PREFIX, CMD_UNMOUNT_NFS
}
 
enum  FramingMode { FM_LFSS, FM_HFSS, FM_LFSS_HFSS }
 
enum  Offset {
  OFS_PAGE_VERSION, OFS_CONFIG, OFS_PING_NUMBER, OFS_NUM_SAMPLES,
  OFS_BEAMS_TO_DISPLAY, OFS_ERROR_FLAGS, OFS_RANGE, OFS_SPEED_FISH,
  OFS_SPEED_SOUND, OFS_PING_INTERVAL
}
 
enum  StateMachineStates {
  SM_IDLE, SM_ACT_BEGIN, SM_ACT_POWER_ON, SM_ACT_POWER_WAIT,
  SM_ACT_SS_WAIT, SM_ACT_LOG_REQUEST, SM_ACT_LOG_WAIT, SM_ACT_DONE,
  SM_ACT_SAMPLE, SM_DEACT_BEGIN, SM_DEACT_DISCONNECT, SM_DEACT_POWER_OFF,
  SM_DEACT_POWER_WAIT, SM_DEACT_DONE
}
 

Enumeration Type Documentation

Sidescan commands.

Enumerator
CMD_START_SLAVE 

Start slave connection.

CMD_END_SLAVE 

End slave connection.

CMD_OPEN_SONAR 

Open connection to sonar.

CMD_CLOSE_SONAR 

Close connection to sonar.

CMD_SET_RANGE 

Set range.

CMD_GET_RANGE 

Get range.

CMD_SET_SSOUND 

Get speed of sound.

CMD_SET_RES_MODE 

Resolution mode.

CMD_SEND_FISH_CMD 

Send fish command.

CMD_SET_STAND_BY 

Set standby mode.

CMD_SET_TIME 

Set date/time.

CMD_SET_DESP_SW 

Set despeckle switch.

CMD_INQ_CAPS 

Inquire sonar capabilities.

CMD_GET_DATA_PAGE2 

Get data page.

CMD_SET_FRAME_MODE 

Set framing mode.

CMD_SET_RECORDING_MODE 

Set recording mode.

CMD_SET_FILE_PATH 

Set recording file path.

CMD_SET_FILE_FORMAT 

Set recording file format.

CMD_SET_PINGS_PER_FILE 

Set number of pings per recorded file.

CMD_SET_NEW_FILE 
CMD_SET_FILE_PREFIX 

Set recording file prefix.

CMD_UNMOUNT_NFS 

Unmount NFS device.

Configuration bits.

Enumerator
CFG_CHAN1 

Low-frequency port channel.

CFG_CHAN2 

Low-frequency starboard channel.

CFG_CHAN3 

High-frequency port channel.

CFG_CHAN4 

High-frequency starboard channel.

CFG_BT 

Bathymetry channel.

CFG_MASTER 

Master fish control.

Framing mode.

Enumerator
FM_LFSS 

Low-frequency sidescan.

FM_HFSS 

High-frequency sidescan.

FM_LFSS_HFSS 

Low-frequency and high-frequency sidescan.

Possible outcomes when getting data pages.

Enumerator
GDPS_SUCCESS 

Server reported page returned successfully.

GDPS_NO_DATA 

Server reported no data page available/ready yet.

GDPS_ERROR_OLD 

Server reported data page no longer available.

GDPS_ERROR_VERSION 

Server reported invalid page version.

Header types.

Enumerator
HT_LF 

UUV 3500 Low-frequency.

HT_HF 

UUV 3500 High-frequency.

Enumerator
OFS_PAGE_VERSION 
OFS_CONFIG 
OFS_PING_NUMBER 
OFS_NUM_SAMPLES 
OFS_BEAMS_TO_DISPLAY 
OFS_ERROR_FLAGS 
OFS_RANGE 
OFS_SPEED_FISH 
OFS_SPEED_SOUND 
OFS_PING_INTERVAL 

Ping types.

Enumerator
PT_LF 

Low-frequency sidescan.

PT_HF 

High-frequency sidescan.

PT_BT 

Bathymetric raw data.

Finite state machine states.

Enumerator
SM_IDLE 

Waiting for activation.

SM_ACT_BEGIN 

Start activation sequence.

SM_ACT_POWER_ON 

Turn power on.

SM_ACT_POWER_WAIT 

Wait for power to be turned on.

SM_ACT_SS_WAIT 

Wait for device to become available.

SM_ACT_LOG_REQUEST 

Request log file.

SM_ACT_LOG_WAIT 

Wait for log file.

SM_ACT_DONE 

Activation sequence is complete.

SM_ACT_SAMPLE 

Sampling.

SM_DEACT_BEGIN 

Start deactivation sequence.

SM_DEACT_DISCONNECT 

Disconnect from sidescan.

SM_DEACT_POWER_OFF 

Switch power off.

SM_DEACT_POWER_WAIT 

Wait for power to be turned off.

SM_DEACT_DONE 

Deactivation sequence is complete.