DUNE: Uniform Navigational Environment  2019.02.0
Sensors::Imagenex837B::ExternalControl Class Reference

Detailed Description

External control frame that allows direct control over DeltaT.exe or the Linux binary.

The binary then gets data from the sonar head and delivers beamformed results (83P file format which are Profile Points with intensity).

Public Types

enum  ExternalControlIndices {
  EC_RANGE, EC_GAIN, EC_DISPLAY_GAIN, EC_GAIN_EQ,
  EC_SECTOR_SIZE, EC_BEAM_WIDTH, EC_NUMBER_OF_BEAMS, EC_AVERAGE,
  EC_PERSISTANCE_HI, EC_PERSISTANCE_LO, EC_SOUND_VEL_HI, EC_SOUND_VEL_LO,
  EC_MODE, EC_OUTPUT, EC_PROFILE_POINT, EC_PROFILE_MIN,
  EC_PROFILE_LEVEL, EC_XDCR_UP, EC_TILT_ANGLE, EC_ROLL_COMPENSATED,
  EC_837_START, EC_CONTROL, EC_TRIGGER_DELAY_HI, EC_TRIGGER_DELAY_LO
}
 

Public Member Functions

 ExternalControl (void)
 
 ~ExternalControl (void)
 
uint8_t * getData (void)
 
size_t getSize (void)
 
void setRange (uint8_t range)
 
void setGain (uint8_t gain)
 
void setSoundVelocity (float speed)
 
void setDisplayMode (bool xdcr)
 
void setProfileTiltAngle (float angle)
 

Member Enumeration Documentation

Default indices for external control frames.

Enumerator
EC_RANGE 
EC_GAIN 
EC_DISPLAY_GAIN 
EC_GAIN_EQ 
EC_SECTOR_SIZE 
EC_BEAM_WIDTH 
EC_NUMBER_OF_BEAMS 
EC_AVERAGE 
EC_PERSISTANCE_HI 
EC_PERSISTANCE_LO 
EC_SOUND_VEL_HI 
EC_SOUND_VEL_LO 
EC_MODE 
EC_OUTPUT 
EC_PROFILE_POINT 
EC_PROFILE_MIN 
EC_PROFILE_LEVEL 
EC_XDCR_UP 
EC_TILT_ANGLE 
EC_ROLL_COMPENSATED 
EC_837_START 
EC_CONTROL 
EC_TRIGGER_DELAY_HI 
EC_TRIGGER_DELAY_LO 

Constructor & Destructor Documentation

Sensors::Imagenex837B::ExternalControl::~ExternalControl ( void  )
inline

Destructor.

Member Function Documentation

uint8_t* Sensors::Imagenex837B::ExternalControl::getData ( void  )
inline

Get frame start address.

Returns
pointer to address.

Referenced by Sensors::Imagenex837B::Task::sendExternalControl().

size_t Sensors::Imagenex837B::ExternalControl::getSize ( void  )
inline

Get size of frame.

Returns
size of external control frame.

Referenced by Sensors::Imagenex837B::Task::sendExternalControl().

void Sensors::Imagenex837B::ExternalControl::setDisplayMode ( bool  xdcr)
inline

Set display mode.

Parameters
[in]xdcrdisplay mode.

References EC_XDCR_UP.

Referenced by Sensors::Imagenex837B::Task::setNadirAngle().

void Sensors::Imagenex837B::ExternalControl::setGain ( uint8_t  gain)
inline

Set start gain.

Parameters
[in]gainstart gain.

References EC_GAIN.

Referenced by Sensors::Imagenex837B::Task::setStartGain().

void Sensors::Imagenex837B::ExternalControl::setProfileTiltAngle ( float  angle)
inline

Set profile tilt angle.

Parameters
[in]angleprofile tilt angle.

References EC_TILT_ANGLE.

Referenced by Sensors::Imagenex837B::Task::onUpdateParameters().

void Sensors::Imagenex837B::ExternalControl::setRange ( uint8_t  range)
inline

Set sonar range.

Parameters
[in]rangerange.

References EC_RANGE.

Referenced by Sensors::Imagenex837B::Task::setRange().

void Sensors::Imagenex837B::ExternalControl::setSoundVelocity ( float  speed)
inline

Set sound velocity.

Parameters
[in]speedsound velocity.

References EC_SOUND_VEL_HI, and EC_SOUND_VEL_LO.

Referenced by Sensors::Imagenex837B::Task::consume(), and ExternalControl().

Collaboration diagram for Sensors::Imagenex837B::ExternalControl:
Collaboration graph