driver::dvl_driver::path_finder::Sender Class Reference

Handles TCP transmission of commands to the DVL. More...

#include <path_finder.hpp>

Public Member Functions
	Sender (const char *_address, const int _port, const int _timeout_ms=1000)
	Constructor for Sender.
	~Sender ()
	Destructor. Closes the socket.
ssize_t	read (unsigned char *buffer, size_t size)
	Read response from DVL after sending a command.
void	flush_buffer ()
	Clear socket buffer.
bool	send_cmd (const std::string &cmd, const uint &wait_time=0, bool newline=true)
	Send a generic string command to the DVL.
bool	send_break_cmd ()
	Send a Soft Break ("===") to wake up the DVL.
bool	send_ping_cmd ()
	Send the Start Pinging command ("CS").

Detailed Description

Handles TCP transmission of commands to the DVL.

Constructor & Destructor Documentation

Sender()

driver::dvl_driver::path_finder::Sender::Sender ( const char *  _address, const int  _port, const int  _timeout_ms = 1000  )

explicit

Constructor for Sender.

Parameters

_address	IP address of the DVL
_port	TCP port to connect to (usually 1033 for commands)
_timeout_ms	Socket timeout in milliseconds

~Sender()

driver::dvl_driver::path_finder::Sender::~Sender

(

)

Destructor. Closes the socket.

Member Function Documentation

flush_buffer()

void driver::dvl_driver::path_finder::Sender::flush_buffer

(

)

Clear socket buffer.

read()

ssize_t driver::dvl_driver::path_finder::Sender::read	(	unsigned char *	buffer,
		size_t	size
	)

Read response from DVL after sending a command.

Parameters

buffer	Destination buffer
size	Maximum size to read

Returns

Number of bytes read

send_break_cmd()

bool driver::dvl_driver::path_finder::Sender::send_break_cmd

(

)

Send a Soft Break ("===") to wake up the DVL.

Returns

true if sent successfully

send_cmd()

bool driver::dvl_driver::path_finder::Sender::send_cmd	(	const std::string &	cmd,
		const uint &	wait_time = 0,
		bool	newline = true
	)

Send a generic string command to the DVL.

Parameters

cmd	Command string (e.g., "CR1\r\n")
wait_time	Time to wait after sending (seconds)

Returns

true if sent successfully

send_ping_cmd()

bool driver::dvl_driver::path_finder::Sender::send_ping_cmd

(

)

Send the Start Pinging command ("CS").

Returns

true if sent successfully

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

• src/driver/dvl_driver/include/dvl_driver/path_finder.hpp
• src/driver/dvl_driver/src/path_finder.cpp