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SeaTRAX User Manual Page 61

7.4.2 CommProtocol.h File

#pragma once

#include "SystemSerPort.h"

#include "Processes.h"

//CommHandler is a base class that provides a callback for

//incoming messages.

class CommHandler

{

public:

// Call back to be implemented in derived class.

virtual void HandleComm(UInt8 frameType, void * dataPtr =

NULL, UInt16 dataLen = 0) {}

};

// CommProtocol handles the actual serial communication with the //

module.

// Process is a base class that provides CommProtocol with

// cooperative parallel processing. The Control method will be

// called by a process manager on a continuous basis.

class CommProtocol : public Process

{

public:

enum

{

// Frame IDs (Commands)

kGetModInfo // 1

kGetModInfoResp, // 2

kSetDataComponents, // 3

kGetData, // 4

kGetDataResp, // 5

// Data Component IDs

kHeading = 5, // 5 - type Float32

kTemperature = 7, // 7 - type Float32

kAccelX = 21, // 21 - type Float32

kAccelY, // 22 - type Float32

kAccelZ, // 23 - type Float32

kPitch, // 24 - type Float32

kRoll, // 25 - type Float32

};

enum

{

kBufferSize = 512, // max size of input buffer

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Pni SeaTRAX Manuel d'utilisateur Page 66

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