PNI SeaTRAX - Manual (Page 73)

PNI Sensor Corporation DOC#1018154 r02
SeaTRAX User Manual Page 68
7.4.5 SeaTRAX.cpp File
#include "SeaTRAX.h"
#include "TickGenerator.h"
const UInt8 kDataCount = 4;
// We will be requesting 4 components (heading, pitch, roll, and
// temperature)
//
// This object polls the SeaTRAX module once a second for
// heading, pitch, roll and temperature.
//
SeaTRAX:: SeaTRAX(SerPort * serPort)
: Process("SeaTRAX")
{
// Let the CommProtocol know this object will handle any
// serial data returned by the module
mComm = new CommProtocol(this, serPort);
mTime = 0;
mStep = 1;
}
SeaTRAX::~ SeaTRAX()
{
}
//
// Called by the CommProtocol object when a frame is completely //
received
//
void SeaTRAX::HandleComm(UInt8 frameType, void * dataPtr, UInt16
dataLen)
{
UInt8 * data = (UInt8 *)dataPtr;
switch(frameType)
{
case CommProtocol::kGetDataResp:
{
// Parse the data response
UInt8 count = data[0];
// The number of data elements returned
UInt32 pntr = 1;
// Used to retrieve the returned elements
// The data elements we requested
Float32 heading, pitch, roll, temperature;
if(count != kDataCount)
{