gemini_sonar_driver::GeminiSonarNode Class Reference

Main driver node for Tritech Gemini 1200ikd multibeam sonar. More...

#include <gemini_sonar_node.hpp>

Inheritance diagram for gemini_sonar_driver::GeminiSonarNode:

Collaboration diagram for gemini_sonar_driver::GeminiSonarNode:

Classes
struct	Parameters
	Sonar configuration parameters. More...
struct	Publishers
	ROS2 publishers. More...
struct	Services
	ROS2 services. More...

Public Member Functions
	GeminiSonarNode ()
	~GeminiSonarNode ()

Protected Member Functions
void	handleStartSonar (const std::shared_ptr< gemini_sonar_driver_interfaces::srv::StartSonar::Request > request, std::shared_ptr< gemini_sonar_driver_interfaces::srv::StartSonar::Response > response)
	Service callback to start the sonar.
void	handleStopSonar (const std::shared_ptr< gemini_sonar_driver_interfaces::srv::StopSonar::Request > request, std::shared_ptr< gemini_sonar_driver_interfaces::srv::StopSonar::Response > response)
	Service callback to stop the sonar.
void	handleSvs5Message (unsigned int messageType, unsigned int size, const char *const value)
	Instance method to handle Svs5 messages.
void	processGeminiStatus (const GLF::GeminiStatusRecord *pStatus)
	Process GLF status messages.
void	processGLFImage (const GLF::GLogTargetImage &image)
	Process GLF sonar image data.
void	processLoggerRecUpdate (const GLF::SOutputFileInfo *loggerInfo)
	Process logger recording update messages.
bool	initializeGeminiSDK ()
	Initialize the Gemini SDK and configure sonar.
bool	configureSonar ()
	Configure sonar parameters via SDK.
bool	startPinging ()
	Start the sonar pinging.
bool	stopPinging ()
	Stop the sonar pinging.
void	startLogging (std::string log_directory)
	Start Gemini data logging (Native GLF format)
void	stopLogging ()
	Stop Gemini data logging (Native GLF format)
void	shutdownGeminiSDK ()
	Shutdown the Gemini SDK.
bool	waitForSonarDetection (int timeout_seconds)
	Wait for sonar to be detected on network.
void	setSdkParameter (SequencerApi::ESvs5ConfigType config_type, size_t size, const void *data, const std::string &param_name)
	Helper to set SDK configuration with error logging.

Static Protected Member Functions
static void	svs5DataCallback (unsigned int messageType, unsigned int size, const char *const value)
	Static callback function for Svs5Sequencer API This is called by the SDK when data is received.

Protected Attributes
Parameters	parameters_
Publishers	publishers_
Services	services_
std::atomic< bool >	sonar_streaming_ {false}
std::atomic< bool >	sdk_initialized_ {false}
std::atomic< bool >	sonar_detected_ {false}
	True if we've received any messages from sonar.
std::atomic< uint64_t >	last_message_time_ {0}
	Timestamp of last received message.
std::mutex	data_mutex_
std::vector< std::vector< uint8_t > >	current_ping_beams_
	Current ping beam data.
bool	ping_complete_ {false}
uint32_t	ping_number_ {0}
double	ping_time_ {0.0}
double	range_m_ {0.0}

Static Protected Attributes
static GeminiSonarNode *	instance_ = nullptr

Detailed Description

Main driver node for Tritech Gemini 1200ikd multibeam sonar.

This node interfaces with the Gemini SDK to:

• Configure sonar parameters via ROS2 parameters
• Start/stop sonar operation via ROS2 services
• Publish multibeam data using marine_acoustic_msgs (RawSonarImage, ProjectedSonarImage)
• Log data in native Gemini format alongside ROS2 bags

Constructor & Destructor Documentation

GeminiSonarNode()

GeminiSonarNode::GeminiSonarNode

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)

~GeminiSonarNode()

GeminiSonarNode::~GeminiSonarNode

(

)

Member Function Documentation

configureSonar()

bool GeminiSonarNode::configureSonar ( )

protected

Configure sonar parameters via SDK.

handleStartSonar()

void GeminiSonarNode::handleStartSonar ( const std::shared_ptr< gemini_sonar_driver_interfaces::srv::StartSonar::Request > request, std::shared_ptr< gemini_sonar_driver_interfaces::srv::StartSonar::Response > response )

protected

Service callback to start the sonar.

handleStopSonar()

void GeminiSonarNode::handleStopSonar ( const std::shared_ptr< gemini_sonar_driver_interfaces::srv::StopSonar::Request > request, std::shared_ptr< gemini_sonar_driver_interfaces::srv::StopSonar::Response > response )

protected

Service callback to stop the sonar.

handleSvs5Message()

void GeminiSonarNode::handleSvs5Message ( unsigned int messageType, unsigned int size, const char *const value )

protected

Instance method to handle Svs5 messages.

initializeGeminiSDK()

bool GeminiSonarNode::initializeGeminiSDK ( )

protected

Initialize the Gemini SDK and configure sonar.

processGeminiStatus()

void GeminiSonarNode::processGeminiStatus ( const GLF::GeminiStatusRecord * pStatus )

protected

Process GLF status messages.

processGLFImage()

void GeminiSonarNode::processGLFImage ( const GLF::GLogTargetImage & image )

protected

Process GLF sonar image data.

processLoggerRecUpdate()

void GeminiSonarNode::processLoggerRecUpdate ( const GLF::SOutputFileInfo * loggerInfo )

protected

Process logger recording update messages.

setSdkParameter()

void GeminiSonarNode::setSdkParameter ( SequencerApi::ESvs5ConfigType config_type, size_t size, const void * data, const std::string & param_name )

protected

Helper to set SDK configuration with error logging.

Parameters

config_type	The configuration type to set
size	Size of the configuration data
data	Pointer to configuration data
param_name	Human-readable parameter name for logging

shutdownGeminiSDK()

void GeminiSonarNode::shutdownGeminiSDK ( )

protected

Shutdown the Gemini SDK.

startLogging()

void GeminiSonarNode::startLogging ( std::string log_directory )

protected

Start Gemini data logging (Native GLF format)

startPinging()

bool GeminiSonarNode::startPinging ( )

protected

Start the sonar pinging.

stopLogging()

void GeminiSonarNode::stopLogging ( )

protected

Stop Gemini data logging (Native GLF format)

stopPinging()

bool GeminiSonarNode::stopPinging ( )

protected

Stop the sonar pinging.

svs5DataCallback()

static void gemini_sonar_driver::GeminiSonarNode::svs5DataCallback ( unsigned int messageType, unsigned int size, const char *const value )

staticprotected

Static callback function for Svs5Sequencer API This is called by the SDK when data is received.

waitForSonarDetection()

bool GeminiSonarNode::waitForSonarDetection ( int timeout_seconds )

protected

Wait for sonar to be detected on network.

Parameters

timeout_seconds

Maximum time to wait in seconds

Returns

true if sonar detected, false if timeout

Member Data Documentation

current_ping_beams_

std::vector<std::vector<uint8_t> > gemini_sonar_driver::GeminiSonarNode::current_ping_beams_

protected

Current ping beam data.

data_mutex_

std::mutex gemini_sonar_driver::GeminiSonarNode::data_mutex_

protected

instance_

NS_HEAD GeminiSonarNode * GeminiSonarNode::instance_ = nullptr

staticprotected

last_message_time_

std::atomic<uint64_t> gemini_sonar_driver::GeminiSonarNode::last_message_time_ {0}

protected

Timestamp of last received message.

parameters_

Parameters gemini_sonar_driver::GeminiSonarNode::parameters_

protected

ping_complete_

bool gemini_sonar_driver::GeminiSonarNode::ping_complete_ {false}

protected

ping_number_

uint32_t gemini_sonar_driver::GeminiSonarNode::ping_number_ {0}

protected

ping_time_

double gemini_sonar_driver::GeminiSonarNode::ping_time_ {0.0}

protected

publishers_

Publishers gemini_sonar_driver::GeminiSonarNode::publishers_

protected

range_m_

double gemini_sonar_driver::GeminiSonarNode::range_m_ {0.0}

protected

sdk_initialized_

std::atomic<bool> gemini_sonar_driver::GeminiSonarNode::sdk_initialized_ {false}

protected

services_

Services gemini_sonar_driver::GeminiSonarNode::services_

protected

sonar_detected_

std::atomic<bool> gemini_sonar_driver::GeminiSonarNode::sonar_detected_ {false}

protected

True if we've received any messages from sonar.

sonar_streaming_

std::atomic<bool> gemini_sonar_driver::GeminiSonarNode::sonar_streaming_ {false}

protected

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

• gemini_sonar_driver/include/gemini_sonar_driver/gemini_sonar_node.hpp
• gemini_sonar_driver/src/gemini_sonar_node.cpp