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Add support for set_ntp_server#6

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lauralindzey wants to merge 5 commits into
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Add support for set_ntp_server#6
lauralindzey wants to merge 5 commits into
uri-ocean-robotics:masterfrom
lauralindzey:master

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@lauralindzey

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Hi @CaptKrasno -- we're using a Norbit on NUI, and I wound up needing to make some changes to the driver for it to work with our rather power-constrained ops:

  • We don't have it powered on ascent/descent, which means that if the fiber breaks the driver needs to set its NTP server automatically when we power on the multibeam, rather than via the Windows GUI. This was an annoying one to track down, and seems like a bug in the Norbit firmware. (WHY would you use only 0x0a for one message, but 0x0d 0x0a for the rest?!?)
  • We'll be power-cycling it a lot, so I tried to clean up the reconfiguration process (I'd been seeing some ugliness on the bench related to how connection timeout monitoring intersected with configuring the instrument.)

I'm also seeing some weirdness where it will spew hundreds of messages "Invalid version detected expected 4, got NNNN", while still seeming to parse the expected amount of data. tcpdump/wireshark wasn't illuminating (all the packets I captured from the sonar looked good, and there weren't any extras.) I may or may not take a closer look at that tomorrow.

For some reason, the instrument's response to set_ntp_server is only
terminated with \n, while all other responses to configuration
commands are terminated with \r\n.
Previously, the disconnectTimer would fire too early, causing a
messy startup sequence (as the first config attempt was often
interrupted.)
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