Detailed Description

The overall architecture should give a good idea of how the driver is supposed to work. For more details we recommend taking a look at the source code itself:

For the ROS part we refer to psen_scan_v2::ROSScannerNodeT.
The referenced User API is implemented by psen_scan_v2_standalone::ScannerV2.
For the Scanner protocol layer please check psen_scan_v2_standalone::protocol_layer::ScannerStateMachine.
Data Serialization and Deserialization is for example handled in psen_scan_v2_standalone::data_conversion_layer::monitoring_frame::deserialize() or psen_scan_v2_standalone::data_conversion_layer::scanner_reply::serialize().
For the Primitive communication layer we recommend taking a look at psen_scan_v2_standalone::communication_layer::UdpClientImpl.

Workflow

To help understand the workflow the following sequence diagram shows the interaction between the software components in a typical use case scenario (User calls start, receives a laserscan and calls stop).

Sequence diagram showing the interaction between the software components