Contains the data serialization and deserialization layer. More...

Namespaces
	monitoring_frame
	Namespace containing all things about the MonitoringFrame data strucure.

	raw_processing
	Contains functions, etc. needed to transform higher level data to raw data (sent to or received from scanner) or vice versa.

	scanner_reply
	Contains all things needed to define and implement a data_conversion_layer::scanner_reply::Message.

	start_request
	Contains all things needed to define and implement a data_conversion_layer::start_request::Message.

	stop_request
	Contains all things needed to define and implement a scanner stop request.

Classes
class	LaserScanConverter
	: Responsible for converting Monitoring frames into LaserScan messages. More...

class	ScannerProtocolViolationError
	: Exception thrown if data received from the scanner hardware could not be processed according to protocol. More...

Typedefs
using	RawData = std::vector< char >

using	RawDataConstPtr = std::shared_ptr< const RawData >

using	RawDataPtr = std::shared_ptr< RawData >

Functions
uint32_t	calculateCRC (const data_conversion_layer::RawData &data)

static constexpr double	degreeToRadian (const double &angle_in_degree)

static int16_t	degreeToTenthDegree (const double &angle_in_degree)

static std::vector< PinState >	generateChangedInputStates (const monitoring_frame::io::PinData &new_state, const monitoring_frame::io::PinData &old_state)

static std::vector< PinState >	generateChangedOutputStates (const monitoring_frame::io::PinData &new_state, const monitoring_frame::io::PinData &old_state)

static PinState	generateInputPinState (const monitoring_frame::io::PinData &pin_data, std::size_t byte_location, std::size_t bit_location)

static std::vector< PinState >	generateInputPinStates (const monitoring_frame::io::PinData &pin_data)

static PinState	generateOutputPinState (const monitoring_frame::io::PinData &pin_data, std::size_t byte_location, std::size_t bit_location)

static std::vector< PinState >	generateOutputPinStates (const monitoring_frame::io::PinData &pin_data)

uint8_t	getEnableByte (uint8_t nr_ubscribers)

static bool	isUsedInputBit (std::size_t byte_n, std::size_t bit_n)

static bool	isUsedOutputBit (std::size_t byte_n, std::size_t bit_n)

static constexpr double	radianToDegree (const double &angle_in_rad)

static int16_t	radToTenthDegree (const double &angle_in_rad)

static constexpr double	tenthDegreeToRad (const int16_t &angle_in_tenth_degree)

Variables
static constexpr std::size_t	MAX_UDP_PAKET_SIZE { 65507 }

Detailed Description

Contains the data serialization and deserialization layer.

Namespace defining all information/types needed to describe a monitoring frame.

The scanner splits up a full rotation in several parts and sends them in separate parts and sends them via UDP packages. Those parts are called monitoring frames.

Every single frame has to contain some general information about the scan in the fixed fields and can contain additional data like distances or intensities in additional fields.

See also: data_conversion_layer::monitoring_frame::FixedFields; data_conversion_layer::monitoring_frame::AdditionalFieldHeader; data_conversion_layer::monitoring_frame::AdditionalFieldHeaderID; protocol_layer::ScanValidator

Typedef Documentation

◆ RawData

using psen_scan_v2_standalone::data_conversion_layer::RawData = typedef std::vector<char>

Definition at line 25 of file raw_scanner_data.h.

◆ RawDataConstPtr

using psen_scan_v2_standalone::data_conversion_layer::RawDataConstPtr = typedef std::shared_ptr<const RawData>

Definition at line 28 of file raw_scanner_data.h.

◆ RawDataPtr

using psen_scan_v2_standalone::data_conversion_layer::RawDataPtr = typedef std::shared_ptr<RawData>

Definition at line 27 of file raw_scanner_data.h.

Function Documentation

◆ calculateCRC()

uint32_t psen_scan_v2_standalone::data_conversion_layer::calculateCRC ( const data_conversion_layer::RawData & data )

Definition at line 44 of file start_request_serialization.cpp.

◆ degreeToRadian()

static constexpr double psen_scan_v2_standalone::data_conversion_layer::degreeToRadian ( const double & angle_in_degree )

inlinestaticconstexpr

Definition at line 33 of file angle_conversions.h.

◆ degreeToTenthDegree()

static int16_t psen_scan_v2_standalone::data_conversion_layer::degreeToTenthDegree ( const double & angle_in_degree )

inlinestatic

Definition at line 38 of file angle_conversions.h.

◆ generateChangedInputStates()

static std::vector<PinState> psen_scan_v2_standalone::data_conversion_layer::generateChangedInputStates	(	const monitoring_frame::io::PinData &	new_state,
		const monitoring_frame::io::PinData &	old_state
	)

inlinestatic

Definition at line 90 of file io_state_conversions.h.

◆ generateChangedOutputStates()

static std::vector<PinState> psen_scan_v2_standalone::data_conversion_layer::generateChangedOutputStates	(	const monitoring_frame::io::PinData &	new_state,
		const monitoring_frame::io::PinData &	old_state
	)

inlinestatic

Definition at line 108 of file io_state_conversions.h.

◆ generateInputPinState()

static PinState psen_scan_v2_standalone::data_conversion_layer::generateInputPinState	(	const monitoring_frame::io::PinData &	pin_data,
		std::size_t	byte_location,
		std::size_t	bit_location
	)

inlinestatic

Definition at line 28 of file io_state_conversions.h.

◆ generateInputPinStates()

static std::vector<PinState> psen_scan_v2_standalone::data_conversion_layer::generateInputPinStates ( const monitoring_frame::io::PinData & pin_data )

inlinestatic

Definition at line 58 of file io_state_conversions.h.

◆ generateOutputPinState()

static PinState psen_scan_v2_standalone::data_conversion_layer::generateOutputPinState	(	const monitoring_frame::io::PinData &	pin_data,
		std::size_t	byte_location,
		std::size_t	bit_location
	)

inlinestatic

Definition at line 37 of file io_state_conversions.h.

◆ generateOutputPinStates()

static std::vector<PinState> psen_scan_v2_standalone::data_conversion_layer::generateOutputPinStates ( const monitoring_frame::io::PinData & pin_data )

inlinestatic

Definition at line 74 of file io_state_conversions.h.

◆ getEnableByte()

uint8_t psen_scan_v2_standalone::data_conversion_layer::getEnableByte ( uint8_t nr_ubscribers )

Definition at line 51 of file start_request_serialization.cpp.

◆ isUsedInputBit()

static bool psen_scan_v2_standalone::data_conversion_layer::isUsedInputBit	(	std::size_t	byte_n,
		std::size_t	bit_n
	)

inlinestatic

Definition at line 46 of file io_state_conversions.h.

◆ isUsedOutputBit()

static bool psen_scan_v2_standalone::data_conversion_layer::isUsedOutputBit	(	std::size_t	byte_n,
		std::size_t	bit_n
	)

inlinestatic

Definition at line 52 of file io_state_conversions.h.

◆ radianToDegree()

static constexpr double psen_scan_v2_standalone::data_conversion_layer::radianToDegree ( const double & angle_in_rad )

inlinestaticconstexpr

Definition at line 28 of file angle_conversions.h.

◆ radToTenthDegree()

static int16_t psen_scan_v2_standalone::data_conversion_layer::radToTenthDegree ( const double & angle_in_rad )

inlinestatic

Definition at line 51 of file angle_conversions.h.

◆ tenthDegreeToRad()

static constexpr double psen_scan_v2_standalone::data_conversion_layer::tenthDegreeToRad ( const int16_t & angle_in_tenth_degree )

inlinestaticconstexpr

Definition at line 56 of file angle_conversions.h.

Variable Documentation

◆ MAX_UDP_PAKET_SIZE

constexpr std::size_t psen_scan_v2_standalone::data_conversion_layer::MAX_UDP_PAKET_SIZE { 65507 }

staticconstexpr

Definition at line 26 of file raw_scanner_data.h.

Namespaces

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ RawData

◆ RawDataConstPtr

◆ RawDataPtr

Function Documentation

◆ calculateCRC()

◆ degreeToRadian()

◆ degreeToTenthDegree()

◆ generateChangedInputStates()

◆ generateChangedOutputStates()

◆ generateInputPinState()

◆ generateInputPinStates()

◆ generateOutputPinState()

◆ generateOutputPinStates()

◆ getEnableByte()

◆ isUsedInputBit()

◆ isUsedOutputBit()

◆ radianToDegree()

◆ radToTenthDegree()

◆ tenthDegreeToRad()

Variable Documentation

◆ MAX_UDP_PAKET_SIZE