Program Listing for File sick_scan_services.h

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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
/*
 * @brief Implementation of ROS services for sick_scan
 *
 * Copyright (C) 2021, Ing.-Buero Dr. Michael Lehning, Hildesheim
 * Copyright (C) 2021, SICK AG, Waldkirch
 * All rights reserved.
 *
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
*       http://www.apache.org/licenses/LICENSE-2.0
*
*   Unless required by applicable law or agreed to in writing, software
*   distributed under the License is distributed on an "AS IS" BASIS,
*   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
*   See the License for the specific language governing permissions and
*   limitations under the License.
*
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
*     * Redistributions of source code must retain the above copyright
*       notice, this list of conditions and the following disclaimer.
*     * Redistributions in binary form must reproduce the above copyright
*       notice, this list of conditions and the following disclaimer in the
*       documentation and/or other materials provided with the distribution.
*     * Neither the name of Osnabrueck University nor the names of its
*       contributors may be used to endorse or promote products derived from
*       this software without specific prior written permission.
*     * Neither the name of SICK AG nor the names of its
*       contributors may be used to endorse or promote products derived from
*       this software without specific prior written permission
*     * Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its
*       contributors may be used to endorse or promote products derived from
*       this software without specific prior written permission
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
 *
 *  Created on: 12.01.2021
 *
 *      Authors:
 *         Michael Lehning <michael.lehning@lehning.de>
 *
 * Based on the TiM communication example by SICK AG.
 *
 */

#ifndef SICK_SCAN_SERVICES_H_
#define SICK_SCAN_SERVICES_H_

#include "sick_scan/sick_ros_wrapper.h"
#include "sick_scan/sick_scan_common.h"
#include "sick_scan/sick_scan_common_tcp.h"
#if defined SCANSEGMENT_XD_SUPPORT && SCANSEGMENT_XD_SUPPORT > 0
#include "sick_scansegment_xd/config.h"
#endif // SCANSEGMENT_XD_SUPPORT

namespace sick_scan_xd
{

  class SickScanServices
  {
  public:

    SickScanServices(rosNodePtr nh = 0, sick_scan_xd::SickScanCommonTcp* common_tcp = 0, ScannerBasicParam * lidar_param = 0);

    virtual ~SickScanServices();

    bool sendAuthorization();

    bool sendSopasCmdCheckResponse(const std::string& sopas_request, const std::string& expected_response);

    bool serviceCbColaMsg(sick_scan_srv::ColaMsgSrv::Request &service_request, sick_scan_srv::ColaMsgSrv::Response &service_response);
    bool serviceCbColaMsgROS2(std::shared_ptr<sick_scan_srv::ColaMsgSrv::Request> service_request, std::shared_ptr<sick_scan_srv::ColaMsgSrv::Response> service_response) { return serviceCbColaMsg(*service_request, *service_response); }

    bool serviceCbECRChangeArr(sick_scan_srv::ECRChangeArrSrv::Request &service_request, sick_scan_srv::ECRChangeArrSrv::Response &service_response);
    bool serviceCbECRChangeArrROS2(std::shared_ptr<sick_scan_srv::ECRChangeArrSrv::Request> service_request, std::shared_ptr<sick_scan_srv::ECRChangeArrSrv::Response> service_response) { return serviceCbECRChangeArr(*service_request, *service_response); }

    bool serviceCbGetContaminationResult(sick_scan_srv::GetContaminationResultSrv::Request &service_request, sick_scan_srv::GetContaminationResultSrv::Response &service_response);
    bool serviceCbGetContaminationResultROS2(std::shared_ptr<sick_scan_srv::GetContaminationResultSrv::Request> service_request, std::shared_ptr<sick_scan_srv::GetContaminationResultSrv::Response> service_response) { return serviceCbGetContaminationResult(*service_request, *service_response); }

    bool serviceCbLIDoutputstate(sick_scan_srv::LIDoutputstateSrv::Request &service_request, sick_scan_srv::LIDoutputstateSrv::Response &service_response);
    bool serviceCbLIDoutputstateROS2(std::shared_ptr<sick_scan_srv::LIDoutputstateSrv::Request> service_request, std::shared_ptr<sick_scan_srv::LIDoutputstateSrv::Response> service_response) { return serviceCbLIDoutputstate(*service_request, *service_response); }

    bool serviceCbSCdevicestate(sick_scan_srv::SCdevicestateSrv::Request &service_request, sick_scan_srv::SCdevicestateSrv::Response &service_response);
    bool serviceCbSCdevicestateROS2(std::shared_ptr<sick_scan_srv::SCdevicestateSrv::Request> service_request, std::shared_ptr<sick_scan_srv::SCdevicestateSrv::Response> service_response) { return serviceCbSCdevicestate(*service_request, *service_response); }

    bool serviceCbSCreboot(sick_scan_srv::SCrebootSrv::Request &service_request, sick_scan_srv::SCrebootSrv::Response &service_response);
    bool serviceCbSCrebootROS2(std::shared_ptr<sick_scan_srv::SCrebootSrv::Request> service_request, std::shared_ptr<sick_scan_srv::SCrebootSrv::Response> service_response) { return serviceCbSCreboot(*service_request, *service_response); }

    bool serviceCbSCsoftreset(sick_scan_srv::SCsoftresetSrv::Request &service_request, sick_scan_srv::SCsoftresetSrv::Response &service_response);
    bool serviceCbSCsoftresetROS2(std::shared_ptr<sick_scan_srv::SCsoftresetSrv::Request> service_request, std::shared_ptr<sick_scan_srv::SCsoftresetSrv::Response> service_response) { return serviceCbSCsoftreset(*service_request, *service_response); }

    bool serviceCbSickScanExit(sick_scan_srv::SickScanExitSrv::Request &service_request, sick_scan_srv::SickScanExitSrv::Response &service_response);
    bool serviceCbSickScanExitROS2(std::shared_ptr<sick_scan_srv::SickScanExitSrv::Request> service_request, std::shared_ptr<sick_scan_srv::SickScanExitSrv::Response> service_response) { return serviceCbSickScanExit(*service_request, *service_response); }

#if defined SCANSEGMENT_XD_SUPPORT && SCANSEGMENT_XD_SUPPORT > 0
    bool sendMultiScanStartCmd(const std::string& hostname, int port, const std::string& scanner_type, int scandataformat, bool imu_enable, int imu_udp_port, int performanceprofilenumber);

    bool sendMultiScanStopCmd(bool imu_enable);

    bool queryMultiScanFiltersettings(int& host_FREchoFilter, std::string& host_LFPangleRangeFilter, std::string& host_LFPlayerFilter, sick_scansegment_xd::MsgpackValidatorFilterConfig& msgpack_validator_filter_settings, const std::string& scanner_type);

    bool writeMultiScanFiltersettings(int host_FREchoFilter, const std::string& host_LFPangleRangeFilter, const std::string& host_LFPlayerFilter, const std::string& scanner_type);

#endif // defined SCANSEGMENT_XD_SUPPORT && SCANSEGMENT_XD_SUPPORT > 0

    static float convertHexStringToFloat(const std::string& hex_str, bool hexStrIsBigEndian);

    static std::string convertFloatToHexString(float value, bool hexStrIsBigEndian);

    static float convertHexStringToAngleDeg(const std::string& hex_str, bool hexStrIsBigEndian);

    static std::string convertAngleDegToHexString(float angle_deg, bool hexStrIsBigEndian);

  protected:

    bool sendRun();

    bool sendSopasAndCheckAnswer(const std::string& sopasCmd, std::vector<unsigned char>& sopasReplyBin, std::string& sopasReplyString);

    /*
     * Member data
     */

    bool m_cola_binary;
    sick_scan_xd::SickScanCommonTcp* m_common_tcp;
    std::string m_client_authorization_pw;
    rosServiceServer<sick_scan_srv::ColaMsgSrv> m_srv_server_ColaMsg;
    rosServiceServer<sick_scan_srv::ECRChangeArrSrv> m_srv_server_ECRChangeArr;
    rosServiceServer<sick_scan_srv::GetContaminationResultSrv> m_srv_server_GetContaminationResult;
    rosServiceServer<sick_scan_srv::LIDoutputstateSrv> m_srv_server_LIDoutputstate;
    rosServiceServer<sick_scan_srv::SCdevicestateSrv> m_srv_server_SCdevicestate;
    rosServiceServer<sick_scan_srv::SCrebootSrv> m_srv_server_SCreboot;
    rosServiceServer<sick_scan_srv::SCsoftresetSrv> m_srv_server_SCsoftreset;
    rosServiceServer<sick_scan_srv::SickScanExitSrv> m_srv_server_SickScanExit;

  }; /* class SickScanServices */

} /* namespace sick_scan_xd */
#endif /* SICK_SCAN_SERVICES_H_ */