Allows accessing the HTTP/JSON interface of the Pepperl+Fuchs Laserscanner R2000. More...

#include <http_command_interface.h>

Public Member Functions
std::string	discoverLocalIP ()
bool	feedWatchdog (const std::string &handle)
	Feed the watchdog to keep the handle alive.
const std::string &	getHttpHost () const
	Get the HTTP hostname/IP of the scanner.
boost::optional< std::string >	getParameter (const std::string name)
std::vector< std::string >	getParameterList ()
std::map< std::string, std::string >	getParameters (const std::vector< std::string > &names)
boost::optional< ProtocolInfo >	getProtocolInfo ()
	HttpCommandInterface (const std::string &http_host, int http_port=80)
bool	rebootDevice ()
	Reboot laserscanner.
bool	releaseHandle (const std::string &handle)
	Release handle.
boost::optional< HandleInfo >	requestHandleTCP (int start_angle=-1800000)
boost::optional< HandleInfo >	requestHandleUDP (int port, std::string hostname=std::string(""), int start_angle=-1800000)
bool	resetParameters (const std::vector< std::string > &names)
bool	setParameter (const std::string name, const std::string value)
bool	startScanOutput (const std::string &handle)
	Initiate output of scan data.
bool	stopScanOutput (const std::string &handle)
	Terminate output of scan data.
Private Member Functions
bool	checkErrorCode ()
int	httpGet (const std::string request_path, std::string &header, std::string &content)
bool	sendHttpCommand (const std::string cmd, const std::map< std::string, std::string > param_values)
bool	sendHttpCommand (const std::string cmd, const std::string param="", const std::string value="")
Private Attributes
std::string	http_host_
	Scanner IP.
int	http_port_
	Port of HTTP-Interface.
int	http_status_code_
	HTTP-Status code of last request.
boost::property_tree::ptree	pt_
	Returned JSON as property_tree.

Detailed Description

Allows accessing the HTTP/JSON interface of the Pepperl+Fuchs Laserscanner R2000.

Definition at line 22 of file http_command_interface.h.

Constructor & Destructor Documentation

pepperl_fuchs::HttpCommandInterface::HttpCommandInterface	(	const std::string &	http_host,
		int	http_port = `80`
	)

Setup a new HTTP command interface

Parameters:

http_ip	IP or DNS name of sensor
http_port	HTTP/TCP port of sensor

Definition at line 19 of file http_command_interface.cpp.

Member Function Documentation

bool pepperl_fuchs::HttpCommandInterface::checkErrorCode ( ) [private]

Check the error code and text of the returned JSON by the last request

Returns:: False in case of an error, True otherwise

Definition at line 207 of file http_command_interface.cpp.

std::string pepperl_fuchs::HttpCommandInterface::discoverLocalIP ( )

Discovers the local IP of the NIC which talks to the laser range finder

Returns:: The local IP as a string, an empty string otherwise

Definition at line 397 of file http_command_interface.cpp.

bool pepperl_fuchs::HttpCommandInterface::feedWatchdog ( const std::string & handle )

Feed the watchdog to keep the handle alive.

Definition at line 366 of file http_command_interface.cpp.

const std::string& pepperl_fuchs::HttpCommandInterface::getHttpHost ( ) const [inline]

Get the HTTP hostname/IP of the scanner.

Definition at line 31 of file http_command_interface.h.

boost::optional< std::string > pepperl_fuchs::HttpCommandInterface::getParameter ( const std::string name )

Get sensor parameter

Parameters:

name	Parameter name

Returns:: Optional string value with value of given parameter name

Definition at line 172 of file http_command_interface.cpp.

std::vector< std::string > pepperl_fuchs::HttpCommandInterface::getParameterList ( )

List available ro/rw parameters

Returns:: A vector with the names of all available parameters

Definition at line 253 of file http_command_interface.cpp.

std::map< std::string, std::string > pepperl_fuchs::HttpCommandInterface::getParameters ( const std::vector< std::string > & names )

Get multiple sensor parameters

Parameters:

names Parameter names

Returns:: vector with string values with the values of the given parameter names

Definition at line 180 of file http_command_interface.cpp.

boost::optional< ProtocolInfo > pepperl_fuchs::HttpCommandInterface::getProtocolInfo ( )

Get protocol info (protocol_name, version, commands)

Returns:: A struct with the requested data

Definition at line 222 of file http_command_interface.cpp.

int pepperl_fuchs::HttpCommandInterface::httpGet	(	const std::string	request_path,
		std::string &	header,
		std::string &	content
	)		`[private]`

Send a HTTP-GET request to http_ip_ at http_port_

Parameters:

requestStr	The last part of an URL with a slash leading
header	The response header returned as std::string, empty string in case of an error
content	The response content returned as std::string, empty string in case of an error

Returns:: The HTTP status code or 0 in case of an error

Definition at line 27 of file http_command_interface.cpp.

bool pepperl_fuchs::HttpCommandInterface::rebootDevice ( )

Reboot laserscanner.

Definition at line 374 of file http_command_interface.cpp.

bool pepperl_fuchs::HttpCommandInterface::releaseHandle ( const std::string & handle )

Release handle.

Definition at line 343 of file http_command_interface.cpp.

boost::optional< HandleInfo > pepperl_fuchs::HttpCommandInterface::requestHandleTCP ( int start_angle = -1800000 )

Request TCP handle

Parameters:

start_angle Set start angle for scans in the range [0,3600000] (1/10000°)

Returns:: A valid HandleInfo on success, an empty boost::optional<HandleInfo> container otherwise

Definition at line 278 of file http_command_interface.cpp.

boost::optional< HandleInfo > pepperl_fuchs::HttpCommandInterface::requestHandleUDP	(	int	port,
		std::string	hostname = `std::string("")`,
		int	start_angle = `-1800000`
	)

Request UDP handle

Parameters:

port	Set UDP port where scanner data should be sent to
hostname	Optional: Set hostname/IP where scanner data should be sent to, local IP is determined automatically if not specified
start_angle	Optional: Set start angle for scans in the range [0,3600000] (1/10000°), defaults to -1800000

Returns:: A valid HandleInfo on success, an empty boost::optional<HandleInfo> container otherwise

Definition at line 309 of file http_command_interface.cpp.

bool pepperl_fuchs::HttpCommandInterface::resetParameters ( const std::vector< std::string > & names )

Reset laserscanner parameters to factory default

Parameters:

names Names of parameters to reset

Definition at line 382 of file http_command_interface.cpp.

bool pepperl_fuchs::HttpCommandInterface::sendHttpCommand	(	const std::string	cmd,
		const std::map< std::string, std::string >	param_values
	)		`[private]`

Send a sensor specific HTTP-Command

Parameters:

cmd	command name
keys_values	parameter->value map, which is encoded in the GET-request: ?p1=v1&p2=v2

Definition at line 124 of file http_command_interface.cpp.

bool pepperl_fuchs::HttpCommandInterface::sendHttpCommand	(	const std::string	cmd,
		const std::string	param = `""`,
		const std::string	value = `""`
	)		`[private]`

Send a sensor specific HTTP-Command with a single parameter

Parameters:

cmd	Command name
param	Parameter
value	Value

Definition at line 157 of file http_command_interface.cpp.

bool pepperl_fuchs::HttpCommandInterface::setParameter	(	const std::string	name,
		const std::string	value
	)

Set sensor parameter

Parameters:

name	Name
value	Value

Returns:: True on success, false otherwise

Definition at line 166 of file http_command_interface.cpp.

bool pepperl_fuchs::HttpCommandInterface::startScanOutput ( const std::string & handle )

Initiate output of scan data.

Definition at line 351 of file http_command_interface.cpp.

bool pepperl_fuchs::HttpCommandInterface::stopScanOutput ( const std::string & handle )

Terminate output of scan data.

Definition at line 359 of file http_command_interface.cpp.

Member Data Documentation

std::string pepperl_fuchs::HttpCommandInterface::http_host_ [private]

Scanner IP.

Definition at line 117 of file http_command_interface.h.

int pepperl_fuchs::HttpCommandInterface::http_port_ [private]

Port of HTTP-Interface.

Definition at line 120 of file http_command_interface.h.

int pepperl_fuchs::HttpCommandInterface::http_status_code_ [private]

HTTP-Status code of last request.

Definition at line 126 of file http_command_interface.h.

boost::property_tree::ptree pepperl_fuchs::HttpCommandInterface::pt_ [private]

Returned JSON as property_tree.

Definition at line 123 of file http_command_interface.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation