Class SickScanCommon

Defined in File sick_scan_common.h

Nested Relationships

Nested Types

Struct SickScanCommon::ScanLayerFilterCfg

Inheritance Relationships

Derived Type

public sick_scan_xd::SickScanCommonTcp (Class SickScanCommonTcp)

Class Documentation

class SickScanCommon

Subclassed by sick_scan_xd::SickScanCommonTcp

Public Types

enum SOPAS_CMD

Values:

enumerator CMD_DEVICE_IDENT_LEGACY

enumerator CMD_DEVICE_IDENT

enumerator CMD_SERIAL_NUMBER

enumerator CMD_REBOOT

enumerator CMD_WRITE_EEPROM

enumerator CMD_FIRMWARE_VERSION

enumerator CMD_DEVICE_STATE

enumerator CMD_OPERATION_HOURS

enumerator CMD_POWER_ON_COUNT

enumerator CMD_LOCATION_NAME

enumerator CMD_ACTIVATE_STANDBY

enumerator CMD_SET_PARTICLE_FILTER

enumerator CMD_SET_MEAN_FILTER

enumerator CMD_SCAN_LAYER_FILTER

enumerator CMD_APPLICATION_MODE

enumerator CMD_APPLICATION_MODE_FIELD_ON

enumerator CMD_APPLICATION_MODE_FIELD_OFF

enumerator CMD_APPLICATION_MODE_RANGING_ON

enumerator CMD_READ_ACTIVE_APPLICATIONS

enumerator CMD_SET_ACCESS_MODE_3

enumerator CMD_SET_ACCESS_MODE_3_SAFETY_SCANNER

enumerator CMD_SET_OUTPUT_RANGES

enumerator CMD_SET_OUTPUT_RANGES_NAV3

enumerator CMD_GET_OUTPUT_RANGES

enumerator CMD_RUN

enumerator CMD_SET_PARTIAL_SCAN_CFG

enumerator CMD_GET_PARTIAL_SCAN_CFG

enumerator CMD_GET_PARTIAL_SCANDATA_CFG

enumerator CMD_SET_PARTIAL_SCANDATA_CFG

enumerator CMD_STOP_SCANDATA

enumerator CMD_START_SCANDATA

enumerator CMD_START_RADARDATA

enumerator CMD_ACTIVATE_NTP_CLIENT

enumerator CMD_SET_NTP_INTERFACE_ETH

enumerator CMD_SET_ENCODER_MODE

enumerator CMD_SET_ENCODER_MODE_NO

enumerator CMD_SET_ENCODER_MODE_SI

enumerator CMD_SET_ENCODER_MODE_DP

enumerator CMD_SET_ENCODER_MODE_DL

enumerator CMD_SET_ENCODER_MODE_FI

enumerator CMD_SET_INCREMENTSOURCE_ENC

enumerator CMD_SET_3_4_TO_ENCODER

enumerator CMD_SET_ENOCDER_RES_1

enumerator CMD_SET_ENCODER_RES

enumerator CMD_START_IMU_DATA

enumerator CMD_STOP_IMU_DATA

enumerator CMD_SET_TRANSMIT_RAWTARGETS_ON

enumerator CMD_SET_TRANSMIT_RAWTARGETS_OFF

enumerator CMD_SET_TRANSMIT_OBJECTS_ON

enumerator CMD_SET_TRANSMIT_OBJECTS_OFF

enumerator CMD_SET_TRACKING_MODE_0

enumerator CMD_SET_TRACKING_MODE_1

enumerator CMD_LOAD_APPLICATION_DEFAULT

enumerator CMD_DEVICE_TYPE

enumerator CMD_ORDER_NUMBER

enumerator CMD_START_MEASUREMENT

enumerator CMD_STOP_MEASUREMENT

enumerator CMD_SET_ECHO_FILTER

enumerator CMD_SET_NTP_UPDATETIME

enumerator CMD_SET_NTP_TIMEZONE

enumerator CMD_SET_IP_ADDR

enumerator CMD_SET_GATEWAY

enumerator CMD_SET_NTP_SERVER_IP_ADDR

enumerator CMD_SET_SCANDATACONFIGNAV

enumerator CMD_GET_SCANDATACONFIGNAV

enumerator CMD_SEN_SCANDATACONFIGNAV

enumerator CMD_GET_ANGLE_COMPENSATION_PARAM

enumerator CMD_SET_TO_COLA_A_PROTOCOL

enumerator CMD_SET_TO_COLA_B_PROTOCOL

enumerator CMD_GET_SAFTY_FIELD_CFG

enumerator CMD_SET_LFEREC_ACTIVE

enumerator CMD_SET_LID_OUTPUTSTATE_ACTIVE

enumerator CMD_SET_LID_INPUTSTATE_ACTIVE

enumerator CMD_SET_SCAN_CFG_LIST

enumerator CMD_SET_NAV_OPERATIONAL_MODE_0

enumerator CMD_SET_NAV_OPERATIONAL_MODE_1

enumerator CMD_SET_NAV_OPERATIONAL_MODE_2

enumerator CMD_SET_NAV_OPERATIONAL_MODE_3

enumerator CMD_SET_NAV_OPERATIONAL_MODE_4

enumerator CMD_SET_NAV_CURR_LAYER

enumerator CMD_SET_NAV_LANDMARK_DATA_FORMAT

enumerator CMD_SET_NAV_SCAN_DATA_FORMAT

enumerator CMD_SET_NAV_POSE_DATA_FORMAT

enumerator CMD_SET_NAV_MAP_CFG

enumerator CMD_SET_NAV_REFL_SIZE

enumerator CMD_SET_NAV_DO_MAPPING

enumerator CMD_SET_NAV_ADD_LANDMARK

enumerator CMD_SET_NAV_ERASE_LAYOUT

enumerator CMD_SET_NAV_STORE_LAYOUT

enumerator CMD_SET_NAV_POSE

enumerator CMD_SET_LFPMEANFILTER

enumerator CMD_SET_LFPMEDIANFILTER

enumerator CMD_SET_LMDSCANDATASCALEFACTOR

enumerator CMD_SET_GLARE_DETECTION_SENS

enumerator CMD_SET_SCAN_LAYER_FILTER

enumerator CMD_END

Public Functions

SickScanCommon(rosNodePtr nh, SickGenericParser *parser)

virtual ~SickScanCommon()

int setParticleFilter(bool _active, int _particleThreshold)

std::vector<std::string> generateExpectedAnswerString(const std::vector<unsigned char> &requestStr)

Changes the Identifier of a commandstr. to its expected answer counterpart

Parameters:: requestStr – sent request string
Returns:: Expected answer

std::vector<std::string> generateUnexpectedAnswerString(const std::string &requestStr)

Returns a list of unexpected lidar responses like “” for request “”

Parameters:: requestStr – sent request string
Returns:: Expected answer

virtual int convertSendSOPASCommand(const std::string &sopas_ascii_request, std::vector<unsigned char> *reply, bool wait_for_reply = true)

Converts a given SOPAS command from ascii to binary (in case of binary communication), sends sopas (ascii or binary) and returns the response (if wait_for_reply:=true)

Parameters:

request – [in] the command to send.
cmdLen – [in] Length of the Comandstring in bytes used for Binary Mode only

int sendSopasAndCheckAnswer(std::string request, std::vector<unsigned char> *reply, int cmdId)

int sendSopasAndCheckAnswer(std::vector<unsigned char> request, std::vector<unsigned char> *reply, int cmdId)

int sendSopasAorBgetAnswer(const std::string &request, std::vector<unsigned char> *reply, bool useBinaryCmd)

int get2ndSopasResponse(std::vector<uint8_t> &sopas_response, const std::string &sopas_keyword)

ExitCode checkColaTypeAndSwitchToConfigured(bool useBinaryCmd)

bool sendSopasRunSetAccessMode(bool useBinaryCmd)

int sendNAV350mNPOSGetData(void)

bool handleNAV350BinaryPositionData(const uint8_t *receiveBuffer, int receiveBufferLength, short &elevAngleX200, double &elevationAngleInRad, rosTime &recvTimeStamp, bool config_sw_pll_only_publish, double config_time_offset, SickGenericParser *parser_, int &numEchos, ros_sensor_msgs::LaserScan &msg, NAV350mNPOSData &navdata)

int setAligmentMode(int _AligmentMode)

int setMeanFilter(bool _active, int _numberOfScans)

int setApplicationMode(bool _active, int _mode)

int ActivateStandBy(void)

bool testSettingIpAddress()

bool testsetParticleFilter()

bool testsetMeanFilter()

bool testsetAligmentMode()

bool testsetActivateStandBy()

bool testsetApplicationMode()

int getReadTimeOutInMs()

void setReadTimeOutInMs(int timeOutInMs)

int getProtocolType(void)

void setProtocolType(SopasProtocol cola_dialect_id)

virtual int init(rosNodePtr nh)

int loopOnce(rosNodePtr nh)

void check_angle_range(SickScanConfig &conf)

void update_config(sick_scan_xd::SickScanConfig &new_config, uint32_t level = 0)

inline double get_expected_frequency() const

int convertAscii2BinaryCmd(const char *requestAscii, std::vector<unsigned char> *requestBinary)

void setLengthAndCRCinBinarySopasRequest(std::vector<uint8_t> *requestBinary)

int init_cmdTables(rosNodePtr nh)

virtual bool rebootScanner()

Send a SOPAS command to the scanner that should cause a soft reset.

Returns:: true if reboot command was accepted, false otherwise

bool changeIPandreboot(const std::string &IpAdress)

Send a SOPAS command to the scanner that logs in the authorized client, changes the ip address and the reboots the scanner.

Parameters:: IpAdress – new IP address
Returns:: true if ip was changed and scanner is rebooting

inline SickScanConfig *getConfigPtr()

inline ScannerBasicParam *getCurrentParamPtr()

std::string cmdSetAccessMode3(void)

inline std::string sopasReplyToString(const std::vector<unsigned char> &reply)

Converts reply from sendSOPASCommand to string.

Parameters:: reply – [in] reply from sendSOPASCommand
Returns:: reply as string with special characters stripped out

inline uint64_t getNanosecTimestampLastTcpMessageReceived(void)

int writeFieldSetSelectionMethod(int field_set_selection_method, std::vector<unsigned char> &sopasReply, bool useBinaryCmd = true)

int readFieldSetSelectionMethod(int &field_set_selection_method, std::vector<unsigned char> &sopasReply, bool useBinaryCmd = true)

int writeActiveFieldSet(int active_field_set, std::vector<unsigned char> &sopasReply, bool useBinaryCmd = true)

int readActiveFieldSet(int &active_field_set, std::vector<unsigned char> &sopasReply, bool useBinaryCmd = true)

void messageCbNavOdomVelocity(const sick_scan_msg::NAVOdomVelocity &msg)

Public Members

SickScanCommonNw m_nw

rosPublisher<ros_sensor_msgs::PointCloud2> cloud_pub_

rosPublisher<ros_sensor_msgs::Imu> imuScan_pub_

rosPublisher<sick_scan_msg::Encoder> Encoder_pub

ros_sensor_msgs::PointCloud2 cloud_

ros_sensor_msgs::PointCloud2 cloud_polar_

SickScanConfig config_

Public Static Functions

static bool dumpDatagramForDebugging(unsigned char *buffer, int bufLen, bool isBinary = true)

Protected Functions

virtual int init_device() = 0

virtual int init_scanner(rosNodePtr nh)

virtual int stop_scanner(bool force_immediate_shutdown = false)

virtual int close_device() = 0

virtual int sendSOPASCommand(const char *request, std::vector<unsigned char> *reply, int cmdLen, bool wait_for_reply = true) = 0

Send a SOPAS command to the device and print out the response to the console.

Parameters:

request – [in] the command to send.
reply – [out] if not NULL, will be filled with the reply package to the command.
cmdLen – [in] Length of the Comandstring in bytes used for Binary Mode only

virtual int readWithTimeout(size_t timeout_ms, char *buffer, int buffer_size, int *bytes_read, const std::vector<std::string> &datagram_keywords) = 0

virtual int get_datagram(rosNodePtr nh, rosTime &recvTimeStamp, unsigned char *receiveBuffer, int bufferSize, int *actual_length, bool isBinaryProtocol, int *numberOfRemainingFifoEntries, const std::vector<std::string> &datagram_keywords) = 0

Read a datagram from the device.

Parameters:

recvTimeStamp – [out] timestamp of received packet
receiveBuffer – [in] data buffer to fill
bufferSize – [in] max data size to write to buffer (result should be 0 terminated)
actual_length – [out] the actual amount of data written
isBinaryProtocol – [in] used Communication protocol True=Binary false=ASCII
datagram_keywords – [in] keyword in returned datagram, e.g. { “LMDscandata” } to get scandata telegrams, or {} (empty vector) for next received datagram

std::string replyToString(const std::vector<unsigned char> &reply)

Converts reply from sendSOPASCommand to string.

Parameters:: reply – [in] reply from sendSOPASCommand
Returns:: reply as string with special characters stripped out

unsigned long convertBigEndianCharArrayToUnsignedLong(const unsigned char *vecArr)

Parameters:: *vecArr – [in] to (unsigned) char buffer in big endian byte oder (MSB first)
Returns:: unsigned long value as interpretation of big endian long value

int checkForBinaryAnswer(const std::vector<unsigned char> *reply)

Parameters:: reply – [in] check reply whether is SOPAS-ASCII or SOPAS-Binary
Returns:: -1 if ascii otherwise the length of data content following offset 8

bool isCompatibleDevice(const std::string identStr) const

check the identification string

Parameters:: identStr – string (got from sopas request)
Returns:: true, if this driver supports the scanner identified by the identification string

bool switchColaProtocol(bool useBinaryCmd)

int readLIDinputstate(SickScanFieldMonSingleton *fieldMon, bool useBinaryCmd)