Class SickScanCommonTcp
Defined in File sick_scan_common_tcp.h
Inheritance Relationships
Base Type
public sick_scan_xd::SickScanCommon
(Class SickScanCommon)
Class Documentation
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class SickScanCommonTcp : public sick_scan_xd::SickScanCommon
Public Functions
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SickScanCommonTcp(const std::string &hostname, const std::string &port, int &timelimit, rosNodePtr nh, SickGenericParser *parser, char cola_dialect_id)
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virtual ~SickScanCommonTcp()
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void setReplyMode(int _mode)
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int getReplyMode()
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void setEmulSensor(bool _emulFlag)
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bool getEmulSensor()
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bool stopScanData(bool force_immediate_shutdown = false)
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int numberOfDatagramInInputFifo()
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SopasEventMessage findFrameInReceiveBuffer()
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void processFrame(rosTime timeStamp, SopasEventMessage &frame)
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int reinit(rosNodePtr nh, int delay_millisec)
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virtual int init_device()
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virtual int close_device()
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inline bool isConnected()
Public Members
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Queue<DatagramWithTimeStamp> recvQueue
Public Static Functions
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static void disconnectFunctionS(void *obj)
Protected Functions
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void disconnectFunction()
Read callback. Diese Funktion wird aufgerufen, sobald Daten auf der Schnittstelle hereingekommen sind.
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virtual int sendSOPASCommand(const char *request, std::vector<unsigned char> *reply, int cmdLen, bool wait_for_reply = true)
Send a SOPAS command to the device and print out the response to the console.
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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)
Read a datagram from the device.
- Parameters:
recvTimeStamp – [out] timestamp of received datagram
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] 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
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virtual int readWithTimeout(size_t timeout_ms, char *buffer, int buffer_size, int *bytes_read, const std::vector<std::string> &datagram_keywords)
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SickScanCommonTcp(const std::string &hostname, const std::string &port, int &timelimit, rosNodePtr nh, SickGenericParser *parser, char cola_dialect_id)