#include <LuxBase.hpp>

Public Types
typedef void(*	OnScanReceiveCallbackFunction )(void *)
Public Member Functions
bool	cmd_getParameter (MrsParameterId parameter, UINT32 *value)
bool	cmd_getStatus ()
bool	cmd_saveConfiguration ()
bool	cmd_setDataOutputFlags ()
bool	cmd_setMountingPos (Position3D mp)
bool	cmd_setNtpTimestamp (UINT32 seconds, UINT32 fractionalSec)
bool	cmd_setParameter (MrsParameterId parameter, UINT32 value)
bool	cmd_setScanAngles (double startAngle, double endAngle)
bool	cmd_setScanFrequency (double scanFreq)
bool	cmd_setSyncAngleOffset (double syncAngle)
bool	cmd_startMeasure (bool weWantScanData=true, bool weWantObjectData=true)
bool	cmd_stopMeasure ()
void	dumpHeader ()
void	dumpMessage ()
UINT16	getDSPError ()
UINT16	getErrorRegister1 ()
UINT16	getErrorRegister2 ()
std::string	getFirmwareVersion ()
UINT16	getFPGAError ()
std::string	getFPGAVersion ()
UINT16	getScannerStatus ()
std::string	getSerialNumber ()
double	getTemperature ()
UINT16	getWarnRegister1 ()
UINT16	getWarnRegister2 ()
virtual bool	initFile (File::DisconnectFunction function, void *obj)
virtual bool	initTcp (Tcp::DisconnectFunction function, void *obj)
virtual bool	isRunning ()
	LuxBase (Manager *manager, const UINT8 deviceID, const std::string longName, std::string ipAddress, UINT16 tcpPortNumber, double scanFrequency, double scanStartAngle, double scanEndAngle, double offsetX, double offsetY, double offsetZ, double yawAngle, double pitchAngle, double rollAngle, bool beVerbose, std::string inputFileName)
void	memreadLE (BYTE *&buffer, UINT16 &value)
void	memreadLE (BYTE *&buffer, UINT32 &value)
virtual bool	run (bool weWantScanData=true, bool weWantObjectData=true)
void	setOnScanReceiveCallbackFunction (OnScanReceiveCallbackFunction function, void *obj)
virtual bool	stop ()
virtual	~LuxBase ()
Static Public Attributes
static const UINT32	ANGULAR_TICKS_PER_ROTATION = 11520
Private Member Functions
UINT32	buildDataHeader (UINT8 *buffer, UINT32 sizeofThisMsg, UINT8 deviceId, UINT16 dataType)
double	convertTicktsToAngle (INT16 angleTicks)
UINT16	decodeAnswerInCmdReplyBuffer ()
UINT16	decodeAnswerInInputBuffer ()
void	decodeErrorMessage ()
bool	decodeGetParameter (UINT32 *value)
bool	decodeGetStatus ()
void	decodeObjects ()
void	decodeScan ()
void	decodeSensorInfo ()
double	getVAngleOfLayer (bool isRearMirrorSide, UINT8 layerNumber, double hAngle)
void	makeIntValueEven (INT16 &value)
void	moveDataFromInputToCmdBuffer (UINT32 bytesToBeMoved)
bool	readBeamTilt ()
void	readCallbackFunction (BYTE *buffer, UINT32 &numOfBytes)
Point2D	readPoint2D (UINT8 *buffer)
Point2D	readSize2D (UINT8 *buffer)
UINT64	readUINT64ValueLE (UINT8 *buffer)
bool	readUpsideDown ()
UINT32	readUValueBE (UINT8 *buffer, UINT8 bytes)
UINT32	readUValueLE (UINT8 *buffer, UINT8 bytes)
INT32	readValueLE (UINT8 *buffer, UINT8 bytes)
bool	receiveMrsReply (MrsCommandId cmd, UINT32 timeoutMs, UINT32 *value=NULL)
void	removeAnswerFromInputBuffer ()
void	removeDataFromInputBuffer (UINT32 bytesToBeRemoved)
bool	sendMrsCommand (MrsCommandId cmd, UINT16 para=0, UINT32 value=0)
void	updateThreadFunction (bool &endThread, UINT16 &sleepTimeMs)
UINT32	writeValueToBufferBE (UINT8 *buffer, UINT32 value, UINT8 bytes)
UINT32	writeValueToBufferLE (UINT8 *buffer, UINT32 value, UINT8 bytes)
Static Private Member Functions
static std::string	int2Version (UINT16 val)
static bool	isValidVersion (UINT16 version)
static void	readCallbackFunctionS (void obj, BYTE buffer, UINT32 &numOfBytes)
static std::string	version2string (UINT16 version, const UINT16 timestamp[3])
Private Attributes
double	m_beamTiltAngle
bool	m_beVerbose
UINT32	m_cmdBufferLevel
UINT8	m_cmdReplyBuffer [MRS_CMDREPLYBUFFERSIZE]
UINT8	m_deviceId
void *	m_disconnectFunctionObjPtr
UINT16	m_DSPError
UINT16	m_errorRegister1
UINT16	m_errorRegister2
File	m_file
File::DisconnectFunction	m_fileDisconnectFunction
UINT16	m_firmwareTimestamp [3]
UINT16	m_firmwareVersion
UINT16	m_FPGAError
UINT16	m_FPGATimestamp [3]
UINT16	m_FPGAVersion
UINT32	m_inBufferLevel
UINT8	m_inputBuffer [MRS_INPUTBUFFERSIZE]
Mutex	m_inputBufferMutex
std::string	m_inputFileName
std::string	m_ipAddress
bool	m_isRunning
std::string	m_longName
Manager *	m_manager
double	m_offsetX
double	m_offsetY
double	m_offsetZ
OnScanReceiveCallbackFunction	m_onScanReceiveCallback
void *	m_onScanReceiveCallbackObjPtr
double	m_pitchAngle
bool	m_readOnlyMode
double	m_rollAngle
double	m_scanEndAngle
double	m_scanFrequency
UINT16	m_scannerStatus
double	m_scanStartAngle
UINT16	m_serialNumber [3]
Tcp	m_tcp
Tcp::DisconnectFunction	m_tcpDisconnectFunction
UINT16	m_tcpPortNumber
UINT16	m_temperature
Mutex	m_updateMutex
	Access mutex for update.
SickThread< LuxBase,&LuxBase::updateThreadFunction >	m_updateThread
bool	m_upsideDownActive
UINT16	m_warnRegister1
UINT16	m_warnRegister2
bool	m_weWantObjectData
bool	m_weWantScanData
double	m_yawAngle
Static Private Attributes
static const UINT16	Err_CANMessageLost = 0x0100
static const UINT16	Err_ConfReg = 0x0010
static const UINT16	Err_FlexResParameter = 0x0200
static const UINT16	Err_FPGAkonfiguration = 0x0008
static const UINT16	Err_IF_FPGAcontrol = 0x0002
static const UINT16	Err_IF_SPORT = 0x0001
static const UINT16	Err_Parameter = 0x0020
static const UINT16	Err_SPORTdata = 0x0004
static const UINT16	Err_Timing = 0x0040
static const UINT16	Err_TrackingTimeout = 0x0080

Detailed Description

Definition at line 129 of file LuxBase.hpp.

Member Typedef Documentation

typedef void(* devices::LuxBase::OnScanReceiveCallbackFunction)(void *)

Definition at line 132 of file LuxBase.hpp.

Constructor & Destructor Documentation

devices::LuxBase::LuxBase	(	Manager *	manager,
		const UINT8	deviceID,
		const std::string	longName,
		std::string	ipAddress,
		UINT16	tcpPortNumber,
		double	scanFrequency,
		double	scanStartAngle,
		double	scanEndAngle,
		double	offsetX,
		double	offsetY,
		double	offsetZ,
		double	yawAngle,
		double	pitchAngle,
		double	rollAngle,
		bool	beVerbose,
		std::string	inputFileName
	)

Definition at line 50 of file LuxBase.cpp.

devices::LuxBase::~LuxBase ( ) [virtual]

Definition at line 94 of file LuxBase.cpp.

Member Function Documentation

UINT32 devices::LuxBase::buildDataHeader	(	UINT8 *	buffer,
		UINT32	sizeOfThisMsg,
		UINT8	deviceId,
		UINT16	dataType
	)		`[private]`

Write the data header for the command into the buffer.The buffer must be at least 24 bytes long.

Return value is the number of bytes that have been written.

Definition at line 2578 of file LuxBase.cpp.

bool devices::LuxBase::cmd_getParameter	(	MrsParameterId	parameter,
		UINT32 *	value
	)

Definition at line 851 of file LuxBase.cpp.

bool devices::LuxBase::cmd_getStatus ( )

Request the staus message from the scanner.

Definition at line 570 of file LuxBase.cpp.

bool devices::LuxBase::cmd_saveConfiguration ( )

Definition at line 937 of file LuxBase.cpp.

bool devices::LuxBase::cmd_setDataOutputFlags ( )

Definition at line 906 of file LuxBase.cpp.

bool devices::LuxBase::cmd_setMountingPos ( Position3D mp )

Definition at line 314 of file LuxBase.cpp.

bool devices::LuxBase::cmd_setNtpTimestamp	(	UINT32	seconds,
		UINT32	fractionalSec
	)

Definition at line 732 of file LuxBase.cpp.

bool devices::LuxBase::cmd_setParameter	(	MrsParameterId	parameter,
		UINT32	value
	)

Definition at line 810 of file LuxBase.cpp.

bool devices::LuxBase::cmd_setScanAngles	(	double	startAngle,
		double	endAngle
	)

Definition at line 462 of file LuxBase.cpp.

bool devices::LuxBase::cmd_setScanFrequency ( double scanFreq )

Definition at line 417 of file LuxBase.cpp.

bool devices::LuxBase::cmd_setSyncAngleOffset ( double syncAngle )

Definition at line 538 of file LuxBase.cpp.

bool devices::LuxBase::cmd_startMeasure	(	bool	weWantScanData = `true`,
		bool	weWantObjectData = `true`
	)

Definition at line 952 of file LuxBase.cpp.

bool devices::LuxBase::cmd_stopMeasure ( )

Definition at line 690 of file LuxBase.cpp.

double devices::LuxBase::convertTicktsToAngle ( INT16 angleTicks ) [private]

Definition at line 1911 of file LuxBase.cpp.

UINT16 devices::LuxBase::decodeAnswerInCmdReplyBuffer ( ) [private]

Returns the ID ("command") of the message in the reply buffer. If a complete dataset is in the buffer, the return value is non-zero (=valid). Note that the buffer may hold only one complete (!) dataset.

Note: Access to command and input buffer must be mutex'ed, with same mutex to avoid cross-overwrite while decoding!!

Definition at line 2204 of file LuxBase.cpp.

UINT16 devices::LuxBase::decodeAnswerInInputBuffer ( ) [private]

Definition at line 1410 of file LuxBase.cpp.

void devices::LuxBase::decodeErrorMessage ( ) [private]

Definition at line 1545 of file LuxBase.cpp.

bool devices::LuxBase::decodeGetParameter ( UINT32 * value ) [private]

Definition at line 1085 of file LuxBase.cpp.

bool devices::LuxBase::decodeGetStatus ( ) [private]

Decodes a "GetStatus" message in the input buffer.

Definition at line 1048 of file LuxBase.cpp.

void devices::LuxBase::decodeObjects ( ) [private]

Definition at line 1944 of file LuxBase.cpp.

void devices::LuxBase::decodeScan ( ) [private]

Definition at line 1695 of file LuxBase.cpp.

void devices::LuxBase::decodeSensorInfo ( ) [private]

Definition at line 1857 of file LuxBase.cpp.

void devices::LuxBase::dumpHeader ( )

Definition at line 2278 of file LuxBase.cpp.

void devices::LuxBase::dumpMessage ( )

Definition at line 2292 of file LuxBase.cpp.

UINT16 devices::LuxBase::getDSPError ( ) [inline]

Definition at line 294 of file LuxBase.hpp.

UINT16 devices::LuxBase::getErrorRegister1 ( ) [inline]

Definition at line 299 of file LuxBase.hpp.

UINT16 devices::LuxBase::getErrorRegister2 ( ) [inline]

Definition at line 300 of file LuxBase.hpp.

std::string devices::LuxBase::getFirmwareVersion ( ) [inline]

Definition at line 292 of file LuxBase.hpp.

UINT16 devices::LuxBase::getFPGAError ( ) [inline]

Definition at line 293 of file LuxBase.hpp.

std::string devices::LuxBase::getFPGAVersion ( ) [inline]

Definition at line 291 of file LuxBase.hpp.

UINT16 devices::LuxBase::getScannerStatus ( ) [inline]

Definition at line 296 of file LuxBase.hpp.

std::string devices::LuxBase::getSerialNumber ( )

Definition at line 1170 of file LuxBase.cpp.

double devices::LuxBase::getTemperature ( )

Definition at line 1147 of file LuxBase.cpp.

double devices::LuxBase::getVAngleOfLayer	(	bool	isRearMirrorSide,
		UINT8	layerNumber,
		double	hAngle
	)		`[private]`

Definition at line 1878 of file LuxBase.cpp.

UINT16 devices::LuxBase::getWarnRegister1 ( ) [inline]

Definition at line 301 of file LuxBase.hpp.

UINT16 devices::LuxBase::getWarnRegister2 ( ) [inline]

Definition at line 302 of file LuxBase.hpp.

bool devices::LuxBase::initFile	(	File::DisconnectFunction	function,
		void *	obj
	)		`[virtual]`

Definition at line 236 of file LuxBase.cpp.

bool devices::LuxBase::initTcp	(	Tcp::DisconnectFunction	function,
		void *	obj
	)		`[virtual]`

Definition at line 118 of file LuxBase.cpp.

std::string devices::LuxBase::int2Version ( UINT16 val ) [static, private]

Examples:

0x1230 --> "1.2.30"
0x123B --> "1.2.3B"
0xFFFF --> "n/a" (special value for "not available")

Definition at line 1215 of file LuxBase.cpp.

bool devices::LuxBase::isRunning ( ) [virtual]

Definition at line 304 of file LuxBase.cpp.

static bool devices::LuxBase::isValidVersion ( UINT16 version ) [inline, static, private]

Definition at line 255 of file LuxBase.hpp.

void devices::LuxBase::makeIntValueEven ( INT16 & value ) [private]

Definition at line 402 of file LuxBase.cpp.

void devices::LuxBase::memreadLE	(	BYTE *&	buffer,
		UINT16 &	value
	)

Definition at line 1028 of file LuxBase.cpp.

void devices::LuxBase::memreadLE	(	BYTE *&	buffer,
		UINT32 &	value
	)

Definition at line 1037 of file LuxBase.cpp.

void devices::LuxBase::moveDataFromInputToCmdBuffer ( UINT32 bytesToBeMoved ) [private]

Definition at line 2150 of file LuxBase.cpp.

bool devices::LuxBase::readBeamTilt ( ) [private]

Read the current beam tilt angle from the scanner. The result is stored in m_beamTilt.

Definition at line 616 of file LuxBase.cpp.

void devices::LuxBase::readCallbackFunction	(	BYTE *	buffer,
		UINT32 &	numOfBytes
	)		`[private]`

Definition at line 2725 of file LuxBase.cpp.

void devices::LuxBase::readCallbackFunctionS	(	void *	obj,
		BYTE *	buffer,
		UINT32 &	numOfBytes
	)		`[static, private]`

Definition at line 102 of file LuxBase.cpp.

Point2D devices::LuxBase::readPoint2D ( UINT8 * buffer ) [private]

Definition at line 2124 of file LuxBase.cpp.

Point2D devices::LuxBase::readSize2D ( UINT8 * buffer ) [private]

Definition at line 2137 of file LuxBase.cpp.

UINT64 devices::LuxBase::readUINT64ValueLE ( UINT8 * buffer ) [private]

Little-Endian-Read (unsigned)

Reads a value of 8 bytes from the buffer. The value encoding in the buffer is little endian, that means the lowest-value byte is first in the buffer. Example: Buffer = 0x12 0x34 ==> Value = 0x3412

Definition at line 1301 of file LuxBase.cpp.

bool devices::LuxBase::readUpsideDown ( ) [private]

Read the current UpsideDown flag from the scanner. The result is stored in m_upsideDownActive.

Definition at line 650 of file LuxBase.cpp.

UINT32 devices::LuxBase::readUValueBE	(	UINT8 *	buffer,
		UINT8	bytes
	)		`[private]`

Big-Endian-Read (unsigned)

Reads a value of 1, 2 or 4 bytes from the buffer. The value encoding in the buffer is big endian, that means the highest-value byte is first in the buffer. Example: Buffer = 0x12 0x34 ==> Value = 0x1234

Definition at line 1368 of file LuxBase.cpp.

UINT32 devices::LuxBase::readUValueLE	(	UINT8 *	buffer,
		UINT8	bytes
	)		`[private]`

Little-Endian-Read (unsigned)

Reads a value of 1, 2 or 4 bytes from the buffer. The value encoding in the buffer is little endian, that means the lowest-value byte is first in the buffer. Example: Buffer = 0x12 0x34 ==> Value = 0x3412

Definition at line 1267 of file LuxBase.cpp.