Class responsible for communicating with LMS1xx device. More...
#include <lms1xx.h>
Public Member Functions | |
| void | connect (std::string host, int port=2111) |
| Connect to LMS1xx. More... | |
| void | disconnect () |
| Disconnect from LMS1xx device. More... | |
| bool | getData (scanData &data) |
| Receive single scan message. More... | |
| scanCfg | getScanCfg () const |
| Get current scan configuration. Get scan configuration : More... | |
| bool | isConnected () |
| Get status of connection. More... | |
| LMS1xx () | |
| void | login () |
| Log into LMS1xx unit. Increase privilege level, giving ability to change device configuration. More... | |
| status_t | queryStatus () |
| Get current status of LMS1xx device. More... | |
| void | saveConfig () |
| Save data permanently. Parameters are saved in the EEPROM of the LMS and will also be available after the device is switched off and on again. More... | |
| void | scanContinous (int start) |
| Start or stop continuous data acquisition. After reception of this command device start or stop continuous data stream containing scan messages. More... | |
| void | setScanCfg (const scanCfg &cfg) |
| Set scan configuration. Get scan configuration : More... | |
| void | setScanDataCfg (const scanDataCfg &cfg) |
| Set scan data configuration. Set format of scan message returned by device. More... | |
| void | startDevice () |
| The device is returned to the measurement mode after configuration. More... | |
| void | startMeas () |
| Start measurements. After receiving this command LMS1xx unit starts spinning laser and measuring. More... | |
| void | stopMeas () |
| Stop measurements. After receiving this command LMS1xx unit stop spinning laser and measuring. More... | |
| virtual | ~LMS1xx () |
Private Attributes | |
| bool | connected |
| bool | debug |
| int | sockDesc |
| LMS1xx::LMS1xx | ( | ) |
Definition at line 31 of file lms1xx.cpp.
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virtual |
Definition at line 36 of file lms1xx.cpp.
| void LMS1xx::connect | ( | std::string | host, |
| int | port = 2111 |
||
| ) |
Connect to LMS1xx.
Definition at line 40 of file lms1xx.cpp.
| void LMS1xx::disconnect | ( | ) |
Disconnect from LMS1xx device.
Definition at line 59 of file lms1xx.cpp.
| bool LMS1xx::getData | ( | scanData & | data | ) |
Receive single scan message.
| data | pointer to scanData buffer structure. |
Definition at line 203 of file lms1xx.cpp.
| scanCfg LMS1xx::getScanCfg | ( | ) | const |
Get current scan configuration. Get scan configuration :
Definition at line 134 of file lms1xx.cpp.
| bool LMS1xx::isConnected | ( | ) |
| void LMS1xx::login | ( | ) |
Log into LMS1xx unit. Increase privilege level, giving ability to change device configuration.
Definition at line 119 of file lms1xx.cpp.
| status_t LMS1xx::queryStatus | ( | ) |
Get current status of LMS1xx device.
Definition at line 100 of file lms1xx.cpp.
| void LMS1xx::saveConfig | ( | ) |
Save data permanently. Parameters are saved in the EEPROM of the LMS and will also be available after the device is switched off and on again.
Definition at line 441 of file lms1xx.cpp.
| void LMS1xx::scanContinous | ( | int | start | ) |
Start or stop continuous data acquisition. After reception of this command device start or stop continuous data stream containing scan messages.
| start | 1 : start 0 : stop |
Definition at line 181 of file lms1xx.cpp.
| void LMS1xx::setScanCfg | ( | const scanCfg & | cfg | ) |
Set scan configuration. Get scan configuration :
| cfg | structure containing scan configuration. |
Definition at line 154 of file lms1xx.cpp.
| void LMS1xx::setScanDataCfg | ( | const scanDataCfg & | cfg | ) |
Set scan data configuration. Set format of scan message returned by device.
| cfg | structure containing scan data configuration. |
Definition at line 167 of file lms1xx.cpp.
| void LMS1xx::startDevice | ( | ) |
The device is returned to the measurement mode after configuration.
Definition at line 456 of file lms1xx.cpp.
| void LMS1xx::startMeas | ( | ) |
Start measurements. After receiving this command LMS1xx unit starts spinning laser and measuring.
Definition at line 70 of file lms1xx.cpp.
| void LMS1xx::stopMeas | ( | ) |
Stop measurements. After receiving this command LMS1xx unit stop spinning laser and measuring.
Definition at line 85 of file lms1xx.cpp.