hfl::BaseHFL110DCU Class Reference

Base class for the HFL110DCU cameras. More...

#include <base_hfl110dcu.h>

Inheritance diagram for hfl::BaseHFL110DCU:

Public Member Functions
double	getFrameRate (bool reg_format=false) const
bool	setFrameRate (double rate) override
bool	setGlobalRangeOffset (double offset)
Public Member Functions inherited from hfl::HflInterface
std::shared_ptr< Frame >	frame ()
std::string	getModel () const
std::string	getVersion () const
virtual bool	parseFrame (int start_byte, const std::vector< uint8_t > &packet)=0
virtual bool	processFrameData (const std::vector< uint8_t > &data)=0

Protected Types
enum	HFL110DCU_memory_types { mem_ri = 0, types_size }
	HFL110DCU camera memory_types. More...

Protected Member Functions
bool	getConfiguration (std::string model, std::string version)
virtual bool	parseObjects (int start_byte, const std::vector< uint8_t > &packet)=0
virtual bool	processObjectData (const std::vector< uint8_t > &data)=0
virtual bool	processSliceData (const std::vector< uint8_t > &data)=0
virtual bool	processTelemetryData (const std::vector< uint8_t > &data)=0

Protected Attributes
Attribs_map	mode_parameters
	Current mode parameters. More...
double	range_magic_number_
	Range Magic Number. More...
std::function< void(const std::vector< uint8_t > &)>	udp_send_function_
	UDP sender function. More...
Protected Attributes inherited from hfl::HflInterface
std::shared_ptr< hfl::Frame >	frame_
	Camera's frame configurations. More...
uint16_t	frame_data_port_
	Camera's UDP frame data port. More...
double	global_offset_
	global range offset More...
std::string	ip_address_
	Camera's IP address. More...
std::string	model_
	Current camera model. More...
std::string	parent_frame_
	current static tf values More...
double	pitch_
bool	publish_tf_
	Current publish tf state. More...
double	roll_
double	time_offset_
	time offset More...
std::string	version_
	Current camera model. More...
double	x_
double	y_
double	yaw_
double	z_

Detailed Description

Base class for the HFL110DCU cameras.

Definition at line 66 of file base_hfl110dcu.h.

Member Enumeration Documentation

enum hfl::BaseHFL110DCU::HFL110DCU_memory_types

protected

HFL110DCU camera memory_types.

Enumerator
mem_ri
types_size

Definition at line 111 of file base_hfl110dcu.h.

Member Function Documentation

bool hfl::BaseHFL110DCU::getConfiguration ( std::string  model, std::string  version  )

protected

Gets the available memory modes, its params and register offset addresses.

Parameters

model	The model of the current lidar
version	The HFL110DCU SW version

Returns

Available memory modes

Definition at line 42 of file base_hfl110dcu.cpp.

double hfl::BaseHFL110DCU::getFrameRate ( bool  reg_format = false ) const

inlinevirtual

Returns the current frame rate.

Returns

current frame rate

Implements hfl::HflInterface.

Definition at line 86 of file base_hfl110dcu.h.

virtual bool hfl::BaseHFL110DCU::parseObjects ( int  start_byte, const std::vector< uint8_t > &  packet  )

protectedpure virtual

Parse packet into objects

Parameters

[in]

start_byte

starting byte, packet packet data to parse

Returns

bool true if successfully parsed object data

Implements hfl::HflInterface.

Implemented in hfl::HFL110DCU.

virtual bool hfl::BaseHFL110DCU::processObjectData ( const std::vector< uint8_t > &  data )

protectedpure virtual

Process the object data from udp packets

Parameters

[in]

data

object data

Returns

bool

Implements hfl::HflInterface.

Implemented in hfl::HFL110DCU.

virtual bool hfl::BaseHFL110DCU::processSliceData ( const std::vector< uint8_t > &  data )

protectedpure virtual

Process the slice data from udp packets

Parameters

[in]

data

slice data

Returns

bool

Implements hfl::HflInterface.

Implemented in hfl::HFL110DCU.

virtual bool hfl::BaseHFL110DCU::processTelemetryData ( const std::vector< uint8_t > &  data )

protectedpure virtual

Process the telemetry data from udp packets

Parameters

[in]

data

telemetry data

Returns

bool

Implements hfl::HflInterface.

Implemented in hfl::HFL110DCU.

bool hfl::BaseHFL110DCU::setFrameRate ( double  rate )

inlineoverridevirtual

Sets the specified frame rate.

Parameters

[in]

rate

Frame rate to be set

Returns

bool true if given frame rate set

Implements hfl::HflInterface.

Definition at line 76 of file base_hfl110dcu.h.

bool hfl::BaseHFL110DCU::setGlobalRangeOffset ( double  offset )

virtual

Sets global range offset

Parameters

[in]

offset

global range offset to set

Returns

bool true if given global range offset is set

Implements hfl::HflInterface.

Definition at line 76 of file base_hfl110dcu.cpp.

Member Data Documentation

Attribs_map hfl::BaseHFL110DCU::mode_parameters

protected

Current mode parameters.

Definition at line 105 of file base_hfl110dcu.h.

double hfl::BaseHFL110DCU::range_magic_number_

protected

Range Magic Number.

Definition at line 102 of file base_hfl110dcu.h.

std::function<void(const std::vector<uint8_t>&)> hfl::BaseHFL110DCU::udp_send_function_

protected

UDP sender function.

Definition at line 108 of file base_hfl110dcu.h.

---

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

• base_hfl110dcu.h
• base_hfl110dcu.cpp