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...

scanCfg	getScanCfg () const
	Get current scan configuration. Get scan configuration : More...

bool	getScanData (scanData *scan_data)
	Receive single scan message. More...

scanOutputRange	getScanOutputRange () const
	Get current output range configuration. Get output range 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 ()

Static Protected Member Functions
static void	parseScanData (char buf, scanData data)
	Receive single scan message. More...

Protected Attributes
LMSBuffer	buffer_

bool	connected_

int	socket_fd_

Detailed Description

Class responsible for communicating with LMS1xx device.

Author: Konrad Banachowicz

Definition at line 51 of file LMS1xx.h.

Constructor & Destructor Documentation

LMS1xx::LMS1xx ( )

Definition at line 39 of file LMS1xx.cpp.

LMS1xx::~LMS1xx ( )

virtual

Definition at line 43 of file LMS1xx.cpp.

Member Function Documentation

void LMS1xx::connect	(	std::string	host,
		int	port = `2111`
	)

Connect to LMS1xx.

Parameters

host	LMS1xx host name or ip address.
port	LMS1xx port number.

Definition at line 47 of file LMS1xx.cpp.

void LMS1xx::disconnect ( )

Disconnect from LMS1xx device.

Definition at line 72 of file LMS1xx.cpp.

scanCfg LMS1xx::getScanCfg ( ) const

Get current scan configuration. Get scan configuration :

scanning frequency.
scanning resolution.
start angle.
stop angle.
Returns
scanCfg structure.

Definition at line 164 of file LMS1xx.cpp.

bool LMS1xx::getScanData ( scanData * scan_data )

Receive single scan message.

Returns: true if scan was read successfully, false if error or timeout. False implies that higher level logic should take correct action such as reopening the connection.

Definition at line 242 of file LMS1xx.cpp.

scanOutputRange LMS1xx::getScanOutputRange ( ) const

Get current output range configuration. Get output range configuration :

scanning resolution.
start angle.
stop angle.
Returns
scanOutputRange structure.

Definition at line 211 of file LMS1xx.cpp.

bool LMS1xx::isConnected ( )

Get status of connection.

Returns: connected or not.

Definition at line 81 of file LMS1xx.cpp.

void LMS1xx::login ( )

Log into LMS1xx unit. Increase privilege level, giving ability to change device configuration.

Definition at line 133 of file LMS1xx.cpp.

void LMS1xx::parseScanData	(	char *	buf,
		scanData *	data
	)

staticprotected

Receive single scan message.

Parameters

data	pointer to scanData buffer structure.

Definition at line 284 of file LMS1xx.cpp.

status_t LMS1xx::queryStatus ( )

Get current status of LMS1xx device.

Returns: status of LMS1xx device.

Definition at line 114 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 470 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.

Parameters

start 1 : start 0 : stop

Definition at line 226 of file LMS1xx.cpp.

void LMS1xx::setScanCfg ( const scanCfg & cfg )

Set scan configuration. Get scan configuration :

scanning frequency.
scanning resolution.
start angle.
stop angle.
Parameters

cfg structure containing scan configuration.

Definition at line 183 of file LMS1xx.cpp.

void LMS1xx::setScanDataCfg ( const scanDataCfg & cfg )

Set scan data configuration. Set format of scan message returned by device.

Parameters

cfg	structure containing scan data configuration.

Definition at line 197 of file LMS1xx.cpp.

void LMS1xx::startDevice ( )

The device is returned to the measurement mode after configuration.

Definition at line 485 of file LMS1xx.cpp.

void LMS1xx::startMeas ( )

Start measurements. After receiving this command LMS1xx unit starts spinning laser and measuring.

Definition at line 86 of file LMS1xx.cpp.

void LMS1xx::stopMeas ( )

Stop measurements. After receiving this command LMS1xx unit stop spinning laser and measuring.

Definition at line 100 of file LMS1xx.cpp.

Member Data Documentation

LMSBuffer LMS1xx::buffer_

protected

Definition at line 173 of file LMS1xx.h.

bool LMS1xx::connected_

protected

Definition at line 172 of file LMS1xx.h.

int LMS1xx::socket_fd_

protected

Definition at line 174 of file LMS1xx.h.

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

Public Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation