#include <os32c.h>

Inheritance diagram for omron_os32c_driver::OS32C:

Public Member Functions
void	closeActiveConnection ()

void	fillLaserScanStaticConfig (sensor_msgs::LaserScan *ls)

EIP_UINT	getRangeFormat ()

EIP_UINT	getReflectivityFormat ()

RangeAndReflectanceMeasurement	getSingleRRScan ()

	OS32C (shared_ptr< Socket > socket, shared_ptr< Socket > io_socket)

MeasurementReport	receiveMeasurementReportUDP ()

void	selectBeams (double start_angle, double end_angle)

void	sendMeasurmentReportConfigUDP ()

void	setRangeFormat (EIP_UINT format)

void	setReflectivityFormat (EIP_UINT format)

void	startUDPIO ()

Public Member Functions inherited from eip::Session
void	close ()

void	closeConnection (size_t n)

int	createConnection (const EIP_CONNECTION_INFO_T &o_to_t, const EIP_CONNECTION_INFO_T &t_to_o)

const Connection &	getConnection (size_t n)

EIP_UDINT	getSerialNum () const

EIP_UDINT	getSessionID ()

T	getSingleAttribute (EIP_USINT class_id, EIP_USINT instance_id, EIP_USINT attribute_id, T v)

void	getSingleAttributeSerializable (EIP_USINT class_id, EIP_USINT instance_id, EIP_USINT attribute_id, Serializable &result)

EIP_UINT	getVendorID () const

void	open (string hostname, string port="44818", string io_port="2222")

CPFPacket	receiveIOPacket ()

void	sendIOPacket (CPFPacket &pkt)

	Session (shared_ptr< Socket > socket, shared_ptr< Socket > io_socket, EIP_UINT vendor_id=DEFAULT_VENDOR_ID, EIP_UDINT serial_num=DEFAULT_SERIAL_NUM)

void	setSingleAttribute (EIP_USINT class_id, EIP_USINT instance_id, EIP_USINT attribute_id, T v)

void	setSingleAttributeSerializable (EIP_USINT class_id, EIP_USINT instance_id, EIP_USINT attribute_id, shared_ptr< Serializable > data)

virtual	~Session ()

Static Public Member Functions
static double	calcBeamCentre (int beam_num)

static int	calcBeamNumber (double angle)

static void	convertToLaserScan (const RangeAndReflectanceMeasurement &rr, sensor_msgs::LaserScan *ls)

static void	convertToLaserScan (const MeasurementReport &mr, sensor_msgs::LaserScan *ls)

Static Public Attributes
static const double	ANGLE_INC = DEG2RAD(0.4)

static const double	ANGLE_MAX = DEG2RAD(135.2)

static const double	ANGLE_MIN = DEG2RAD(-135.2)

static const double	DISTANCE_MAX = 50

static const double	DISTANCE_MIN = 0.002

Private Member Functions
void	calcBeamMask (double start_angle, double end_angle, EIP_BYTE mask[])

	FRIEND_TEST (OS32CTest, test_calc_beam_mask_all)

	FRIEND_TEST (OS32CTest, test_calc_beam_at_90)

	FRIEND_TEST (OS32CTest, test_calc_beam_boundaries)

	FRIEND_TEST (OS32CTest, test_calc_beam_invalid_args)

	FRIEND_TEST (OS32CTest, test_convert_to_laserscan)

Private Attributes
int	connection_num_

double	end_angle_

MeasurementReportConfig	mrc_

EIP_UDINT	mrc_sequence_num_

double	start_angle_

Detailed Description

Main interface for the OS32C Laser Scanner. Produces methods to access the laser scanner from a high level, including setting parameters and getting single scans.

Definition at line 75 of file os32c.h.

Constructor & Destructor Documentation

omron_os32c_driver::OS32C::OS32C	(	shared_ptr< Socket >	socket,
		shared_ptr< Socket >	io_socket
	)

inline

Construct a new OS32C instance.

Parameters

socket Socket instance to use for communication with the lidar

Definition at line 82 of file os32c.h.

Member Function Documentation

static double omron_os32c_driver::OS32C::calcBeamCentre ( int beam_num )

inlinestatic

Calculate the ROS angle for a beam given the OS32C beam number

Parameters

beam_num Beam number, starting with 0 being the most CCW beam and positive moving CW around the scan

Returns: ROS Angle

Definition at line 168 of file os32c.h.

void omron_os32c_driver::OS32C::calcBeamMask	(	double	start_angle,
		double	end_angle,
		EIP_BYTE	mask[]
	)

private

Helper to calculate the mask for a given start and end beam angle

Parameters

start_angle	Angle of the first beam in the scan
end_angle	Angle of the last beam in the scan
mask	Holder for the mask data. Must be 88 bytes

Definition at line 85 of file os32c.cpp.

static int omron_os32c_driver::OS32C::calcBeamNumber ( double angle )

inlinestatic

Calculate the beam number on the lidar for a given ROS angle. Note that in ROS angles are given as radians CCW with zero being straight ahead, While the lidar start its scan at the most CCW position and moves positive CW, with zero being at halfway through the scan. Based on my calculations and the OS32C docs, there are 677 beams and the scan area is 135.4 to -135.4 degrees, with a 0.4 degree pitch. The beam centres must then be at 135.2, 134.8, ... 0.4, 0, 0.4, ... -134.8, -135.2.

Parameters

angle Radians CCW from straight ahead

Returns: OS32C beam number

Definition at line 157 of file os32c.h.

void omron_os32c_driver::OS32C::closeActiveConnection ( )

Definition at line 275 of file os32c.cpp.

void omron_os32c_driver::OS32C::convertToLaserScan	(	const RangeAndReflectanceMeasurement &	rr,
		sensor_msgs::LaserScan *	ls
	)

static

Helper to convert a Range and Reflectance Measurement to a ROS LaserScan. LaserScan is passed as a pointer to avoid a bunch of memory allocation associated with resizing a vector on each scan.

Parameters

rr	Measurement to convert
ls	Laserscan message to populate.

Definition at line 161 of file os32c.cpp.

void omron_os32c_driver::OS32C::convertToLaserScan	(	const MeasurementReport &	mr,
		sensor_msgs::LaserScan *	ls
	)

static

Helper to convert a Measurement Report to a ROS LaserScan

Parameters

mr	Measurement to convert
ls	Laserscan message to populate.

Definition at line 197 of file os32c.cpp.

void omron_os32c_driver::OS32C::fillLaserScanStaticConfig ( sensor_msgs::LaserScan * ls )

Populate the unchanging parts of a ROS LaserScan, including the start_angle and stop_angle, which are configured by the user but ultimately reported by the device.

Parameters

ls	Laserscan message to populate.

Definition at line 152 of file os32c.cpp.

omron_os32c_driver::OS32C::FRIEND_TEST	(	OS32CTest	,
		test_calc_beam_mask_all
	)

private

omron_os32c_driver::OS32C::FRIEND_TEST	(	OS32CTest	,
		test_calc_beam_at_90
	)

private

omron_os32c_driver::OS32C::FRIEND_TEST	(	OS32CTest	,
		test_calc_beam_boundaries
	)

private

omron_os32c_driver::OS32C::FRIEND_TEST	(	OS32CTest	,
		test_calc_beam_invalid_args
	)

private

omron_os32c_driver::OS32C::FRIEND_TEST	(	OS32CTest	,
		test_convert_to_laserscan
	)

private

EIP_UINT omron_os32c_driver::OS32C::getRangeFormat ( )

Get the range format code. Does a Get Single Attribute to the scanner to get the current range format.

Returns: range format code.

See also: OS32C_RANGE_FORMAT

Definition at line 61 of file os32c.cpp.

EIP_UINT omron_os32c_driver::OS32C::getReflectivityFormat ( )

Get the reflectivity format code. Does a Get Single Attribute to the scanner to get the current reflectivity format.

Returns: reflectivity format code.

See also: OS32C_REFLECTIVITY_FORMAT

Definition at line 73 of file os32c.cpp.

RangeAndReflectanceMeasurement omron_os32c_driver::OS32C::getSingleRRScan ( )

Make an explicit request for a single Range and Reflectance scan

Returns: Range and reflectance data received

Exceptions

std::logic_error if data not received

Definition at line 145 of file os32c.cpp.

MeasurementReport omron_os32c_driver::OS32C::receiveMeasurementReportUDP ( )

Definition at line 244 of file os32c.cpp.

void omron_os32c_driver::OS32C::selectBeams	(	double	start_angle,
		double	end_angle
	)

Select which beams are to be measured. Must be set before requesting measurements. Angles are in ROS conventions. Zero is straight ahead. Positive numbers are CCW and all numbers are in radians.

Parameters

start_angle	Start angle in ROS conventions
end_angle	End angle in ROS conventions

Definition at line 138 of file os32c.cpp.

void omron_os32c_driver::OS32C::sendMeasurmentReportConfigUDP ( )

Definition at line 231 of file os32c.cpp.

void omron_os32c_driver::OS32C::setRangeFormat ( EIP_UINT format )

Set the range format code for the scanner. Does a Set Single Attribute to the scanner to set the range format.

Parameters

format The range format code to set

See also: OS32C_REFLECTIVITY_FORMAT

Definition at line 67 of file os32c.cpp.

void omron_os32c_driver::OS32C::setReflectivityFormat ( EIP_UINT format )

Set the reflectivity format code for the scanner. Does a Set Single Attribute to the scanner to set the reflectivity format.

Parameters

format The reflectivity format code to set

See also: OS32C_RANGE_FORMAT

Definition at line 79 of file os32c.cpp.

void omron_os32c_driver::OS32C::startUDPIO ( )

Definition at line 261 of file os32c.cpp.

Member Data Documentation

const double omron_os32c_driver::OS32C::ANGLE_INC = DEG2RAD(0.4)

static

Definition at line 93 of file os32c.h.

const double omron_os32c_driver::OS32C::ANGLE_MAX = DEG2RAD(135.2)

static

Definition at line 92 of file os32c.h.

const double omron_os32c_driver::OS32C::ANGLE_MIN = DEG2RAD(-135.2)

static

Definition at line 91 of file os32c.h.

int omron_os32c_driver::OS32C::connection_num_

private

Definition at line 216 of file os32c.h.

const double omron_os32c_driver::OS32C::DISTANCE_MAX = 50

static

Definition at line 95 of file os32c.h.

const double omron_os32c_driver::OS32C::DISTANCE_MIN = 0.002

static

Definition at line 94 of file os32c.h.

double omron_os32c_driver::OS32C::end_angle_

private

Definition at line 213 of file os32c.h.

MeasurementReportConfig omron_os32c_driver::OS32C::mrc_

private

Definition at line 217 of file os32c.h.

EIP_UDINT omron_os32c_driver::OS32C::mrc_sequence_num_

private

Definition at line 218 of file os32c.h.

double omron_os32c_driver::OS32C::start_angle_

private

Definition at line 212 of file os32c.h.

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation