sick_scan::SickScanServices Class Reference

#include <sick_scan_services.h>

Public Member Functions
bool	serviceCbColaMsg (sick_scan::ColaMsgSrv::Request &service_request, sick_scan::ColaMsgSrv::Response &service_response)
bool	serviceCbECRChangeArr (sick_scan::ECRChangeArrSrv::Request &service_request, sick_scan::ECRChangeArrSrv::Response &service_response)
bool	serviceCbLIDoutputstate (sick_scan::LIDoutputstateSrv::Request &service_request, sick_scan::LIDoutputstateSrv::Response &service_response)
	SickScanServices (ros::NodeHandle *nh=0, sick_scan::SickScanCommonTcp *common_tcp=0, bool cola_binary=true)
virtual	~SickScanServices ()

Protected Member Functions
bool	sendSopasAndCheckAnswer (const std::string &sopasCmd, std::vector< unsigned char > &sopasReplyBin, std::string &sopasReplyString)

Protected Attributes
bool	m_cola_binary
	cola ascii or cola binary messages More...
sick_scan::SickScanCommonTcp *	m_common_tcp
	common tcp handler More...
ros::ServiceServer	m_srv_server_ColaMsg
	service "ColaMsg", &sick_scan::SickScanServices::serviceCbColaMsg More...
ros::ServiceServer	m_srv_server_ECRChangeArr
	service "ECRChangeArr", &sick_scan::SickScanServices::serviceCbECRChangeArr More...
ros::ServiceServer	m_srv_server_LIDoutputstate
	service "LIDoutputstate", &sick_scan::SickScanServices::serviceCbLIDoutputstate More...

Detailed Description

Definition at line 53 of file sick_scan_services.h.

Constructor & Destructor Documentation

sick_scan::SickScanServices::SickScanServices	(	ros::NodeHandle *	nh = 0,
		sick_scan::SickScanCommonTcp *	common_tcp = 0,
		bool	cola_binary = true
	)

Definition at line 43 of file sick_scan_services.cpp.

sick_scan::SickScanServices::~SickScanServices ( )

virtual

Definition at line 54 of file sick_scan_services.cpp.

Member Function Documentation

bool sick_scan::SickScanServices::sendSopasAndCheckAnswer ( const std::string &  sopasCmd, std::vector< unsigned char > &  sopasReplyBin, std::string &  sopasReplyString  )

protected

Sends a sopas command and returns the lidar reply.

Parameters

[in]	sopasCmd	sopas command to send, f.e. "sEN ECRChangeArr 1"
[out]	sopasReplyBin	response from lidar incl. start/stop byte
[out]	sopasReplyString	sopasReplyBin converted to string

Returns

true on success, false in case of errors.

Definition at line 65 of file sick_scan_services.cpp.

bool sick_scan::SickScanServices::serviceCbColaMsg	(	sick_scan::ColaMsgSrv::Request &	service_request,
		sick_scan::ColaMsgSrv::Response &	service_response
	)

Callback for service ColaMsg (ColaMsg, send a cola message to lidar).

Parameters

[in]	service_request	ros service request to lidar
[out]	service_response	service response from lidar

Returns

true on success, false in case of errors.

Definition at line 105 of file sick_scan_services.cpp.

bool sick_scan::SickScanServices::serviceCbECRChangeArr	(	sick_scan::ECRChangeArrSrv::Request &	service_request,
		sick_scan::ECRChangeArrSrv::Response &	service_response
	)

Callback for service messages (ECRChangeArr, Request status change of monitoring fields on event). Sends a cola telegram "sEN ECRChangeArr {0|1}" and receives the response from the lidar device.

Parameters

[in]	service_request	ros service request to lidar
[out]	service_response	service response from lidar

Returns

true on success, false in case of errors.

Definition at line 131 of file sick_scan_services.cpp.

bool sick_scan::SickScanServices::serviceCbLIDoutputstate	(	sick_scan::LIDoutputstateSrv::Request &	service_request,
		sick_scan::LIDoutputstateSrv::Response &	service_response
	)

Callback for service messages (LIDoutputstate, Request status change of monitoring fields on event). Sends a cola telegram "sEN LIDoutputstate {0|1}" and receives the response from the lidar device.

Parameters

[in]	service_request	ros service request to lidar
[out]	service_response	service response from lidar

Returns

true on success, false in case of errors.

Definition at line 156 of file sick_scan_services.cpp.

Member Data Documentation

bool sick_scan::SickScanServices::m_cola_binary

protected

cola ascii or cola binary messages

Definition at line 102 of file sick_scan_services.h.

sick_scan::SickScanCommonTcp* sick_scan::SickScanServices::m_common_tcp

protected

common tcp handler

Definition at line 103 of file sick_scan_services.h.

ros::ServiceServer sick_scan::SickScanServices::m_srv_server_ColaMsg

protected

service "ColaMsg", &sick_scan::SickScanServices::serviceCbColaMsg

Definition at line 104 of file sick_scan_services.h.

ros::ServiceServer sick_scan::SickScanServices::m_srv_server_ECRChangeArr

protected

service "ECRChangeArr", &sick_scan::SickScanServices::serviceCbECRChangeArr

Definition at line 105 of file sick_scan_services.h.

ros::ServiceServer sick_scan::SickScanServices::m_srv_server_LIDoutputstate

protected

service "LIDoutputstate", &sick_scan::SickScanServices::serviceCbLIDoutputstate

Definition at line 106 of file sick_scan_services.h.

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

• sick_scan_services.h
• sick_scan_services.cpp