#include <sick_tim_common_usb.h>

Inheritance diagram for sick_tim::SickTimCommonUsb:

Public Member Functions
	SickTimCommonUsb (AbstractParser *parser, int device_number)

virtual	~SickTimCommonUsb ()

Public Member Functions inherited from sick_tim::SickTimCommon
void	check_angle_range (SickTimConfig &conf)

double	get_expected_frequency () const

virtual int	init ()

virtual int	loopOnce ()

virtual bool	rebootScanner ()
	Send a SOPAS command to the scanner that should cause a soft reset. More...

	SickTimCommon (AbstractParser *parser)

void	update_config (sick_tim::SickTimConfig &new_config, uint32_t level=0)

virtual	~SickTimCommon ()

Protected Member Functions
virtual int	close_device ()

virtual int	get_datagram (unsigned char receiveBuffer, int bufferSize, int actual_length)
	Read a datagram from the device. More...

virtual int	init_device ()

virtual int	sendSOPASCommand (const char request, std::vector< unsigned char > reply)
	Send a SOPAS command to the device and print out the response to the console. More...

Protected Member Functions inherited from sick_tim::SickTimCommon
virtual int	init_scanner ()

bool	isCompatibleDevice (const std::string identStr) const

virtual int	stop_scanner ()

Private Member Functions
void	freeSOPASDeviceList (libusb_device **list)

ssize_t	getSOPASDeviceList (libusb_context ctx, uint16_t vendorID, uint16_t productID, libusb_device **list)

void	printSOPASDeviceInformation (ssize_t numberOfDevices, libusb_device **devices)

void	printUSBDeviceDetails (struct libusb_device_descriptor desc)

void	printUSBInterfaceDetails (libusb_device *device)

Private Attributes
libusb_context *	ctx_

libusb_device_handle *	device_handle_

int	device_number_

libusb_device **	devices_

ssize_t	numberOfDevices_

Static Private Attributes
static const unsigned int	USB_TIMEOUT = 1000

Additional Inherited Members
Static Protected Member Functions inherited from sick_tim::SickTimCommon
static std::string	replyToString (const std::vector< unsigned char > &reply)
	Converts reply from sendSOPASCommand to string. More...

Protected Attributes inherited from sick_tim::SickTimCommon
SickTimConfig	config_

ros::Publisher	datagram_pub_

diagnostic_updater::DiagnosedPublisher< sensor_msgs::LaserScan > *	diagnosticPub_

diagnostic_updater::Updater	diagnostics_

double	expectedFrequency_

bool	publish_datagram_

Detailed Description

Definition at line 52 of file sick_tim_common_usb.h.

Constructor & Destructor Documentation

sick_tim::SickTimCommonUsb::SickTimCommonUsb	(	AbstractParser *	parser,
		int	device_number
	)

Definition at line 44 of file sick_tim_common_usb.cpp.

sick_tim::SickTimCommonUsb::~SickTimCommonUsb ( )

virtual

Definition at line 49 of file sick_tim_common_usb.cpp.

Member Function Documentation

int sick_tim::SickTimCommonUsb::close_device ( )

protectedvirtual

Implements sick_tim::SickTimCommon.

Definition at line 55 of file sick_tim_common_usb.cpp.

void sick_tim::SickTimCommonUsb::freeSOPASDeviceList ( libusb_device ** list )

private

Definition at line 152 of file sick_tim_common_usb.cpp.

int sick_tim::SickTimCommonUsb::get_datagram	(	unsigned char *	receiveBuffer,
		int	bufferSize,
		int *	actual_length
	)

protectedvirtual

Read a datagram from the device.

Parameters

[in]	receiveBuffer	data buffer to fill
[in]	bufferSize	max data size to write to buffer (result should be 0 terminated)
[out]	actual_length	the actual amount of data written

Implements sick_tim::SickTimCommon.

Definition at line 407 of file sick_tim_common_usb.cpp.

ssize_t sick_tim::SickTimCommonUsb::getSOPASDeviceList	(	libusb_context *	ctx,
		uint16_t	vendorID,
		uint16_t	productID,
		libusb_device ***	list
	)

private

Returns a list of USB devices currently attached to the system and matching the given vendorID and productID.

Definition at line 90 of file sick_tim_common_usb.cpp.

int sick_tim::SickTimCommonUsb::init_device ( )

protectedvirtual

Implements sick_tim::SickTimCommon.

Definition at line 316 of file sick_tim_common_usb.cpp.

void sick_tim::SickTimCommonUsb::printSOPASDeviceInformation	(	ssize_t	numberOfDevices,
		libusb_device **	devices
	)

private

Print the USB device information of the connected TIM3xx devices to the console.

Definition at line 230 of file sick_tim_common_usb.cpp.

void sick_tim::SickTimCommonUsb::printUSBDeviceDetails ( struct libusb_device_descriptor desc )

private

Definition at line 168 of file sick_tim_common_usb.cpp.

void sick_tim::SickTimCommonUsb::printUSBInterfaceDetails ( libusb_device * device )

private

Definition at line 178 of file sick_tim_common_usb.cpp.

int sick_tim::SickTimCommonUsb::sendSOPASCommand	(	const char *	request,
		std::vector< unsigned char > *	reply
	)

protectedvirtual

Send a SOPAS command to the device and print out the response to the console.

Implements sick_tim::SickTimCommon.

Definition at line 263 of file sick_tim_common_usb.cpp.

Member Data Documentation

libusb_context* sick_tim::SickTimCommonUsb::ctx_

private

Definition at line 84 of file sick_tim_common_usb.h.

libusb_device_handle* sick_tim::SickTimCommonUsb::device_handle_

private

Definition at line 87 of file sick_tim_common_usb.h.

int sick_tim::SickTimCommonUsb::device_number_

private

Definition at line 88 of file sick_tim_common_usb.h.

libusb_device** sick_tim::SickTimCommonUsb::devices_

private

Definition at line 86 of file sick_tim_common_usb.h.

ssize_t sick_tim::SickTimCommonUsb::numberOfDevices_

private

Definition at line 85 of file sick_tim_common_usb.h.

const unsigned int sick_tim::SickTimCommonUsb::USB_TIMEOUT = 1000

staticprivate

Definition at line 74 of file sick_tim_common_usb.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation