#include <sick_scan_common.h>

Inheritance diagram for sick_scan::SickScanCommon:

Public Types
enum	SOPAS_CMD { CMD_DEVICE_IDENT_LEGACY, CMD_DEVICE_IDENT, CMD_SERIAL_NUMBER, CMD_REBOOT, CMD_WRITE_EEPROM, CMD_FIRMWARE_VERSION, CMD_DEVICE_STATE, CMD_OPERATION_HOURS, CMD_POWER_ON_COUNT, CMD_LOCATION_NAME, CMD_ACTIVATE_STANDBY, CMD_SET_PARTICLE_FILTER, CMD_SET_MEAN_FILTER, CMD_ALIGNMENT_MODE, CMD_APPLICATION_MODE, CMD_APPLICATION_MODE_FIELD_ON, CMD_APPLICATION_MODE_FIELD_OFF, CMD_APPLICATION_MODE_RANGING_ON, CMD_SET_ACCESS_MODE_3, CMD_SET_ACCESS_MODE_3_SAFETY_SCANNER, CMD_SET_OUTPUT_RANGES, CMD_SET_OUTPUT_RANGES_NAV3, CMD_GET_OUTPUT_RANGES, CMD_RUN, CMD_SET_PARTIAL_SCAN_CFG, CMD_GET_PARTIAL_SCAN_CFG, CMD_GET_PARTIAL_SCANDATA_CFG, CMD_SET_PARTIAL_SCANDATA_CFG, CMD_STOP_SCANDATA, CMD_START_SCANDATA, CMD_START_RADARDATA, CMD_ACTIVATE_NTP_CLIENT, CMD_SET_NTP_INTERFACE_ETH, CMD_SET_ENCODER_MODE, CMD_SET_ENCODER_MODE_NO, CMD_SET_ENCODER_MODE_SI, CMD_SET_ENCODER_MODE_DP, CMD_SET_ENCODER_MODE_DL, CMD_SET_INCREMENTSOURCE_ENC, CMD_SET_3_4_TO_ENCODER, CMD_SET_ENOCDER_RES_1, CMD_SET_ENCODER_RES, CMD_START_IMU_DATA, CMD_STOP_IMU_DATA, CMD_SET_TRANSMIT_RAWTARGETS_ON, CMD_SET_TRANSMIT_RAWTARGETS_OFF, CMD_SET_TRANSMIT_OBJECTS_ON, CMD_SET_TRANSMIT_OBJECTS_OFF, CMD_SET_TRACKING_MODE_0, CMD_SET_TRACKING_MODE_1, CMD_LOAD_APPLICATION_DEFAULT, CMD_DEVICE_TYPE, CMD_ORDER_NUMBER, CMD_START_MEASUREMENT, CMD_STOP_MEASUREMENT, CMD_SET_ECHO_FILTER, CMD_SET_NTP_UPDATETIME, CMD_SET_NTP_TIMEZONE, CMD_SET_IP_ADDR, CMD_SET_GATEWAY, CMD_SET_NTP_SERVER_IP_ADDR, CMD_SET_SCANDATACONFIGNAV, CMD_GET_ANGLE_COMPENSATION_PARAM, CMD_SET_TO_COLA_A_PROTOCOL, CMD_SET_TO_COLA_B_PROTOCOL, CMD_GET_SAFTY_FIELD_CFG, CMD_SET_LFEREC_ACTIVE, CMD_SET_LID_OUTPUTSTATE_ACTIVE, CMD_SET_LID_INPUTSTATE_ACTIVE, CMD_END }

Public Member Functions
int	ActivateStandBy (void)

bool	changeIPandreboot (boost::asio::ip::address_v4 IpAdress)
	Send a SOPAS command to the scanner that logs in the authorized client, changes the ip adress and the reboots the scanner. More...

void	check_angle_range (SickScanConfig &conf)
	check angle setting in the config and adjust the min_ang to the max_ang if min_ang greater than max_ax More...

int	convertAscii2BinaryCmd (const char requestAscii, std::vector< unsigned char > requestBinary)
	Convert ASCII-message to Binary-message. More...

std::string	generateExpectedAnswerString (const std::vector< unsigned char > requestStr)
	Generate expected answer string from the command string. More...

double	get_expected_frequency () const

SickScanConfig *	getConfigPtr ()

int	getProtocolType (void)
	get protocol type as enum More...

int	getReadTimeOutInMs ()
	get timeout in milliseconds More...

virtual int	init ()
	init routine of scanner More...

int	init_cmdTables ()
	init command tables and define startup sequence More...

int	loopOnce ()
	parsing datagram and publishing ros messages More...

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

int	sendSopasAndCheckAnswer (std::string request, std::vector< unsigned char > *reply, int cmdId)
	send command and check answer More...

int	sendSopasAndCheckAnswer (std::vector< unsigned char > request, std::vector< unsigned char > *reply, int cmdId)
	send command and check answer More...

int	setAligmentMode (int _AligmentMode)

int	setApplicationMode (bool _active, int _mode)

int	setMeanFilter (bool _active, int _numberOfScans)

int	setParticleFilter (bool _active, int _particleThreshold)

void	setProtocolType (SopasProtocol cola_dialect_id)
	set protocol type as enum More...

void	setReadTimeOutInMs (int timeOutInMs)
	set timeout in milliseconds More...

	SickScanCommon (SickGenericParser *parser)
	Construction of SickScanCommon. More...

std::string	sopasReplyToString (const std::vector< unsigned char > &reply)
	Converts reply from sendSOPASCommand to string. More...

bool	testsetActivateStandBy ()

bool	testsetAligmentMode ()

bool	testsetApplicationMode ()

bool	testsetMeanFilter ()

bool	testsetParticleFilter ()

bool	testSettingIpAddress ()

void	update_config (sick_scan::SickScanConfig &new_config, uint32_t level=0)
	updating configuration More...

virtual	~SickScanCommon ()
	Destructor of SickScanCommon. More...

Public Attributes
sensor_msgs::PointCloud2	cloud_

ros::Publisher	cloud_pub_

SickScanConfig	config_

ros::Publisher	Encoder_pub

ros::Publisher	imuScan_pub_

SickScanCommonNw	m_nw

Protected Member Functions
int	checkForBinaryAnswer (const std::vector< unsigned char > *reply)
	Check block for correct framing and starting sequence of a binary message. More...

virtual int	close_device ()=0

unsigned long	convertBigEndianCharArrayToUnsignedLong (const unsigned char *vecArr)
	Convert little endian to big endian (should be replaced by swap-routine) More...

bool	dumpDatagramForDebugging (unsigned char *buffer, int bufLen)

virtual int	get_datagram (ros::Time &recvTimeStamp, unsigned char receiveBuffer, int bufferSize, int actual_length, bool isBinaryProtocol, int *numberOfRemainingFifoEntries)=0
	Read a datagram from the device. More...

virtual int	init_device ()=0

virtual int	init_scanner ()
	initialize scanner More...

bool	isCompatibleDevice (const std::string identStr) const
	check the identification string More...

std::string	replyToString (const std::vector< unsigned char > &reply)
	Converts reply from sendSOPASCommand to string. More...

virtual int	sendSOPASCommand (const char request, std::vector< unsigned char > reply, int cmdLen=-1)=0
	Send a SOPAS command to the device and print out the response to the console. More...

virtual int	stop_scanner ()
	Stops sending scan data. More...

Protected Attributes
diagnostic_updater::Updater	diagnostics_

Private Member Functions
bool	checkForProtocolChangeAndMaybeReconnect (bool &useBinaryCmdNow)
	checks the current protocol type and gives information about necessary change More...

bool	getSensorIsRadar (void)

bool	setNewIpAddress (boost::asio::ip::address_v4 ipNewIPAddr, bool useBinaryCmd)

bool	setNTPServerAndStart (boost::asio::ip::address_v4 ipNewIPAddr, bool useBinaryCmd)

void	setSensorIsRadar (bool _isRadar)

Private Attributes
AngleCompensator *	angleCompensator = NULL

SickScanMarker *	cloud_marker_

ros::Publisher	datagram_pub_

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

dynamic_reconfigure::Server< sick_scan::SickScanConfig >	dynamic_reconfigure_server_

double	expectedFrequency_

ros::Publisher	lferec_pub_

ros::Publisher	lidoutputstate_pub_

double	m_min_intensity

SopasProtocol	m_protocolId

ros::NodeHandle	nh_

int	outputChannelFlagId

SickGenericParser *	parser_

ros::Publisher	pub_

bool	publish_datagram_

bool	publish_lferec_

bool	publish_lidoutputstate_

int	readTimeOutInMs

bool	sensorIsRadar

std::vector< int >	sopasCmdChain

std::vector< std::string >	sopasCmdErrMsg

std::vector< std::string >	sopasCmdMaskVec

std::vector< std::string >	sopasCmdVec

std::vector< std::vector< unsigned char > >	sopasReplyBinVec

std::vector< std::string >	sopasReplyStrVec

std::vector< std::string >	sopasReplyVec

std::mutex	sopasSendMutex

Detailed Description

Definition at line 86 of file sick_scan_common.h.

Member Enumeration Documentation

◆ SOPAS_CMD

enum sick_scan::SickScanCommon::SOPAS_CMD

Enumerator
CMD_DEVICE_IDENT_LEGACY
CMD_DEVICE_IDENT
CMD_SERIAL_NUMBER
CMD_REBOOT
CMD_WRITE_EEPROM
CMD_FIRMWARE_VERSION
CMD_DEVICE_STATE
CMD_OPERATION_HOURS
CMD_POWER_ON_COUNT
CMD_LOCATION_NAME
CMD_ACTIVATE_STANDBY
CMD_SET_PARTICLE_FILTER
CMD_SET_MEAN_FILTER
CMD_ALIGNMENT_MODE
CMD_APPLICATION_MODE
CMD_APPLICATION_MODE_FIELD_ON
CMD_APPLICATION_MODE_FIELD_OFF
CMD_APPLICATION_MODE_RANGING_ON
CMD_SET_ACCESS_MODE_3
CMD_SET_ACCESS_MODE_3_SAFETY_SCANNER
CMD_SET_OUTPUT_RANGES
CMD_SET_OUTPUT_RANGES_NAV3
CMD_GET_OUTPUT_RANGES
CMD_RUN
CMD_SET_PARTIAL_SCAN_CFG
CMD_GET_PARTIAL_SCAN_CFG
CMD_GET_PARTIAL_SCANDATA_CFG
CMD_SET_PARTIAL_SCANDATA_CFG
CMD_STOP_SCANDATA
CMD_START_SCANDATA
CMD_START_RADARDATA
CMD_ACTIVATE_NTP_CLIENT
CMD_SET_NTP_INTERFACE_ETH
CMD_SET_ENCODER_MODE
CMD_SET_ENCODER_MODE_NO
CMD_SET_ENCODER_MODE_SI
CMD_SET_ENCODER_MODE_DP
CMD_SET_ENCODER_MODE_DL
CMD_SET_INCREMENTSOURCE_ENC
CMD_SET_3_4_TO_ENCODER
CMD_SET_ENOCDER_RES_1
CMD_SET_ENCODER_RES
CMD_START_IMU_DATA
CMD_STOP_IMU_DATA
CMD_SET_TRANSMIT_RAWTARGETS_ON
CMD_SET_TRANSMIT_RAWTARGETS_OFF
CMD_SET_TRANSMIT_OBJECTS_ON
CMD_SET_TRANSMIT_OBJECTS_OFF
CMD_SET_TRACKING_MODE_0
CMD_SET_TRACKING_MODE_1
CMD_LOAD_APPLICATION_DEFAULT
CMD_DEVICE_TYPE
CMD_ORDER_NUMBER
CMD_START_MEASUREMENT
CMD_STOP_MEASUREMENT
CMD_SET_ECHO_FILTER
CMD_SET_NTP_UPDATETIME
CMD_SET_NTP_TIMEZONE
CMD_SET_IP_ADDR
CMD_SET_GATEWAY
CMD_SET_NTP_SERVER_IP_ADDR
CMD_SET_SCANDATACONFIGNAV
CMD_GET_ANGLE_COMPENSATION_PARAM
CMD_SET_TO_COLA_A_PROTOCOL
CMD_SET_TO_COLA_B_PROTOCOL
CMD_GET_SAFTY_FIELD_CFG
CMD_SET_LFEREC_ACTIVE
CMD_SET_LID_OUTPUTSTATE_ACTIVE
CMD_SET_LID_INPUTSTATE_ACTIVE
CMD_END

Definition at line 89 of file sick_scan_common.h.

Constructor & Destructor Documentation

◆ SickScanCommon()

sick_scan::SickScanCommon::SickScanCommon ( SickGenericParser * parser )

Construction of SickScanCommon.

Parameters

parser Corresponding parser holding specific scanner parameter

Definition at line 335 of file sick_scan_common.cpp.

◆ ~SickScanCommon()

sick_scan::SickScanCommon::~SickScanCommon ( )

virtual

Destructor of SickScanCommon.

Definition at line 570 of file sick_scan_common.cpp.

Member Function Documentation

◆ ActivateStandBy()

int sick_scan::SickScanCommon::ActivateStandBy ( void )

◆ changeIPandreboot()

bool sick_scan::SickScanCommon::changeIPandreboot ( boost::asio::ip::address_v4 IpAdress )

Send a SOPAS command to the scanner that logs in the authorized client, changes the ip adress and the reboots the scanner.

Parameters

IpAdress new IP adress

Returns: true if ip was changed and scanner is rebooting

◆ check_angle_range()

void sick_scan::SickScanCommon::check_angle_range ( SickScanConfig & conf )

check angle setting in the config and adjust the min_ang to the max_ang if min_ang greater than max_ax

Definition at line 4088 of file sick_scan_common.cpp.

◆ checkForBinaryAnswer()

int sick_scan::SickScanCommon::checkForBinaryAnswer ( const std::vector< unsigned char > * reply )

protected

Check block for correct framing and starting sequence of a binary message.

Parameters

[in] reply check reply whether is SOPAS-ASCII or SOPAS-Binary

Returns: -1 if ascii otherwise the length of data content following offset 8

Parameters

reply Pointer to datablock

Returns: length of message (-1 if message format is not correct)

Definition at line 481 of file sick_scan_common.cpp.

◆ checkForProtocolChangeAndMaybeReconnect()

bool sick_scan::SickScanCommon::checkForProtocolChangeAndMaybeReconnect ( bool & useBinaryCmdNow )

private

checks the current protocol type and gives information about necessary change

Parameters

useBinaryCmdNow Input/Output: Holds information about current protocol

Returns: true, if protocol type is already the right one

Definition at line 4499 of file sick_scan_common.cpp.

◆ close_device()

virtual int sick_scan::SickScanCommon::close_device ( )

protectedpure virtual

Implemented in sick_scan::SickScanCommonTcp.

◆ convertAscii2BinaryCmd()

int sick_scan::SickScanCommon::convertAscii2BinaryCmd	(	const char *	requestAscii,
		std::vector< unsigned char > *	requestBinary
	)

Convert ASCII-message to Binary-message.

Parameters

requestAscii	holds ASCII-encoded command
requestBinary	hold binary command as vector of unsigned char

Returns: success = 0

Definition at line 4114 of file sick_scan_common.cpp.

◆ convertBigEndianCharArrayToUnsignedLong()

unsigned long sick_scan::SickScanCommon::convertBigEndianCharArrayToUnsignedLong ( const unsigned char * vecArr )

protected

Convert little endian to big endian (should be replaced by swap-routine)

Parameters

[in] *vecArr to (unsigned) char buffer in big endian byte oder (MSB first)

Returns: unsigned long value as interpretation of big endian long value

Parameters

*vecArr Pointer to 4 byte block

Returns: swapped 4-byte-value as long

Definition at line 464 of file sick_scan_common.cpp.

◆ dumpDatagramForDebugging()

bool sick_scan::SickScanCommon::dumpDatagramForDebugging	(	unsigned char *	buffer,
		int	bufLen
	)

protected

Definition at line 2683 of file sick_scan_common.cpp.

◆ generateExpectedAnswerString()

std::string sick_scan::SickScanCommon::generateExpectedAnswerString ( const std::vector< unsigned char > requestStr )

Generate expected answer string from the command string.

Changes the Identifier of a commandstr. to its expected answer counterpart

Parameters

requestStr sent request string

Returns: Expected answer

Parameters

requestStr command string (either as ASCII or BINARY)

Returns: expected answer string

Map that defines expected answer identifiers

Definition at line 584 of file sick_scan_common.cpp.

◆ get_datagram()

virtual int sick_scan::SickScanCommon::get_datagram	(	ros::Time &	recvTimeStamp,
		unsigned char *	receiveBuffer,
		int	bufferSize,
		int *	actual_length,
		bool	isBinaryProtocol,
		int *	numberOfRemainingFifoEntries
	)

protectedpure virtual

Read a datagram from the device.

Parameters

[out]	recvTimeStamp	timestamp of received packet
[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
[in]	isBinaryProtocol	used Communication protocol True=Binary false=ASCII

Implemented in sick_scan::SickScanCommonTcp.

◆ get_expected_frequency()

double sick_scan::SickScanCommon::get_expected_frequency ( ) const

inline

Definition at line 233 of file sick_scan_common.h.

◆ getConfigPtr()

SickScanConfig* sick_scan::SickScanCommon::getConfigPtr ( )

inline

Definition at line 255 of file sick_scan_common.h.

◆ getProtocolType()

int sick_scan::SickScanCommon::getProtocolType ( void )

get protocol type as enum

Returns: enum type of type SopasProtocol

See also: setProtocolType

Definition at line 819 of file sick_scan_common.cpp.

◆ getReadTimeOutInMs()

int sick_scan::SickScanCommon::getReadTimeOutInMs ( )

get timeout in milliseconds

Returns: timeout in milliseconds

See also: setReadTimeOutInMs

Definition at line 809 of file sick_scan_common.cpp.

◆ getSensorIsRadar()

bool sick_scan::SickScanCommon::getSensorIsRadar ( void )

private

Definition at line 4657 of file sick_scan_common.cpp.

◆ init()

int sick_scan::SickScanCommon::init ( )

virtual

init routine of scanner

Returns: exit code

Definition at line 837 of file sick_scan_common.cpp.

◆ init_cmdTables()

int sick_scan::SickScanCommon::init_cmdTables ( )

init command tables and define startup sequence

Returns: exit code

Definition at line 865 of file sick_scan_common.cpp.

◆ init_device()

virtual int sick_scan::SickScanCommon::init_device ( )

protectedpure virtual

Implemented in sick_scan::SickScanCommonTcp.

◆ init_scanner()

int sick_scan::SickScanCommon::init_scanner ( )

protectedvirtual

initialize scanner

Returns: exit code

Definition at line 1163 of file sick_scan_common.cpp.

◆ isCompatibleDevice()

bool sick_scan::SickScanCommon::isCompatibleDevice ( const std::string identStr ) const

protected

check the identification string

Parameters

identStr string (got from sopas request)

Returns: true, if this driver supports the scanner identified by the identification string

Definition at line 2722 of file sick_scan_common.cpp.

◆ loopOnce()

int sick_scan::SickScanCommon::loopOnce ( )

parsing datagram and publishing ros messages

Returns: error code

Definition at line 2802 of file sick_scan_common.cpp.

◆ rebootScanner()

bool sick_scan::SickScanCommon::rebootScanner ( )

virtual

Send a SOPAS command to the scanner that should cause a soft reset.

Reboot scanner (todo: this does not work if the scanner is set to binary mode) Fix me!

Returns: true if reboot command was accepted, false otherwise; Result of rebooting attempt

Definition at line 518 of file sick_scan_common.cpp.

◆ replyToString()

std::string sick_scan::SickScanCommon::replyToString ( const std::vector< unsigned char > & reply )

protected

Converts reply from sendSOPASCommand to string.

convert ASCII or binary reply to a human readable string

Parameters

[in] reply reply from sendSOPASCommand

Returns: reply as string with special characters stripped out

Parameters

reply datablock, which should be converted

Returns: human readable string (used for debug/monitoring output)

Definition at line 2640 of file sick_scan_common.cpp.

◆ sendSopasAndCheckAnswer() [1/2]

int sick_scan::SickScanCommon::sendSopasAndCheckAnswer	(	std::string	requestStr,
		std::vector< unsigned char > *	reply,
		int	cmdId = `-1`
	)

send command and check answer

Parameters

requestStr	Sopas-Command
*reply	Antwort-String
cmdId	Command index to derive the correct error message (optional)

Returns: error code

Definition at line 704 of file sick_scan_common.cpp.

◆ sendSopasAndCheckAnswer() [2/2]

int sick_scan::SickScanCommon::sendSopasAndCheckAnswer	(	std::vector< unsigned char >	requestStr,
		std::vector< unsigned char > *	reply,
		int	cmdId = `-1`
	)

send command and check answer

Parameters

requestStr	Sopas-Command given as byte-vector
*reply	Antwort-String
cmdId	Command index to derive the correct error message (optional)

Returns: error code

Definition at line 722 of file sick_scan_common.cpp.

◆ sendSOPASCommand()

virtual int sick_scan::SickScanCommon::sendSOPASCommand	(	const char *	request,
		std::vector< unsigned char > *	reply,
		int	cmdLen = `-1`
	)

protectedpure virtual

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

Parameters

[in]	request	the command to send.
[out]	reply	if not NULL, will be filled with the reply package to the command.
[in]	cmdLen	Length of the Comandstring in bytes used for Binary Mode only

Implemented in sick_scan::SickScanCommonTcp.

◆ setAligmentMode()

int sick_scan::SickScanCommon::setAligmentMode ( int _AligmentMode )

◆ setApplicationMode()

int sick_scan::SickScanCommon::setApplicationMode	(	bool	_active,
		int	_mode
	)

◆ setMeanFilter()

int sick_scan::SickScanCommon::setMeanFilter	(	bool	_active,
		int	_numberOfScans
	)

◆ setNewIpAddress()

bool sick_scan::SickScanCommon::setNewIpAddress	(	boost::asio::ip::address_v4	ipNewIPAddr,
		bool	useBinaryCmd
	)

private

Definition at line 4535 of file sick_scan_common.cpp.

◆ setNTPServerAndStart()

bool sick_scan::SickScanCommon::setNTPServerAndStart	(	boost::asio::ip::address_v4	ipNewIPAddr,
		bool	useBinaryCmd
	)

private

Definition at line 4593 of file sick_scan_common.cpp.

◆ setParticleFilter()

int sick_scan::SickScanCommon::setParticleFilter	(	bool	_active,
		int	_particleThreshold
	)

◆ setProtocolType()

void sick_scan::SickScanCommon::setProtocolType ( SopasProtocol cola_dialect_id )

set protocol type as enum

See also: getProtocolType

Definition at line 828 of file sick_scan_common.cpp.

◆ setReadTimeOutInMs()

void sick_scan::SickScanCommon::setReadTimeOutInMs ( int timeOutInMs )

set timeout in milliseconds

Parameters

timeOutInMs in milliseconds

See also: getReadTimeOutInMs

Definition at line 799 of file sick_scan_common.cpp.

◆ setSensorIsRadar()

void sick_scan::SickScanCommon::setSensorIsRadar ( bool _isRadar )

private

Definition at line 4652 of file sick_scan_common.cpp.

◆ sopasReplyToString()

std::string sick_scan::SickScanCommon::sopasReplyToString ( const std::vector< unsigned char > & reply )

inline

Converts reply from sendSOPASCommand to string.

Parameters

[in] reply reply from sendSOPASCommand

Returns: reply as string with special characters stripped out

Definition at line 265 of file sick_scan_common.h.

◆ stop_scanner()

int sick_scan::SickScanCommon::stop_scanner ( )

protectedvirtual

Stops sending scan data.

Returns: error code

Definition at line 424 of file sick_scan_common.cpp.

◆ testsetActivateStandBy()

bool sick_scan::SickScanCommon::testsetActivateStandBy ( )

◆ testsetAligmentMode()

bool sick_scan::SickScanCommon::testsetAligmentMode ( )

◆ testsetApplicationMode()

bool sick_scan::SickScanCommon::testsetApplicationMode ( )

◆ testsetMeanFilter()

bool sick_scan::SickScanCommon::testsetMeanFilter ( )

◆ testsetParticleFilter()

bool sick_scan::SickScanCommon::testsetParticleFilter ( )

◆ testSettingIpAddress()

bool sick_scan::SickScanCommon::testSettingIpAddress ( )

◆ update_config()

void sick_scan::SickScanCommon::update_config	(	sick_scan::SickScanConfig &	new_config,
		uint32_t	level = `0`
	)

updating configuration

Parameters

new_config	Pointer to new configuration
level	(not used - should be removed)

Definition at line 4102 of file sick_scan_common.cpp.

Member Data Documentation

◆ angleCompensator

AngleCompensator* sick_scan::SickScanCommon::angleCompensator = NULL

private

Definition at line 394 of file sick_scan_common.h.

◆ cloud_

sensor_msgs::PointCloud2 sick_scan::SickScanCommon::cloud_

Definition at line 279 of file sick_scan_common.h.

◆ cloud_marker_

SickScanMarker* sick_scan::SickScanCommon::cloud_marker_

private

Definition at line 355 of file sick_scan_common.h.

◆ cloud_pub_

ros::Publisher sick_scan::SickScanCommon::cloud_pub_

Definition at line 275 of file sick_scan_common.h.

◆ config_

SickScanConfig sick_scan::SickScanCommon::config_

Definition at line 282 of file sick_scan_common.h.

◆ datagram_pub_

ros::Publisher sick_scan::SickScanCommon::datagram_pub_

private

Definition at line 348 of file sick_scan_common.h.

◆ diagnosticPub_

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

private

Definition at line 358 of file sick_scan_common.h.

◆ diagnostics_

diagnostic_updater::Updater sick_scan::SickScanCommon::diagnostics_

protected

Definition at line 340 of file sick_scan_common.h.

◆ dynamic_reconfigure_server_

dynamic_reconfigure::Server<sick_scan::SickScanConfig> sick_scan::SickScanCommon::dynamic_reconfigure_server_

private

Definition at line 363 of file sick_scan_common.h.

◆ Encoder_pub

ros::Publisher sick_scan::SickScanCommon::Encoder_pub

Definition at line 277 of file sick_scan_common.h.

◆ expectedFrequency_

double sick_scan::SickScanCommon::expectedFrequency_

private

Definition at line 359 of file sick_scan_common.h.

◆ imuScan_pub_

ros::Publisher sick_scan::SickScanCommon::imuScan_pub_

Definition at line 276 of file sick_scan_common.h.

◆ lferec_pub_

ros::Publisher sick_scan::SickScanCommon::lferec_pub_

private

Definition at line 351 of file sick_scan_common.h.

◆ lidoutputstate_pub_

ros::Publisher sick_scan::SickScanCommon::lidoutputstate_pub_

private

Definition at line 353 of file sick_scan_common.h.

◆ m_min_intensity

double sick_scan::SickScanCommon::m_min_intensity

private

Definition at line 396 of file sick_scan_common.h.

◆ m_nw

SickScanCommonNw sick_scan::SickScanCommon::m_nw

Definition at line 253 of file sick_scan_common.h.

◆ m_protocolId

SopasProtocol sick_scan::SickScanCommon::m_protocolId

private

Definition at line 344 of file sick_scan_common.h.

◆ nh_

ros::NodeHandle sick_scan::SickScanCommon::nh_

private

Definition at line 346 of file sick_scan_common.h.

◆ outputChannelFlagId

int sick_scan::SickScanCommon::outputChannelFlagId

private

Definition at line 375 of file sick_scan_common.h.

◆ parser_

SickGenericParser* sick_scan::SickScanCommon::parser_

private

Definition at line 366 of file sick_scan_common.h.

◆ pub_

ros::Publisher sick_scan::SickScanCommon::pub_

private

Definition at line 347 of file sick_scan_common.h.

◆ publish_datagram_

bool sick_scan::SickScanCommon::publish_datagram_

private

Definition at line 349 of file sick_scan_common.h.

◆ publish_lferec_

bool sick_scan::SickScanCommon::publish_lferec_

private

Definition at line 352 of file sick_scan_common.h.

◆ publish_lidoutputstate_

bool sick_scan::SickScanCommon::publish_lidoutputstate_

private

Definition at line 354 of file sick_scan_common.h.

◆ readTimeOutInMs

int sick_scan::SickScanCommon::readTimeOutInMs

private

Definition at line 387 of file sick_scan_common.h.

◆ sensorIsRadar

bool sick_scan::SickScanCommon::sensorIsRadar

private

Definition at line 392 of file sick_scan_common.h.

◆ sopasCmdChain

std::vector<int> sick_scan::SickScanCommon::sopasCmdChain

private

Definition at line 373 of file sick_scan_common.h.

◆ sopasCmdErrMsg

std::vector<std::string> sick_scan::SickScanCommon::sopasCmdErrMsg

private

Definition at line 372 of file sick_scan_common.h.

◆ sopasCmdMaskVec

std::vector<std::string> sick_scan::SickScanCommon::sopasCmdMaskVec

private

Definition at line 368 of file sick_scan_common.h.

◆ sopasCmdVec

std::vector<std::string> sick_scan::SickScanCommon::sopasCmdVec

private

Definition at line 367 of file sick_scan_common.h.

◆ sopasReplyBinVec

std::vector<std::vector<unsigned char> > sick_scan::SickScanCommon::sopasReplyBinVec

private

Definition at line 370 of file sick_scan_common.h.

◆ sopasReplyStrVec

std::vector<std::string> sick_scan::SickScanCommon::sopasReplyStrVec

private

Definition at line 371 of file sick_scan_common.h.

◆ sopasReplyVec

std::vector<std::string> sick_scan::SickScanCommon::sopasReplyVec

private

Definition at line 369 of file sick_scan_common.h.

◆ sopasSendMutex

std::mutex sick_scan::SickScanCommon::sopasSendMutex

private

Definition at line 389 of file sick_scan_common.h.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ SOPAS_CMD

Constructor & Destructor Documentation

◆ SickScanCommon()

◆ ~SickScanCommon()

Member Function Documentation

◆ ActivateStandBy()

◆ changeIPandreboot()

◆ check_angle_range()

◆ checkForBinaryAnswer()

◆ checkForProtocolChangeAndMaybeReconnect()

◆ close_device()

◆ convertAscii2BinaryCmd()

◆ convertBigEndianCharArrayToUnsignedLong()

◆ dumpDatagramForDebugging()

◆ generateExpectedAnswerString()

◆ get_datagram()

◆ get_expected_frequency()

◆ getConfigPtr()

◆ getProtocolType()

◆ getReadTimeOutInMs()

◆ getSensorIsRadar()

◆ init()

◆ init_cmdTables()

◆ init_device()

◆ init_scanner()

◆ isCompatibleDevice()

◆ loopOnce()

◆ rebootScanner()

◆ replyToString()

◆ sendSopasAndCheckAnswer() [1/2]

◆ sendSopasAndCheckAnswer() [2/2]

◆ sendSOPASCommand()

◆ setAligmentMode()

◆ setApplicationMode()

◆ setMeanFilter()

◆ setNewIpAddress()

◆ setNTPServerAndStart()

◆ setParticleFilter()

◆ setProtocolType()

◆ setReadTimeOutInMs()

◆ setSensorIsRadar()

◆ sopasReplyToString()

◆ stop_scanner()

◆ testsetActivateStandBy()

◆ testsetAligmentMode()

◆ testsetApplicationMode()

◆ testsetMeanFilter()

◆ testsetParticleFilter()

◆ testSettingIpAddress()

◆ update_config()

Member Data Documentation

◆ angleCompensator

◆ cloud_

◆ cloud_marker_

◆ cloud_pub_

◆ config_

◆ datagram_pub_

◆ diagnosticPub_

◆ diagnostics_

◆ dynamic_reconfigure_server_

◆ Encoder_pub

◆ expectedFrequency_

◆ imuScan_pub_

◆ lferec_pub_

◆ lidoutputstate_pub_

◆ m_min_intensity

◆ m_nw

◆ m_protocolId

◆ nh_

◆ outputChannelFlagId

◆ parser_