#include <sick_scan_common_tcp.h>

Inheritance diagram for sick_scan::SickScanCommonTcp:

Public Member Functions
SopasEventMessage	findFrameInReceiveBuffer ()

bool	getEmulSensor ()
	get emulation flag (using emulation instead of "real" scanner - currently implemented for radar More...

int	getReplyMode ()

int	numberOfDatagramInInputFifo ()

void	processFrame (ros::Time timeStamp, SopasEventMessage &frame)

void	readCallbackFunction (UINT8 *buffer, UINT32 &numOfBytes)

void	setEmulSensor (bool _emulFlag)
	Set emulation flag (using emulation instead of "real" scanner - currently implemented for radar. More...

void	setReplyMode (int _mode)

	SickScanCommonTcp (const std::string &hostname, const std::string &port, int &timelimit, SickGenericParser *parser, char cola_dialect_id)

bool	stopScanData ()

virtual	~SickScanCommonTcp ()

Public Member Functions inherited from sick_scan::SickScanCommon
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...

Static Public Member Functions
static void	disconnectFunctionS (void *obj)

static void	readCallbackFunctionS (void obj, UINT8 buffer, UINT32 &numOfBytes)

Public Attributes
UINT32	m_alreadyReceivedBytes

UINT32	m_lastPacketSize

UINT8	m_packetBuffer [480000]

Queue< DatagramWithTimeStamp >	recvQueue

Public Attributes inherited from sick_scan::SickScanCommon
sensor_msgs::PointCloud2	cloud_

ros::Publisher	cloud_pub_

SickScanConfig	config_

ros::Publisher	Encoder_pub

ros::Publisher	imuScan_pub_

SickScanCommonNw	m_nw

Protected Member Functions
void	checkDeadline ()

virtual int	close_device ()

void	disconnectFunction ()

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

void	handleRead (boost::system::error_code error, size_t bytes_transfered)

virtual int	init_device ()

void	readCallbackFunctionOld (UINT8 *buffer, UINT32 &numOfBytes)

int	readWithTimeout (size_t timeout_ms, char buffer, int buffer_size, int bytes_read=0, bool *exception_occured=0, bool isBinary=false)

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

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

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

Private Attributes
size_t	bytes_transfered_

boost::asio::deadline_timer	deadline_

boost::system::error_code	ec_

std::string	hostname_

boost::asio::streambuf	input_buffer_

boost::asio::io_service	io_service_

bool	m_beVerbose

bool	m_emulSensor

UINT32	m_numberOfBytesInReceiveBuffer
	Number of bytes in buffer. More...

UINT32	m_numberOfBytesInResponseBuffer
	Number of bytes in buffer. More...

UINT8	m_receiveBuffer [480000]
	Low-Level receive buffer for all data. More...

Mutex	m_receiveDataMutex
	Access mutex for buffer. More...

int	m_replyMode

UINT8	m_responseBuffer [1024]
	Receive buffer for everything except scan data and eval case data. More...

std::string	port_

boost::asio::ip::tcp::socket	socket_

int	timelimit_

Additional Inherited Members
Public Types inherited from sick_scan::SickScanCommon
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 }

Protected Attributes inherited from sick_scan::SickScanCommon
diagnostic_updater::Updater	diagnostics_

Detailed Description

Definition at line 68 of file sick_scan_common_tcp.h.

Constructor & Destructor Documentation

◆ SickScanCommonTcp()

sick_scan::SickScanCommonTcp::SickScanCommonTcp	(	const std::string &	hostname,
		const std::string &	port,
		int &	timelimit,
		SickGenericParser *	parser,
		char	cola_dialect_id
	)

Definition at line 171 of file sick_scan_common_tcp.cpp.

◆ ~SickScanCommonTcp()

sick_scan::SickScanCommonTcp::~SickScanCommonTcp ( )

virtual

Definition at line 208 of file sick_scan_common_tcp.cpp.

Member Function Documentation

◆ checkDeadline()

void sick_scan::SickScanCommonTcp::checkDeadline ( )

protected

Definition at line 602 of file sick_scan_common_tcp.cpp.

◆ close_device()

int sick_scan::SickScanCommonTcp::close_device ( )

protectedvirtual

Implements sick_scan::SickScanCommon.

Definition at line 581 of file sick_scan_common_tcp.cpp.

◆ disconnectFunction()

void sick_scan::SickScanCommonTcp::disconnectFunction ( )

protected

Read callback. Diese Funktion wird aufgerufen, sobald Daten auf der Schnittstelle hereingekommen sind.

Definition at line 219 of file sick_scan_common_tcp.cpp.

◆ disconnectFunctionS()

void sick_scan::SickScanCommonTcp::disconnectFunctionS ( void * obj )

static

Definition at line 224 of file sick_scan_common_tcp.cpp.

◆ findFrameInReceiveBuffer()

SopasEventMessage sick_scan::SickScanCommonTcp::findFrameInReceiveBuffer ( )

Definition at line 289 of file sick_scan_common_tcp.cpp.

◆ get_datagram()

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

protectedvirtual

Read a datagram from the device.

Parameters

[out]	recvTimeStamp	timestamp of received datagram
[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	true=binary False=ASCII

Implements sick_scan::SickScanCommon.

Definition at line 783 of file sick_scan_common_tcp.cpp.

◆ getEmulSensor()

bool sick_scan::SickScanCommonTcp::getEmulSensor ( )

get emulation flag (using emulation instead of "real" scanner - currently implemented for radar

Parameters

Definition at line 277 of file sick_scan_common_tcp.cpp.

◆ getReplyMode()

int sick_scan::SickScanCommonTcp::getReplyMode ( )

Definition at line 243 of file sick_scan_common_tcp.cpp.

◆ handleRead()

void sick_scan::SickScanCommonTcp::handleRead	(	boost::system::error_code	error,
		size_t	bytes_transfered
	)

protected

Definition at line 595 of file sick_scan_common_tcp.cpp.

◆ init_device()

int sick_scan::SickScanCommonTcp::init_device ( )

protectedvirtual

Implements sick_scan::SickScanCommon.

Definition at line 564 of file sick_scan_common_tcp.cpp.

◆ numberOfDatagramInInputFifo()

int sick_scan::SickScanCommonTcp::numberOfDatagramInInputFifo ( )

Definition at line 617 of file sick_scan_common_tcp.cpp.

◆ processFrame()

void sick_scan::SickScanCommonTcp::processFrame	(	ros::Time	timeStamp,
		SopasEventMessage &	frame
	)

Read callback. Diese Funktion wird aufgerufen, sobald Daten auf der Schnittstelle hereingekommen sind.

Definition at line 466 of file sick_scan_common_tcp.cpp.

◆ readCallbackFunction()

void sick_scan::SickScanCommonTcp::readCallbackFunction	(	UINT8 *	buffer,
		UINT32 &	numOfBytes
	)

Definition at line 493 of file sick_scan_common_tcp.cpp.

◆ readCallbackFunctionOld()

void sick_scan::SickScanCommonTcp::readCallbackFunctionOld	(	UINT8 *	buffer,
		UINT32 &	numOfBytes
	)

protected

◆ readCallbackFunctionS()

void sick_scan::SickScanCommonTcp::readCallbackFunctionS	(	void *	obj,
		UINT8 *	buffer,
		UINT32 &	numOfBytes
	)

static

Definition at line 232 of file sick_scan_common_tcp.cpp.

◆ readWithTimeout()

int sick_scan::SickScanCommonTcp::readWithTimeout	(	size_t	timeout_ms,
		char *	buffer,
		int	buffer_size,
		int *	bytes_read = `0`,
		bool *	exception_occured = `0`,
		bool	isBinary = `false`
	)

protected

Definition at line 624 of file sick_scan_common_tcp.cpp.

◆ sendSOPASCommand()

int sick_scan::SickScanCommonTcp::sendSOPASCommand	(	const char *	request,
		std::vector< unsigned char > *	reply,
		int	cmdLen
	)

protectedvirtual

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

Implements sick_scan::SickScanCommon.

Definition at line 664 of file sick_scan_common_tcp.cpp.

◆ setEmulSensor()

void sick_scan::SickScanCommonTcp::setEmulSensor ( bool _emulFlag )

Set emulation flag (using emulation instead of "real" scanner - currently implemented for radar.

Parameters

_emulFlag Flag to switch emulation on or off

Returns

Definition at line 267 of file sick_scan_common_tcp.cpp.

◆ setReplyMode()

void sick_scan::SickScanCommonTcp::setReplyMode ( int _mode )

Definition at line 238 of file sick_scan_common_tcp.cpp.

◆ stopScanData()

bool sick_scan::SickScanCommonTcp::stopScanData ( )

Definition at line 589 of file sick_scan_common_tcp.cpp.

Member Data Documentation

◆ bytes_transfered_

size_t sick_scan::SickScanCommonTcp::bytes_transfered_

private

Definition at line 160 of file sick_scan_common_tcp.h.

◆ deadline_

boost::asio::deadline_timer sick_scan::SickScanCommonTcp::deadline_

private

Definition at line 157 of file sick_scan_common_tcp.h.

◆ ec_

boost::system::error_code sick_scan::SickScanCommonTcp::ec_

private

Definition at line 159 of file sick_scan_common_tcp.h.

◆ hostname_

std::string sick_scan::SickScanCommonTcp::hostname_

private

Definition at line 162 of file sick_scan_common_tcp.h.

◆ input_buffer_

boost::asio::streambuf sick_scan::SickScanCommonTcp::input_buffer_

private

Definition at line 158 of file sick_scan_common_tcp.h.

◆ io_service_

boost::asio::io_service sick_scan::SickScanCommonTcp::io_service_

private

Definition at line 155 of file sick_scan_common_tcp.h.

◆ m_alreadyReceivedBytes

UINT32 sick_scan::SickScanCommonTcp::m_alreadyReceivedBytes

Definition at line 100 of file sick_scan_common_tcp.h.

◆ m_beVerbose

bool sick_scan::SickScanCommonTcp::m_beVerbose

private

Definition at line 152 of file sick_scan_common_tcp.h.

◆ m_emulSensor

bool sick_scan::SickScanCommonTcp::m_emulSensor

private

Definition at line 153 of file sick_scan_common_tcp.h.

◆ m_lastPacketSize

UINT32 sick_scan::SickScanCommonTcp::m_lastPacketSize

Definition at line 101 of file sick_scan_common_tcp.h.

◆ m_numberOfBytesInReceiveBuffer

UINT32 sick_scan::SickScanCommonTcp::m_numberOfBytesInReceiveBuffer

private

Number of bytes in buffer.

Definition at line 149 of file sick_scan_common_tcp.h.

◆ m_numberOfBytesInResponseBuffer

UINT32 sick_scan::SickScanCommonTcp::m_numberOfBytesInResponseBuffer

private

Number of bytes in buffer.

Definition at line 144 of file sick_scan_common_tcp.h.

◆ m_packetBuffer

UINT8 sick_scan::SickScanCommonTcp::m_packetBuffer[480000]

Definition at line 102 of file sick_scan_common_tcp.h.

◆ m_receiveBuffer

UINT8 sick_scan::SickScanCommonTcp::m_receiveBuffer[480000]

private

Low-Level receive buffer for all data.

Definition at line 150 of file sick_scan_common_tcp.h.

◆ m_receiveDataMutex

Mutex sick_scan::SickScanCommonTcp::m_receiveDataMutex

private

Access mutex for buffer.

Definition at line 146 of file sick_scan_common_tcp.h.

◆ m_replyMode

int sick_scan::SickScanCommonTcp::m_replyMode

private

Definition at line 165 of file sick_scan_common_tcp.h.

◆ m_responseBuffer

UINT8 sick_scan::SickScanCommonTcp::m_responseBuffer[1024]

private

Receive buffer for everything except scan data and eval case data.

Definition at line 145 of file sick_scan_common_tcp.h.

◆ port_

std::string sick_scan::SickScanCommonTcp::port_

private

Definition at line 163 of file sick_scan_common_tcp.h.

◆ recvQueue

Queue<DatagramWithTimeStamp> sick_scan::SickScanCommonTcp::recvQueue

Definition at line 99 of file sick_scan_common_tcp.h.

◆ socket_

boost::asio::ip::tcp::socket sick_scan::SickScanCommonTcp::socket_

private

Definition at line 156 of file sick_scan_common_tcp.h.

◆ timelimit_

int sick_scan::SickScanCommonTcp::timelimit_

private

Definition at line 164 of file sick_scan_common_tcp.h.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SickScanCommonTcp()

◆ ~SickScanCommonTcp()

Member Function Documentation

◆ checkDeadline()

◆ close_device()

◆ disconnectFunction()

◆ disconnectFunctionS()

◆ findFrameInReceiveBuffer()

◆ get_datagram()

◆ getEmulSensor()

◆ getReplyMode()

◆ handleRead()

◆ init_device()

◆ numberOfDatagramInInputFifo()

◆ processFrame()

◆ readCallbackFunction()

◆ readCallbackFunctionOld()

◆ readCallbackFunctionS()

◆ readWithTimeout()

◆ sendSOPASCommand()

◆ setEmulSensor()

◆ setReplyMode()

◆ stopScanData()

Member Data Documentation

◆ bytes_transfered_

◆ deadline_

◆ ec_

◆ hostname_

◆ input_buffer_

◆ io_service_

◆ m_alreadyReceivedBytes

◆ m_beVerbose

◆ m_emulSensor

◆ m_lastPacketSize

◆ m_numberOfBytesInReceiveBuffer

◆ m_numberOfBytesInResponseBuffer

◆ m_packetBuffer

◆ m_receiveBuffer

◆ m_receiveDataMutex

◆ m_replyMode

◆ m_responseBuffer

◆ port_

◆ recvQueue

◆ socket_

◆ timelimit_