#include <pf_interface.h>

Public Member Functions
bool	init (std::shared_ptr< HandleInfo > info, std::shared_ptr< ScanConfig > config, std::shared_ptr< ScanParameters > params, const std::string &topic, const std::string &frame_id, const uint16_t num_layers)

	PFInterface ()

bool	start_transmission (std::shared_ptr< std::mutex > net_mtx, std::shared_ptr< std::condition_variable > net_cv, bool &net_fail)

void	stop_transmission ()

void	terminate ()

Private Types
enum	PFState { PFState::UNINIT, PFState::INIT, PFState::RUNNING, PFState::SHUTDOWN, PFState::ERROR }

using	PipelinePtr = std::unique_ptr< Pipeline >

Private Member Functions
bool	can_change_state (PFState state)

void	change_state (PFState state)

void	connection_failure_cb ()

void	feed_watchdog (const ros::TimerEvent &e)

PipelinePtr	get_pipeline (const std::string &packet_type, std::shared_ptr< std::mutex > net_mtx, std::shared_ptr< std::condition_variable > net_cv, bool &net_fail)

bool	handle_version (int major_version, int minor_version, int device_family, const std::string &topic, const std::string &frame_id, const uint16_t num_layers)

bool	init ()

void	on_shutdown ()

void	start_watchdog_timer (float duration)

Private Attributes
std::shared_ptr< ScanConfig >	config_

std::string	frame_id_

std::shared_ptr< HandleInfo >	info_

ros::NodeHandle	nh_

uint16_t	num_layers_

std::shared_ptr< ScanParameters >	params_

PipelinePtr	pipeline_

std::string	prev_handle_

std::string	product_

std::shared_ptr< PFSDPBase >	protocol_interface_

std::shared_ptr< Reader< PFPacket > >	reader_

PFState	state_

std::string	topic_

std::unique_ptr< Transport >	transport_

ros::Timer	watchdog_timer_

Detailed Description

Definition at line 18 of file pf_interface.h.

Member Typedef Documentation

◆ PipelinePtr

using PFInterface::PipelinePtr = std::unique_ptr<Pipeline>

private

Definition at line 33 of file pf_interface.h.

Member Enumeration Documentation

◆ PFState

enum PFInterface::PFState

strongprivate

Enumerator
UNINIT
INIT
RUNNING
SHUTDOWN
ERROR

Definition at line 51 of file pf_interface.h.

Constructor & Destructor Documentation

◆ PFInterface()

PFInterface::PFInterface ( )

Definition at line 12 of file pf_interface.cpp.

Member Function Documentation

◆ can_change_state()

bool PFInterface::can_change_state ( PFState state )

private

Definition at line 123 of file pf_interface.cpp.

◆ change_state()

void PFInterface::change_state ( PFState state )

private

Definition at line 103 of file pf_interface.cpp.

◆ connection_failure_cb()

void PFInterface::connection_failure_cb ( )

private

Definition at line 197 of file pf_interface.cpp.

◆ feed_watchdog()

void PFInterface::feed_watchdog ( const ros::TimerEvent & e )

private

Definition at line 186 of file pf_interface.cpp.

◆ get_pipeline()

std::unique_ptr< Pipeline > PFInterface::get_pipeline	(	const std::string &	packet_type,
		std::shared_ptr< std::mutex >	net_mtx,
		std::shared_ptr< std::condition_variable >	net_cv,
		bool &	net_fail
	)

private

Definition at line 255 of file pf_interface.cpp.

◆ handle_version()

bool PFInterface::handle_version	(	int	major_version,
		int	minor_version,
		int	device_family,
		const std::string &	topic,
		const std::string &	frame_id,
		const uint16_t	num_layers
	)

private

Definition at line 210 of file pf_interface.cpp.

◆ init() [1/2]

bool PFInterface::init ( )

private

Definition at line 173 of file pf_interface.cpp.

◆ init() [2/2]

bool PFInterface::init	(	std::shared_ptr< HandleInfo >	info,
		std::shared_ptr< ScanConfig >	config,
		std::shared_ptr< ScanParameters >	params,
		const std::string &	topic,
		const std::string &	frame_id,
		const uint16_t	num_layers
	)

Definition at line 16 of file pf_interface.cpp.

◆ on_shutdown()

void PFInterface::on_shutdown ( )

private

Definition at line 191 of file pf_interface.cpp.

◆ start_transmission()

bool PFInterface::start_transmission	(	std::shared_ptr< std::mutex >	net_mtx,
		std::shared_ptr< std::condition_variable >	net_cv,
		bool &	net_fail
	)

Definition at line 128 of file pf_interface.cpp.

◆ start_watchdog_timer()

void PFInterface::start_watchdog_timer ( float duration )

private

Definition at line 178 of file pf_interface.cpp.

◆ stop_transmission()

void PFInterface::stop_transmission ( )

Definition at line 150 of file pf_interface.cpp.

◆ terminate()

void PFInterface::terminate ( )

Definition at line 160 of file pf_interface.cpp.

Member Data Documentation

◆ config_

std::shared_ptr<ScanConfig> PFInterface::config_

private

Definition at line 47 of file pf_interface.h.

◆ frame_id_

std::string PFInterface::frame_id_

private

Definition at line 42 of file pf_interface.h.

◆ info_

std::shared_ptr<HandleInfo> PFInterface::info_

private

Definition at line 46 of file pf_interface.h.

◆ nh_

ros::NodeHandle PFInterface::nh_

private

Definition at line 35 of file pf_interface.h.

◆ num_layers_

uint16_t PFInterface::num_layers_

private

Definition at line 43 of file pf_interface.h.

◆ params_

std::shared_ptr<ScanParameters> PFInterface::params_

private

Definition at line 48 of file pf_interface.h.

◆ pipeline_

PipelinePtr PFInterface::pipeline_

private

Definition at line 39 of file pf_interface.h.

◆ prev_handle_

std::string PFInterface::prev_handle_

private

Definition at line 49 of file pf_interface.h.

◆ product_

std::string PFInterface::product_

private

Definition at line 44 of file pf_interface.h.

◆ protocol_interface_

std::shared_ptr<PFSDPBase> PFInterface::protocol_interface_

private

Definition at line 38 of file pf_interface.h.

◆ reader_

std::shared_ptr<Reader<PFPacket> > PFInterface::reader_

private

Definition at line 40 of file pf_interface.h.

◆ state_

PFState PFInterface::state_

private

Definition at line 59 of file pf_interface.h.

◆ topic_

std::string PFInterface::topic_

private

Definition at line 41 of file pf_interface.h.

◆ transport_

std::unique_ptr<Transport> PFInterface::transport_

private

Definition at line 37 of file pf_interface.h.

◆ watchdog_timer_

ros::Timer PFInterface::watchdog_timer_

private

Definition at line 36 of file pf_interface.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ PipelinePtr

Member Enumeration Documentation

◆ PFState

Constructor & Destructor Documentation

◆ PFInterface()

Member Function Documentation

◆ can_change_state()

◆ change_state()

◆ connection_failure_cb()

◆ feed_watchdog()

◆ get_pipeline()

◆ handle_version()

◆ init() [1/2]

◆ init() [2/2]

◆ on_shutdown()

◆ start_transmission()

◆ start_watchdog_timer()

◆ stop_transmission()

◆ terminate()

Member Data Documentation

◆ config_

◆ frame_id_

◆ info_

◆ nh_

◆ num_layers_

◆ params_

◆ pipeline_

◆ prev_handle_

◆ product_

◆ protocol_interface_

◆ reader_

◆ state_

◆ topic_

◆ transport_

◆ watchdog_timer_