Class Client

Class Documentation

class Client

Primary class used to communicate with device.

Public Functions

Client()
~Client() = default
bool connect(const std::string &host, int port, int timeout_ms)

Connect to device at host:port over TCP.

Parameters

  • host – [in] The hostname or IP address of the device.

  • port – [in] The port to connect to.

  • timeout_ms – [in] Connection timeout in milliseconds.

Returns

True if the connection is successful, false otherwise.

bool connected() const

Check if the device is currently connected.

Returns

True if the device is connected, false otherwise.

void disconnect()

Disconnect from the device.

std::optional<int> getBatteryPercentage()

Get the current device batter percentage from device.

Only applies to devices with a battery.

Returns

The battery percentage if the request is successfull, empty otherwise.

Bitmap::Ptr getBitmapData(float x, float y, float width, float height, MapKind kind)

Get map data layer as a bitmap from device.

Parameters

  • x – [in] The min x extent of the map in meters.

  • y – [in] The min y extent of the map in meters.

  • width – [in] The width of the map in meters.

  • heigher – [in] The height of the map in meters.

  • kind – [in] The map layer to retrieve.

Returns

The map data layer if the request is successful, null otherwise.

std::optional<int> getBoardTemperature()

Get the current device board temperature.

Returns

The board temperature if the request is successfull, empty otherwise.

std::optional<int> getDcInConnected()

Get whether or not DC IN is connected from device.

Only applies to devices with a battery.

Returns

Whether or not DC IN is connected if the request is successful, empty otherwise.

std::optional<HealthStatus> getHealthStatus()

Get health status information from device.

Returns

Health status information if the request is successful, empty otherwise.

std::optional<ImuData> getImuData()

Get IMU data from device.

Note: currently only the orientation fields appear to be filled in.

Returns

IMU data if the request is successful, empty otherwise.

std::optional<int> getIsCharging()

Get whether or not the battery is charging from device.

Only applies to devices with a battery.

Returns

Whether or not the battery is charging if the request is successful, empty otherwise.

std::optional<cv::Rect_<float>> getKnownArea(MapType type, MapKind kind)

Get the current extents of a map data layer from the device.

Parameters

  • type – [in] The type of map.

  • kind – [in] The map layer to get the extents of.

Returns

The map layer extents if the request is successful, empty otherwise.

LaserScan::Ptr getLaserScan()

Get laser scan data from device.

Returns

Laser scan data if the request is successful, empty otherwise.

std::optional<Eigen::Vector3d> getLocation()

Get location estimate from device.

Returns

Location estimate if the request is successful, empty otherwise.

std::optional<int> getOnDock()

Get whether or not the device is on the dock from device.

Only applies to devices with a dock.

Returns

Whether or not the device is on the dock if the request is successful, empty otherwise.

std::optional<Eigen::Isometry3d> getPose()

Get pose estimate from device.

Returns

Pose estimate if the request is successful, empty otherwise.

std::optional<ImuData> getRawImuData()

Get IMU data from device.

Note: currently only the orientation fields appear to be filled in.

Returns

IMU data if the request is successful, empty otherwise.

std::optional<std::string> getSdpVersion()

Get the SPD version from the device.

Returns

The SPD version if the request is successful, empty otherwise.