FX8 driver nodelet class. More...

#include <fx8_driver_nodelet.h>

Inheritance diagram for infinisoleil::FX8DriverNodelet:

Classes
struct	FX8Info
	Struct of fx8 information. More...
struct	FX8Scan
	Struct of fx8 scan data. More...
Public Member Functions
	FX8DriverNodelet ()
	Constructer.
virtual	~FX8DriverNodelet ()
	Destructor.
Private Types
typedef FX8Info	Config
	Configurations of FX8.
typedef std::pair< ros::Time, std::string >	ErrorInfo
	Error information.
typedef fx8_bool	FX8Bool
	Boolean of libfx8.
typedef fx8_handle	FX8Handle
	Device handle.
typedef fx8_measure_mode	FX8MeasureMode
	Device measure mode.
typedef fx8_sensor_info	FX8SensorInfo
	Sensor information.
typedef fx8_xy_data	FX8XyData
	Device xy data.
typedef fx8_xy_data_element	FX8XyDataElement
	Element of device xy data.
typedef fx8_xy_data_surface	FX8XyDataSurface
	Surface of device xy data.
typedef std::pair< ros::Time, std::vector< unsigned char > >	ReceivedErrorCodePackets
	Received FX8 error code.
typedef dynamic_reconfigure::Server < infinisoleil::FX8Config >	ReconfigureServer
	Dynamic reconfigure server.
typedef FX8Scan	Scan
	Scan data of FX8.
typedef std::vector< unsigned char >	ScanDataPackets
	Received FX8 scan data packets.
typedef diagnostic_updater::HeaderlessTopicDiagnostic	TopicDiagnostic
	Topic diagnostic.
typedef boost::shared_ptr < TopicDiagnostic >	TopicDiagnosticPtr
	Shared pointer of topic diagnostic.
Private Member Functions
void	addDiagnostics (const unsigned char *error_data, size_t size)
	Add obtained error data.
sensor_msgs::ImagePtr	createIRImageMessage ()
	Create message for ir_image topic.
sensor_msgs::PointCloud2Ptr	createPointCloudMessage ()
	Create message for point_cloud topic.
sensor_msgs::ImagePtr	createRangeImageMessage ()
	Create message for range_image topic.
void	driverThreadFunc ()
	FX8 driver thread.
void	extractRangeAndIntensityFromScanData (int index, const unsigned char scan_data, unsigned short range, unsigned short *intensity)
	Extract range and intensity data from scan data packets.
void	fillDiagnosticStatusByErrorInfo (diagnostic_updater::DiagnosticStatusWrapper &status)
	Fill diagnostic status by error information of FX8.
void	fillDiagnosticStatusByReceivedErrorCode (diagnostic_updater::DiagnosticStatusWrapper &status)
	Fill diagnostic status by received error code of FX8.
bool	getDeviceSensorInfo (const FX8Handle device, FX8SensorInfo sensor_info, FX8XyData xy_data)
	Get FX8SensorInfo and set these.
bool	initializeDevice ()
	Initialize and connect to FX8.
void	initializeNodelet ()
	Initialize nodelet.
void	initializeReconfigureServer (ros::NodeHandle param_nh)
	Initialize reconfigure server.
virtual void	onInit ()
	Initialize FX8 driver.
void	outputDeviceParameters ()
	Output FX8 parameters to parameter server.
void	publishScanData (const unsigned char *scan_data, size_t size)
	Publish scan data.
void	reconfigureFX8Callback (FX8Config config, uint32_t level)
	Reconfigure FX8.
bool	setDeviceMeasureMode (const FX8Handle device, const FX8MeasureMode measure_mode, FX8SensorInfo sensor_info, FX8XyData xy_data)
	Set measure mode of FX8.
void	setMessageData (sensor_msgs::ImagePtr range_msg, sensor_msgs::ImagePtr ir_msg, sensor_msgs::PointCloud2Ptr point_cloud_msg, unsigned char surface_number)
	Set data of range image, IR image and point cloud.
void	setupDiagnostics ()
	Setup diagnostics.
void	shutdownDevice ()
	Shut down device.
void	shutdownNodelet ()
	Shut down nodelet.
void	shutdownReconfigureServer ()
	Shut down reconfigure server.
void	spin ()
	Spin driver thread.
bool	startScan ()
	Start FX8 scan.
void	updateTime ()
	Update timestamp.
Static Private Member Functions
static void	receiveErrorCodeCallback (const unsigned char error_data, size_t size, void user_data)
	Receive FX8 Error code.
static void	receiveScanDataCallback (const unsigned char scan_data, size_t size, void user_data)
	Receive FX8 scan data.
Private Attributes
Config	config_
	Configurations of FX8.
FX8Handle	device_
	Handle of FX8.
bool	device_running_
	Flag of running device.
boost::shared_ptr < diagnostic_updater::Updater >	diagnostic_updater_
	Diagnostic updater.
bool	diagnostics_enable_
	Flag to enable diagnostics.
boost::thread	driver_thread_
	FX8 driver thread.
std::vector < ReceivedErrorCodePackets >	error_code_
	Received error code from FX8.
std::vector< ErrorInfo >	error_info_
	Error information of FX8.
TopicDiagnosticPtr	ir_image_diagnostic_frequency_
	Topic diagnostic for IR image.
ros::Publisher	ir_publisher_
	Publisher of IR image.
ros::Time	latest_update_time_
	Timestamp for topics.
boost::mutex	mutex_diagnostics_
	Mutex for diagnostics.
boost::mutex	mutex_scan_
	Mutex for scan data.
TopicDiagnosticPtr	point_cloud_diagnostic_frequency_
	Topic diagnostic for point cloud.
ros::Publisher	point_cloud_publisher_
	Publisher of point cloud.
TopicDiagnosticPtr	range_image_diagnostic_frequency_
	Topic diagnostic for range image.
ros::Publisher	range_publisher_
	Publisher of range image.
boost::shared_ptr < ReconfigureServer >	reconfigure_server_
	Server for reconfiguration.
Scan	scan_
	Scan data from FX8.
double	target_frequency_
	Target frame rate of topics.

Detailed Description

FX8 driver nodelet class.

Definition at line 59 of file fx8_driver_nodelet.h.

Member Typedef Documentation

typedef FX8Info infinisoleil::FX8DriverNodelet::Config [private]

Configurations of FX8.

Definition at line 100 of file fx8_driver_nodelet.h.

typedef std::pair<ros::Time, std::string> infinisoleil::FX8DriverNodelet::ErrorInfo [private]

Error information.

Definition at line 71 of file fx8_driver_nodelet.h.

typedef fx8_bool infinisoleil::FX8DriverNodelet::FX8Bool [private]

Boolean of libfx8.

Definition at line 63 of file fx8_driver_nodelet.h.

typedef fx8_handle infinisoleil::FX8DriverNodelet::FX8Handle [private]

Device handle.

Definition at line 61 of file fx8_driver_nodelet.h.

typedef fx8_measure_mode infinisoleil::FX8DriverNodelet::FX8MeasureMode [private]

Device measure mode.

Definition at line 62 of file fx8_driver_nodelet.h.

typedef fx8_sensor_info infinisoleil::FX8DriverNodelet::FX8SensorInfo [private]

Sensor information.

Definition at line 64 of file fx8_driver_nodelet.h.

typedef fx8_xy_data infinisoleil::FX8DriverNodelet::FX8XyData [private]

Device xy data.

Definition at line 67 of file fx8_driver_nodelet.h.

typedef fx8_xy_data_element infinisoleil::FX8DriverNodelet::FX8XyDataElement [private]

Element of device xy data.

Definition at line 65 of file fx8_driver_nodelet.h.

typedef fx8_xy_data_surface infinisoleil::FX8DriverNodelet::FX8XyDataSurface [private]

Surface of device xy data.

Definition at line 66 of file fx8_driver_nodelet.h.

typedef std::pair<ros::Time, std::vector<unsigned char> > infinisoleil::FX8DriverNodelet::ReceivedErrorCodePackets [private]

Received FX8 error code.

Definition at line 70 of file fx8_driver_nodelet.h.

typedef dynamic_reconfigure::Server<infinisoleil::FX8Config> infinisoleil::FX8DriverNodelet::ReconfigureServer [private]

Dynamic reconfigure server.

Definition at line 68 of file fx8_driver_nodelet.h.

typedef FX8Scan infinisoleil::FX8DriverNodelet::Scan [private]

Scan data of FX8.

Definition at line 101 of file fx8_driver_nodelet.h.

typedef std::vector<unsigned char> infinisoleil::FX8DriverNodelet::ScanDataPackets [private]

Received FX8 scan data packets.

Definition at line 69 of file fx8_driver_nodelet.h.

typedef diagnostic_updater::HeaderlessTopicDiagnostic infinisoleil::FX8DriverNodelet::TopicDiagnostic [private]

Topic diagnostic.

Definition at line 72 of file fx8_driver_nodelet.h.

typedef boost::shared_ptr<TopicDiagnostic> infinisoleil::FX8DriverNodelet::TopicDiagnosticPtr [private]

Shared pointer of topic diagnostic.

Definition at line 73 of file fx8_driver_nodelet.h.

Constructor & Destructor Documentation

infinisoleil::FX8DriverNodelet::FX8DriverNodelet ( )

Constructer.

Definition at line 47 of file fx8_driver_nodelet.cpp.

infinisoleil::FX8DriverNodelet::~FX8DriverNodelet ( ) [virtual]

Destructor.

Definition at line 65 of file fx8_driver_nodelet.cpp.

Member Function Documentation

void infinisoleil::FX8DriverNodelet::addDiagnostics	(	const unsigned char *	error_data,
		size_t	size
	)		`[private]`

Add obtained error data.

Parameters:

[in]	error_data	Error data from FX8.
[in]	size	Size of error data.

Definition at line 802 of file fx8_driver_nodelet.cpp.

sensor_msgs::ImagePtr infinisoleil::FX8DriverNodelet::createIRImageMessage ( ) [private]

Create message for ir_image topic.

Definition at line 605 of file fx8_driver_nodelet.cpp.

sensor_msgs::PointCloud2Ptr infinisoleil::FX8DriverNodelet::createPointCloudMessage ( ) [private]

Create message for point_cloud topic.

Definition at line 623 of file fx8_driver_nodelet.cpp.

sensor_msgs::ImagePtr infinisoleil::FX8DriverNodelet::createRangeImageMessage ( ) [private]

Create message for range_image topic.

Definition at line 587 of file fx8_driver_nodelet.cpp.

void infinisoleil::FX8DriverNodelet::driverThreadFunc ( ) [private]

FX8 driver thread.

Definition at line 177 of file fx8_driver_nodelet.cpp.

void infinisoleil::FX8DriverNodelet::extractRangeAndIntensityFromScanData	(	int	index,
		const unsigned char *	scan_data,
		unsigned short *	range,
		unsigned short *	intensity
	)		`[inline, private]`

Extract range and intensity data from scan data packets.

Parameters:

[in]	index	Index of scan data packets.
[in]	scan_data	Scan data.
[out]	range	Range data.
[out]	intensity	Intensity data.

Definition at line 697 of file fx8_driver_nodelet.cpp.

void infinisoleil::FX8DriverNodelet::fillDiagnosticStatusByErrorInfo ( diagnostic_updater::DiagnosticStatusWrapper & status ) [private]

Fill diagnostic status by error information of FX8.

Parameters:

[in] status Diagnostic status of FX8.

Definition at line 724 of file fx8_driver_nodelet.cpp.

void infinisoleil::FX8DriverNodelet::fillDiagnosticStatusByReceivedErrorCode ( diagnostic_updater::DiagnosticStatusWrapper & status ) [private]

Fill diagnostic status by received error code of FX8.

Parameters:

[in] status Diagnostic status of FX8.

Definition at line 746 of file fx8_driver_nodelet.cpp.

bool infinisoleil::FX8DriverNodelet::getDeviceSensorInfo	(	const FX8Handle	device,
		FX8SensorInfo *	sensor_info,
		FX8XyData *	xy_data
	)		`[private]`

Get FX8SensorInfo and set these.

Parameters:

[in]	device	FX8 handle.
[out]	sensor_info	Sensor information of FX8.
[out]	xy_data	XY data of FX8.

Returns:: True if FX8SensorInfo is obtained, false if it is not.

Definition at line 405 of file fx8_driver_nodelet.cpp.

bool infinisoleil::FX8DriverNodelet::initializeDevice ( ) [private]

Initialize and connect to FX8.

Returns:: True if initialization is succeeded, false if it is not.

Definition at line 211 of file fx8_driver_nodelet.cpp.

void infinisoleil::FX8DriverNodelet::initializeNodelet ( ) [private]

Initialize nodelet.

Definition at line 84 of file fx8_driver_nodelet.cpp.

void infinisoleil::FX8DriverNodelet::initializeReconfigureServer ( ros::NodeHandle param_nh ) [private]

Initialize reconfigure server.

Parameters:

[in] param_nh Private node handle of FX8DriverNodelet.

Definition at line 144 of file fx8_driver_nodelet.cpp.

void infinisoleil::FX8DriverNodelet::onInit ( ) [private, virtual]

Initialize FX8 driver.

Implements nodelet::Nodelet.

Definition at line 58 of file fx8_driver_nodelet.cpp.

void infinisoleil::FX8DriverNodelet::outputDeviceParameters ( ) [private]

Output FX8 parameters to parameter server.

Definition at line 426 of file fx8_driver_nodelet.cpp.

void infinisoleil::FX8DriverNodelet::publishScanData	(	const unsigned char *	scan_data,
		size_t	size
	)		`[private]`

Publish scan data.

Parameters:

[in]	scan_data	FX8 scan data.
[in]	size	Size of scan data.

Definition at line 515 of file fx8_driver_nodelet.cpp.

void infinisoleil::FX8DriverNodelet::receiveErrorCodeCallback	(	const unsigned char *	error_data,
		size_t	size,
		void *	user_data
	)		`[static, private]`

Receive FX8 Error code.

Parameters:

[in]	error_data	Error data.
[in]	size	Size of error data.
[in]	user_data	User-defined data.

Definition at line 908 of file fx8_driver_nodelet.cpp.

void infinisoleil::FX8DriverNodelet::receiveScanDataCallback	(	const unsigned char *	scan_data,
		size_t	size,
		void *	user_data
	)		`[static, private]`

Receive FX8 scan data.

Parameters:

[in]	scan_data	Scan data.
[in]	size	Size of scan data.
[in]	user_data	User-defined data.

Definition at line 901 of file fx8_driver_nodelet.cpp.

void infinisoleil::FX8DriverNodelet::reconfigureFX8Callback	(	FX8Config	config,
		uint32_t	level
	)		`[private]`

Reconfigure FX8.

Parameters:

[in]	config	Parameters for reconfiguration.
[in]	level	Bitmask for changed parameters.

Definition at line 812 of file fx8_driver_nodelet.cpp.

bool infinisoleil::FX8DriverNodelet::setDeviceMeasureMode	(	const FX8Handle	device,
		const FX8MeasureMode	measure_mode,
		FX8SensorInfo *	sensor_info,
		FX8XyData *	xy_data
	)		`[private]`

Set measure mode of FX8.

Parameters:

[in]	device	FX8 handle.
[in]	measure_mode	Measure mode of FX8.
[out]	sensor_info	Sensor information of FX8.
[out]	xy_data	XY data of FX8.

Definition at line 365 of file fx8_driver_nodelet.cpp.

void infinisoleil::FX8DriverNodelet::setMessageData	(	sensor_msgs::ImagePtr	range_msg,
		sensor_msgs::ImagePtr	ir_msg,
		sensor_msgs::PointCloud2Ptr	point_cloud_msg,
		unsigned char	surface_number
	)		`[private]`

Set data of range image, IR image and point cloud.

Parameters:

[in]	range_msg	Message for range_image topic.
[in]	ir_msg	Message for ir_image topic.
[in]	point_cloud_msg	Message for point_cloud topic.
[in]	surface_number	Surface number of xy data.