#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_OUTPUT_RANGES, 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_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_TO_COLA_A_PROTOCOL, CMD_SET_TO_COLA_B_PROTOCOL, 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.
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
int	convertAscii2BinaryCmd (const char requestAscii, std::vector< unsigned char > requestBinary)
	Convert ASCII-message to Binary-message.
std::string	generateExpectedAnswerString (const std::vector< unsigned char > requestStr)
	Generate expected answer string from the command string.
double	get_expected_frequency () const
SickScanConfig *	getConfigPtr ()
int	getProtocolType (void)
	get protocol type as enum
int	getReadTimeOutInMs ()
	get timeout in milliseconds
virtual int	init ()
	init routine of scanner
int	init_cmdTables ()
	init command tables and define startup sequence
int	loopOnce ()
	parsing datagram and publishing ros messages
virtual bool	rebootScanner ()
	Send a SOPAS command to the scanner that should cause a soft reset.
int	sendSopasAndCheckAnswer (std::string request, std::vector< unsigned char > *reply, int cmdId)
	send command and check answer
int	sendSopasAndCheckAnswer (std::vector< unsigned char > request, std::vector< unsigned char > *reply, int cmdId)
	send command and check answer
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
void	setReadTimeOutInMs (int timeOutInMs)
	set timeout in milliseconds
	SickScanCommon (SickGenericParser *parser)
	Construction of SickScanCommon.
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
virtual	~SickScanCommon ()
	Destructor of SickScanCommon.
Public Attributes
sensor_msgs::PointCloud2	cloud_
ros::Publisher	cloud_pub_
ros::Publisher	cloud_radar_rawtarget_pub_
ros::Publisher	cloud_radar_track_pub_
SickScanConfig	config_
ros::Publisher	imuScan_pub_
SickScanCommonNw	m_nw
ros::Publisher	radarScan_pub_
Protected Member Functions
int	checkForBinaryAnswer (const std::vector< unsigned char > *reply)
	Check block for correct framing and starting sequence of a binary message.
virtual int	close_device ()=0
unsigned long	convertBigEndianCharArrayToUnsignedLong (const unsigned char *vecArr)
	Convert little endian to big endian (should be replaced by swap-routine)
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.
virtual int	init_device ()=0
virtual int	init_scanner ()
	initialize scanner
bool	isCompatibleDevice (const std::string identStr) const
	check the identification string
std::string	replyToString (const std::vector< unsigned char > &reply)
	Converts reply from sendSOPASCommand to string.
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.
virtual int	stop_scanner ()
	Stops sending scan data.
Protected Attributes
diagnostic_updater::Updater	diagnostics_
Private Member Functions
bool	checkForProtocolChangeAndMaybeReconnect (bool &useBinaryCmdNow)
	checks the current protocol type and gives information about necessary change
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
ros::Publisher	datagram_pub_
diagnostic_updater::DiagnosedPublisher < sensor_msgs::LaserScan > *	diagnosticPub_
dynamic_reconfigure::Server < sick_scan::SickScanConfig >	dynamic_reconfigure_server_
double	expectedFrequency_
SopasProtocol	m_protocolId
ros::NodeHandle	nh_
int	outputChannelFlagId
SickGenericParser *	parser_
ros::Publisher	pub_
bool	publish_datagram_
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

Detailed Description

Definition at line 76 of file sick_scan_common.h.

Member Enumeration Documentation

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_OUTPUT_RANGES
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_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_TO_COLA_A_PROTOCOL
CMD_SET_TO_COLA_B_PROTOCOL
CMD_END

Definition at line 79 of file sick_scan_common.h.

Constructor & Destructor Documentation

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

Construction of SickScanCommon.

Parameters:

parser,: Corresponding parser holding specific scanner parameter

Definition at line 332 of file sick_scan_common.cpp.

sick_scan::SickScanCommon::~SickScanCommon ( ) [virtual]

Destructor of SickScanCommon.

Definition at line 539 of file sick_scan_common.cpp.

Member Function Documentation

int sick_scan::SickScanCommon::ActivateStandBy ( void )

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

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 3457 of file sick_scan_common.cpp.

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 450 of file sick_scan_common.cpp.

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 3776 of file sick_scan_common.cpp.

virtual int sick_scan::SickScanCommon::close_device ( ) [protected, pure virtual]

Implemented in sick_scan::SickScanCommonTcp.

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 3483 of file sick_scan_common.cpp.

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 433 of file sick_scan_common.cpp.

bool sick_scan::SickScanCommon::dumpDatagramForDebugging	(	unsigned char *	buffer,
		int	bufLen
	)		`[protected]`

Definition at line 2261 of file sick_scan_common.cpp.

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 552 of file sick_scan_common.cpp.

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

double sick_scan::SickScanCommon::get_expected_frequency ( ) const [inline]

Definition at line 184 of file sick_scan_common.h.

SickScanConfig* sick_scan::SickScanCommon::getConfigPtr ( ) [inline]

Definition at line 203 of file sick_scan_common.h.

int sick_scan::SickScanCommon::getProtocolType ( void )

get protocol type as enum

Returns:: enum type of type SopasProtocol

See also:: setProtocolType

Definition at line 786 of file sick_scan_common.cpp.

int sick_scan::SickScanCommon::getReadTimeOutInMs ( )

get timeout in milliseconds

Returns:: timeout in milliseconds

See also:: setReadTimeOutInMs

Definition at line 776 of file sick_scan_common.cpp.

bool sick_scan::SickScanCommon::getSensorIsRadar ( void ) [private]

Definition at line 3936 of file sick_scan_common.cpp.

int sick_scan::SickScanCommon::init ( ) [virtual]

init routine of scanner

Returns:: exit code

Definition at line 804 of file sick_scan_common.cpp.

int sick_scan::SickScanCommon::init_cmdTables ( )

init command tables and define startup sequence

Returns:: exit code

Definition at line 831 of file sick_scan_common.cpp.

virtual int sick_scan::SickScanCommon::init_device ( ) [protected, pure virtual]

Implemented in sick_scan::SickScanCommonTcp.

int sick_scan::SickScanCommon::init_scanner ( ) [protected, virtual]

initialize scanner

Returns:: exit code

Definition at line 1027 of file sick_scan_common.cpp.

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 2300 of file sick_scan_common.cpp.

int sick_scan::SickScanCommon::loopOnce ( )

parsing datagram and publishing ros messages

Returns:: error code

Definition at line 2380 of file sick_scan_common.cpp.

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 487 of file sick_scan_common.cpp.

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 2218 of file sick_scan_common.cpp.

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 672 of file sick_scan_common.cpp.

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 690 of file sick_scan_common.cpp.

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

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