Public Member Functions | Public Attributes | Private Attributes
xv_11_laser_driver::XV11Laser Class Reference

#include <xv11_laser.h>

List of all members.

Public Member Functions

void close ()
 Close the driver down and prevent the polling loop from advancing.
void poll (sensor_msgs::LaserScan::Ptr scan)
 Poll the laser to get a new scan. Blocks until a complete new scan is received or close is called.
 XV11Laser (const std::string &port, uint32_t baud_rate, uint32_t firmware, boost::asio::io_service &io)
 Constructs a new XV11Laser attached to the given serial port.
 ~XV11Laser ()
 Default destructor.

Public Attributes

uint16_t rpms
 RPMS derived from the rpm bytes in an XV11 packet.

Private Attributes

uint32_t baud_rate_
 The baud rate for the serial connection.
uint32_t firmware_
 The firmware version to check. Currently supports two different versions: 1 and 2.
uint16_t motor_speed_
 current motor speed as reported by the XV11.
std::string port_
 The serial port the driver is attached to.
boost::asio::serial_port serial_
 Actual serial port object for reading/writing to the XV11 Laser Scanner.
bool shutting_down_
 Flag for whether the driver is supposed to be shutting down or not.

Detailed Description

Definition at line 41 of file xv11_laser.h.


Constructor & Destructor Documentation

xv_11_laser_driver::XV11Laser::XV11Laser ( const std::string &  port,
uint32_t  baud_rate,
uint32_t  firmware,
boost::asio::io_service &  io 
)

Constructs a new XV11Laser attached to the given serial port.

Parameters:
portThe string for the serial port device to attempt to connect to, e.g. "/dev/ttyUSB0"
baud_rateThe baud rate to open the serial port at.
ioBoost ASIO IO Service to use when creating the serial port object

Definition at line 38 of file xv11_laser.cpp.

Default destructor.

Definition at line 55 of file xv11_laser.h.


Member Function Documentation

Close the driver down and prevent the polling loop from advancing.

Definition at line 66 of file xv11_laser.h.

void xv_11_laser_driver::XV11Laser::poll ( sensor_msgs::LaserScan::Ptr  scan)

Poll the laser to get a new scan. Blocks until a complete new scan is received or close is called.

Parameters:
scanLaserScan message pointer to fill in with the scan. The caller is responsible for filling in the ROS timestamp and frame_id

Definition at line 43 of file xv11_laser.cpp.


Member Data Documentation

The baud rate for the serial connection.

Definition at line 70 of file xv11_laser.h.

The firmware version to check. Currently supports two different versions: 1 and 2.

Definition at line 71 of file xv11_laser.h.

current motor speed as reported by the XV11.

Definition at line 75 of file xv11_laser.h.

std::string xv_11_laser_driver::XV11Laser::port_ [private]

The serial port the driver is attached to.

Definition at line 66 of file xv11_laser.h.

RPMS derived from the rpm bytes in an XV11 packet.

Definition at line 43 of file xv11_laser.h.

boost::asio::serial_port xv_11_laser_driver::XV11Laser::serial_ [private]

Actual serial port object for reading/writing to the XV11 Laser Scanner.

Definition at line 74 of file xv11_laser.h.

Flag for whether the driver is supposed to be shutting down or not.

Definition at line 73 of file xv11_laser.h.


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


xv_11_laser_driver
Author(s): Eric Perko, Chad Rockey, Rohan Agrawal, Steve 'dillo Okay
autogenerated on Thu Jun 6 2019 21:37:47