Public Member Functions | Static Protected Member Functions | Protected Attributes
LMS1xx Class Reference

Class responsible for communicating with LMS1xx device. More...

#include <LMS1xx.h>

List of all members.

Public Member Functions

void connect (std::string host, int port=2111)
 Connect to LMS1xx.
void disconnect ()
 Disconnect from LMS1xx device.
scanCfg getScanCfg () const
 Get current scan configuration. Get scan configuration :
bool getScanData (scanData *scan_data)
 Receive single scan message.
scanOutputRange getScanOutputRange () const
 Get current output range configuration. Get output range configuration :
bool isConnected ()
 Get status of connection.
 LMS1xx ()
void login ()
 Log into LMS1xx unit. Increase privilege level, giving ability to change device configuration.
status_t queryStatus ()
 Get current status of LMS1xx device.
void saveConfig ()
 Save data permanently. Parameters are saved in the EEPROM of the LMS and will also be available after the device is switched off and on again.
void scanContinous (int start)
 Start or stop continuous data acquisition. After reception of this command device start or stop continuous data stream containing scan messages.
void setScanCfg (const scanCfg &cfg)
 Set scan configuration. Get scan configuration :
void setScanDataCfg (const scanDataCfg &cfg)
 Set scan data configuration. Set format of scan message returned by device.
void startDevice ()
 The device is returned to the measurement mode after configuration.
void startMeas ()
 Start measurements. After receiving this command LMS1xx unit starts spinning laser and measuring.
void stopMeas ()
 Stop measurements. After receiving this command LMS1xx unit stop spinning laser and measuring.
virtual ~LMS1xx ()

Static Protected Member Functions

static void parseScanData (char *buf, scanData *data)
 Receive single scan message.

Protected Attributes

LMSBuffer buffer_
bool connected_
int socket_fd_

Detailed Description

Class responsible for communicating with LMS1xx device.

Author:
Konrad Banachowicz

Definition at line 51 of file LMS1xx.h.


Constructor & Destructor Documentation

Definition at line 39 of file LMS1xx.cpp.

LMS1xx::~LMS1xx ( ) [virtual]

Definition at line 43 of file LMS1xx.cpp.


Member Function Documentation

void LMS1xx::connect ( std::string  host,
int  port = 2111 
)

Connect to LMS1xx.

Parameters:
hostLMS1xx host name or ip address.
portLMS1xx port number.

Definition at line 47 of file LMS1xx.cpp.

Disconnect from LMS1xx device.

Definition at line 72 of file LMS1xx.cpp.

Get current scan configuration. Get scan configuration :

  • scanning frequency.
  • scanning resolution.
  • start angle.
  • stop angle.
    Returns:
    scanCfg structure.

Definition at line 164 of file LMS1xx.cpp.

bool LMS1xx::getScanData ( scanData scan_data)

Receive single scan message.

Returns:
true if scan was read successfully, false if error or timeout. False implies that higher level logic should take correct action such as reopening the connection.

Definition at line 242 of file LMS1xx.cpp.

Get current output range configuration. Get output range configuration :

  • scanning resolution.
  • start angle.
  • stop angle.
    Returns:
    scanOutputRange structure.

Definition at line 211 of file LMS1xx.cpp.

Get status of connection.

Returns:
connected or not.

Definition at line 81 of file LMS1xx.cpp.

void LMS1xx::login ( )

Log into LMS1xx unit. Increase privilege level, giving ability to change device configuration.

Definition at line 133 of file LMS1xx.cpp.

void LMS1xx::parseScanData ( char *  buf,
scanData data 
) [static, protected]

Receive single scan message.

Parameters:
datapointer to scanData buffer structure.

Definition at line 284 of file LMS1xx.cpp.

Get current status of LMS1xx device.

Returns:
status of LMS1xx device.

Definition at line 114 of file LMS1xx.cpp.

Save data permanently. Parameters are saved in the EEPROM of the LMS and will also be available after the device is switched off and on again.

Definition at line 470 of file LMS1xx.cpp.

void LMS1xx::scanContinous ( int  start)

Start or stop continuous data acquisition. After reception of this command device start or stop continuous data stream containing scan messages.

Parameters:
start1 : start 0 : stop

Definition at line 226 of file LMS1xx.cpp.

void LMS1xx::setScanCfg ( const scanCfg cfg)

Set scan configuration. Get scan configuration :

  • scanning frequency.
  • scanning resolution.
  • start angle.
  • stop angle.
    Parameters:
    cfgstructure containing scan configuration.

Definition at line 183 of file LMS1xx.cpp.

void LMS1xx::setScanDataCfg ( const scanDataCfg cfg)

Set scan data configuration. Set format of scan message returned by device.

Parameters:
cfgstructure containing scan data configuration.

Definition at line 197 of file LMS1xx.cpp.

The device is returned to the measurement mode after configuration.

Definition at line 485 of file LMS1xx.cpp.

Start measurements. After receiving this command LMS1xx unit starts spinning laser and measuring.

Definition at line 86 of file LMS1xx.cpp.

void LMS1xx::stopMeas ( )

Stop measurements. After receiving this command LMS1xx unit stop spinning laser and measuring.

Definition at line 100 of file LMS1xx.cpp.


Member Data Documentation

Definition at line 173 of file LMS1xx.h.

bool LMS1xx::connected_ [protected]

Definition at line 172 of file LMS1xx.h.

int LMS1xx::socket_fd_ [protected]

Definition at line 174 of file LMS1xx.h.


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


lms1xx
Author(s): Konrad Banachowicz
autogenerated on Fri May 5 2017 03:26:26