#include <lfcd_lds2.h>

Public Member Functions
void	close ()
	Close the driver down and prevent the polling loop from advancing. More...

	LFCDLaser (const std::string &port, uint32_t baud_rate, boost::asio::io_service &io)
	Constructs a new LFCDLaser attached to the given serial port. More...

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. More...

	~LFCDLaser ()
	Default destructor. More...

Public Attributes
uint16_t	rpms
	RPMS derived from the rpm bytes in an LFCD packet. More...

Private Attributes
uint32_t	baud_rate_
	The baud rate for the serial connection. More...

uint16_t	motor_speed_
	current motor speed as reported by the LFCD. More...

std::string	port_
	The serial port the driver is attached to. More...

boost::asio::serial_port	serial_
	Actual serial port object for reading/writing to the LFCD Laser Scanner. More...

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

Detailed Description

Definition at line 41 of file lfcd_lds2.h.

Constructor & Destructor Documentation

hls_lfcd_lds2::LFCDLaser::LFCDLaser	(	const std::string &	port,
		uint32_t	baud_rate,
		boost::asio::io_service &	io
	)

Constructs a new LFCDLaser attached to the given serial port.

Parameters

port	The string for the serial port device to attempt to connect to, e.g. "/dev/ttyUSB0"
baud_rate	The baud rate to open the serial port at.
io	Boost ASIO IO Service to use when creating the serial port object

Definition at line 42 of file hlds_lds2_publisher.cpp.

hls_lfcd_lds2::LFCDLaser::~LFCDLaser ( )

Default destructor.

Definition at line 50 of file hlds_lds2_publisher.cpp.

Member Function Documentation

void hls_lfcd_lds2::LFCDLaser::close ( )

inline

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

Definition at line 67 of file lfcd_lds2.h.

void hls_lfcd_lds2::LFCDLaser::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

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

Definition at line 56 of file hlds_lds2_publisher.cpp.

Member Data Documentation

uint32_t hls_lfcd_lds2::LFCDLaser::baud_rate_

private

The baud rate for the serial connection.

Definition at line 71 of file lfcd_lds2.h.

uint16_t hls_lfcd_lds2::LFCDLaser::motor_speed_

private

current motor speed as reported by the LFCD.

Definition at line 74 of file lfcd_lds2.h.

std::string hls_lfcd_lds2::LFCDLaser::port_

private

The serial port the driver is attached to.

Definition at line 70 of file lfcd_lds2.h.

uint16_t hls_lfcd_lds2::LFCDLaser::rpms

RPMS derived from the rpm bytes in an LFCD packet.

Definition at line 44 of file lfcd_lds2.h.

boost::asio::serial_port hls_lfcd_lds2::LFCDLaser::serial_

private

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

Definition at line 73 of file lfcd_lds2.h.

bool hls_lfcd_lds2::LFCDLaser::shutting_down_

private

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

Definition at line 72 of file lfcd_lds2.h.

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

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation