Driver for the laserscanner R2000 of Pepperl+Fuchs. More...

#include <r2000_driver.h>

Public Member Functions
bool	checkConnection ()

bool	connect (const std::string hostname, int port=80)

void	disconnect ()
	Disconnect from the laserscanner and reset internal state. More...

void	feedWatchdog (bool feed_always=false)
	Feed the watchdog with the current handle ID, to keep the data connection alive. More...

ScanData	getFullScan ()

std::size_t	getFullScansAvailable () const
	Get the total number of fully received laserscans available. More...

const std::map< std::string, std::string > &	getParameters ()

const std::map< std::string, std::string > &	getParametersCached () const

const ProtocolInfo &	getProtocolInfo ()

ScanData	getScan ()

std::size_t	getScansAvailable () const
	Get the total number of laserscans available (even scans which are not fully reveived yet) More...

bool	isCapturing ()

bool	isConnected ()
	Return connection status. More...

	R2000Driver ()
	Initialize driver. More...

bool	rebootDevice ()

bool	resetParameters (const std::vector< std::string > &names)

bool	setParameter (const std::string &name, const std::string &value)

bool	setSamplesPerScan (unsigned int samples)

bool	setScanFrequency (unsigned int frequency)

bool	startCapturingTCP ()

bool	startCapturingUDP ()

bool	stopCapturing ()

	~R2000Driver ()
	Cleanly disconnect in case of destruction. More...

Private Attributes
HttpCommandInterface *	command_interface_
	HTTP/JSON interface of the scanner. More...

ScanDataReceiver *	data_receiver_
	Asynchronous data receiver. More...

double	food_timeout_
	Feeding interval (in seconds) More...

boost::optional< HandleInfo >	handle_info_
	Handle information about data connection. More...

bool	is_capturing_
	Internal capturing state. More...

bool	is_connected_
	Internal connection state. More...

std::map< std::string, std::string >	parameters_
	Cached version of all parameter values. More...

ProtocolInfo	protocol_info_
	Cached version of the protocol info. More...

double	watchdog_feed_time_
	Last time the watchdog was fed. More...

Detailed Description

Driver for the laserscanner R2000 of Pepperl+Fuchs.

Definition at line 47 of file r2000_driver.h.

Constructor & Destructor Documentation

pepperl_fuchs::R2000Driver::R2000Driver ( )

Initialize driver.

Definition at line 39 of file r2000_driver.cpp.

pepperl_fuchs::R2000Driver::~R2000Driver ( )

Cleanly disconnect in case of destruction.

Definition at line 72 of file r2000_driver.cpp.

Member Function Documentation

bool pepperl_fuchs::R2000Driver::checkConnection ( )

Actively check connection to laserscanner

Returns: True if connection is alive, false otherwise

Definition at line 136 of file r2000_driver.cpp.

bool pepperl_fuchs::R2000Driver::connect	(	const std::string	hostname,
		int	port = `80`
	)

Connects to a given laserscanner, gets and checks protocol info of scanner, retrieves values of all parameters

Parameters

ip	IP or hostname of laserscanner
port	Port to use for HTTP-Interface (defaults to 80)

Definition at line 49 of file r2000_driver.cpp.

void pepperl_fuchs::R2000Driver::disconnect ( )

Disconnect from the laserscanner and reset internal state.

Definition at line 197 of file r2000_driver.cpp.

void pepperl_fuchs::R2000Driver::feedWatchdog ( bool feed_always = false )

Feed the watchdog with the current handle ID, to keep the data connection alive.

Definition at line 270 of file r2000_driver.cpp.

ScanData pepperl_fuchs::R2000Driver::getFullScan ( )

Pop a single full scan out of the driver's internal FIFO queue if there is any If no full scan is available yet, blocks until a full scan is available

Returns: A ScanData struct with distance and amplitude data as well as the packet headers belonging to the data

Definition at line 160 of file r2000_driver.cpp.

std::size_t pepperl_fuchs::R2000Driver::getFullScansAvailable ( ) const

Get the total number of fully received laserscans available.

Definition at line 185 of file r2000_driver.cpp.

const std::map< std::string, std::string > & pepperl_fuchs::R2000Driver::getParameters ( )

Read all parameter values from the scanner

Returns: A key->value map with parametername->value

Definition at line 222 of file r2000_driver.cpp.

const std::map< std::string, std::string >& pepperl_fuchs::R2000Driver::getParametersCached ( ) const

inline

Get cached parameter values of the scanner

Returns: A key->value map with parametername->value

Definition at line 97 of file r2000_driver.h.

const ProtocolInfo& pepperl_fuchs::R2000Driver::getProtocolInfo ( )

inline

Retrieve Protocol information of the scanner

Returns: A struct containing name, version and available commands of the protocol

Definition at line 89 of file r2000_driver.h.

ScanData pepperl_fuchs::R2000Driver::getScan ( )

Pop a single scan out of the driver's interal FIFO queue CAUTION: Returns also unfinished scans for which a full rotation is not received yet Call getFullScansAvailable() first to see how many full scans are available

Returns: A ScanData struct with distance and amplitude data as well as the packet headers belonging to the data

Definition at line 147 of file r2000_driver.cpp.

std::size_t pepperl_fuchs::R2000Driver::getScansAvailable ( ) const

Get the total number of laserscans available (even scans which are not fully reveived yet)

Definition at line 173 of file r2000_driver.cpp.

bool pepperl_fuchs::R2000Driver::isCapturing ( )

Return capture status

Returns: True if a capture is running, False otherwise

Definition at line 216 of file r2000_driver.cpp.

bool pepperl_fuchs::R2000Driver::isConnected ( )

inline

Return connection status.

Definition at line 65 of file r2000_driver.h.

bool pepperl_fuchs::R2000Driver::rebootDevice ( )

Reboot Laserscanner (Takes ~60s)

Returns: True if command was successfully received, False otherwise

Definition at line 246 of file r2000_driver.cpp.

bool pepperl_fuchs::R2000Driver::resetParameters ( const std::vector< std::string > & names )

Reset certain parameters to factory default

Parameters

names Names of parameters to reset

Returns: True if successfull, False otherwise

Definition at line 254 of file r2000_driver.cpp.

bool pepperl_fuchs::R2000Driver::setParameter	(	const std::string &	name,
		const std::string &	value
	)

Set a parameter by name and value

Returns: True if successfull, False otherwise

Definition at line 262 of file r2000_driver.cpp.

bool pepperl_fuchs::R2000Driver::setSamplesPerScan ( unsigned int samples )

Set number of samples per scan/rotation

Parameters

samples Only certain values are allowed (see Manual). Examples are 72, 360, 720, 1440, 1800, 3600, 7200, 10080, 25200

Returns: True on success, False otherwise

Definition at line 238 of file r2000_driver.cpp.

bool pepperl_fuchs::R2000Driver::setScanFrequency ( unsigned int frequency )

Set scan frequency (rotation speed of scanner head)

Parameters

frequency Frequency in Hz

Definition at line 230 of file r2000_driver.cpp.

bool pepperl_fuchs::R2000Driver::startCapturingTCP ( )

Start capturing laserdata: Requests a handle and begin retrieving data from the scanner

Returns: True in case of success, False otherwise

Definition at line 78 of file r2000_driver.cpp.

bool pepperl_fuchs::R2000Driver::startCapturingUDP ( )

Start capturing laserdata: Requests a handle and begin retrieving data from the scanner

Returns: True in case of success, False otherwise

Definition at line 97 of file r2000_driver.cpp.

bool pepperl_fuchs::R2000Driver::stopCapturing ( )

Stop capturing laserdata: Release handle and stop retrieving data from the scanner

Returns: True in case of success, False otherwise

Definition at line 117 of file r2000_driver.cpp.

Member Data Documentation

HttpCommandInterface* pepperl_fuchs::R2000Driver::command_interface_

private

HTTP/JSON interface of the scanner.

Definition at line 143 of file r2000_driver.h.

ScanDataReceiver* pepperl_fuchs::R2000Driver::data_receiver_

private

Asynchronous data receiver.

Definition at line 146 of file r2000_driver.h.

double pepperl_fuchs::R2000Driver::food_timeout_

private

Feeding interval (in seconds)

Definition at line 158 of file r2000_driver.h.

boost::optional<HandleInfo> pepperl_fuchs::R2000Driver::handle_info_

private

Handle information about data connection.

Definition at line 161 of file r2000_driver.h.

bool pepperl_fuchs::R2000Driver::is_capturing_

private

Internal capturing state.

Definition at line 152 of file r2000_driver.h.

bool pepperl_fuchs::R2000Driver::is_connected_

private

Internal connection state.

Definition at line 149 of file r2000_driver.h.

std::map< std::string, std::string > pepperl_fuchs::R2000Driver::parameters_

private

Cached version of all parameter values.

Definition at line 167 of file r2000_driver.h.

ProtocolInfo pepperl_fuchs::R2000Driver::protocol_info_

private

Cached version of the protocol info.

Definition at line 164 of file r2000_driver.h.

double pepperl_fuchs::R2000Driver::watchdog_feed_time_

private

Last time the watchdog was fed.

Definition at line 155 of file r2000_driver.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation