Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
sick_scan::SickScanServices Class Reference

#include <sick_scan_services.h>

Public Member Functions

bool serviceCbColaMsg (sick_scan::ColaMsgSrv::Request &service_request, sick_scan::ColaMsgSrv::Response &service_response)
 
bool serviceCbECRChangeArr (sick_scan::ECRChangeArrSrv::Request &service_request, sick_scan::ECRChangeArrSrv::Response &service_response)
 
bool serviceCbLIDoutputstate (sick_scan::LIDoutputstateSrv::Request &service_request, sick_scan::LIDoutputstateSrv::Response &service_response)
 
 SickScanServices (ros::NodeHandle *nh=0, sick_scan::SickScanCommonTcp *common_tcp=0, bool cola_binary=true)
 
virtual ~SickScanServices ()
 

Protected Member Functions

bool sendSopasAndCheckAnswer (const std::string &sopasCmd, std::vector< unsigned char > &sopasReplyBin, std::string &sopasReplyString)
 

Protected Attributes

bool m_cola_binary
 cola ascii or cola binary messages More...
 
sick_scan::SickScanCommonTcpm_common_tcp
 common tcp handler More...
 
ros::ServiceServer m_srv_server_ColaMsg
 service "ColaMsg", &sick_scan::SickScanServices::serviceCbColaMsg More...
 
ros::ServiceServer m_srv_server_ECRChangeArr
 service "ECRChangeArr", &sick_scan::SickScanServices::serviceCbECRChangeArr More...
 
ros::ServiceServer m_srv_server_LIDoutputstate
 service "LIDoutputstate", &sick_scan::SickScanServices::serviceCbLIDoutputstate More...
 

Detailed Description

Definition at line 53 of file sick_scan_services.h.

Constructor & Destructor Documentation

sick_scan::SickScanServices::SickScanServices ( ros::NodeHandle nh = 0,
sick_scan::SickScanCommonTcp common_tcp = 0,
bool  cola_binary = true 
)

Definition at line 43 of file sick_scan_services.cpp.

sick_scan::SickScanServices::~SickScanServices ( )
virtual

Definition at line 54 of file sick_scan_services.cpp.

Member Function Documentation

bool sick_scan::SickScanServices::sendSopasAndCheckAnswer ( const std::string &  sopasCmd,
std::vector< unsigned char > &  sopasReplyBin,
std::string &  sopasReplyString 
)
protected

Sends a sopas command and returns the lidar reply.

Parameters
[in]sopasCmdsopas command to send, f.e. "sEN ECRChangeArr 1"
[out]sopasReplyBinresponse from lidar incl. start/stop byte
[out]sopasReplyStringsopasReplyBin converted to string
Returns
true on success, false in case of errors.

Definition at line 65 of file sick_scan_services.cpp.

bool sick_scan::SickScanServices::serviceCbColaMsg ( sick_scan::ColaMsgSrv::Request &  service_request,
sick_scan::ColaMsgSrv::Response &  service_response 
)

Callback for service ColaMsg (ColaMsg, send a cola message to lidar).

Parameters
[in]service_requestros service request to lidar
[out]service_responseservice response from lidar
Returns
true on success, false in case of errors.

Definition at line 105 of file sick_scan_services.cpp.

bool sick_scan::SickScanServices::serviceCbECRChangeArr ( sick_scan::ECRChangeArrSrv::Request &  service_request,
sick_scan::ECRChangeArrSrv::Response &  service_response 
)

Callback for service messages (ECRChangeArr, Request status change of monitoring fields on event). Sends a cola telegram "sEN ECRChangeArr {0|1}" and receives the response from the lidar device.

Parameters
[in]service_requestros service request to lidar
[out]service_responseservice response from lidar
Returns
true on success, false in case of errors.

Definition at line 131 of file sick_scan_services.cpp.

bool sick_scan::SickScanServices::serviceCbLIDoutputstate ( sick_scan::LIDoutputstateSrv::Request &  service_request,
sick_scan::LIDoutputstateSrv::Response &  service_response 
)

Callback for service messages (LIDoutputstate, Request status change of monitoring fields on event). Sends a cola telegram "sEN LIDoutputstate {0|1}" and receives the response from the lidar device.

Parameters
[in]service_requestros service request to lidar
[out]service_responseservice response from lidar
Returns
true on success, false in case of errors.

Definition at line 156 of file sick_scan_services.cpp.

Member Data Documentation

bool sick_scan::SickScanServices::m_cola_binary
protected

cola ascii or cola binary messages

Definition at line 102 of file sick_scan_services.h.

sick_scan::SickScanCommonTcp* sick_scan::SickScanServices::m_common_tcp
protected

common tcp handler

Definition at line 103 of file sick_scan_services.h.

ros::ServiceServer sick_scan::SickScanServices::m_srv_server_ColaMsg
protected

service "ColaMsg", &sick_scan::SickScanServices::serviceCbColaMsg

Definition at line 104 of file sick_scan_services.h.

ros::ServiceServer sick_scan::SickScanServices::m_srv_server_ECRChangeArr
protected

service "ECRChangeArr", &sick_scan::SickScanServices::serviceCbECRChangeArr

Definition at line 105 of file sick_scan_services.h.

ros::ServiceServer sick_scan::SickScanServices::m_srv_server_LIDoutputstate
protected

service "LIDoutputstate", &sick_scan::SickScanServices::serviceCbLIDoutputstate

Definition at line 106 of file sick_scan_services.h.


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


sick_scan
Author(s): Michael Lehning , Jochen Sprickerhof , Martin Günther
autogenerated on Wed May 5 2021 03:05:49