sick_tim::SickTimCommon Class Reference

#include <sick_tim_common.h>

Inheritance diagram for sick_tim::SickTimCommon:

Public Member Functions
void	check_angle_range (SickTimConfig &conf)
double	get_expected_frequency () const
virtual int	init ()
virtual int	loopOnce ()
virtual bool	rebootScanner ()
	Send a SOPAS command to the scanner that should cause a soft reset. More...
	SickTimCommon (AbstractParser *parser)
void	update_config (sick_tim::SickTimConfig &new_config, uint32_t level=0)
virtual	~SickTimCommon ()

Protected Member Functions
virtual int	close_device ()=0
virtual int	get_datagram (unsigned char *receiveBuffer, int bufferSize, int *actual_length)=0
	Read a datagram from the device. More...
virtual int	init_device ()=0
virtual int	init_scanner ()
bool	isCompatibleDevice (const std::string identStr) const
virtual int	sendSOPASCommand (const char *request, std::vector< unsigned char > *reply)=0
	Send a SOPAS command to the device and print out the response to the console. More...
virtual int	stop_scanner ()

Static Protected Member Functions
static std::string	replyToString (const std::vector< unsigned char > &reply)
	Converts reply from sendSOPASCommand to string. More...

Protected Attributes
SickTimConfig	config_
ros::Publisher	datagram_pub_
diagnostic_updater::DiagnosedPublisher< sensor_msgs::LaserScan > *	diagnosticPub_
diagnostic_updater::Updater	diagnostics_
double	expectedFrequency_
bool	publish_datagram_

Private Attributes
dynamic_reconfigure::Server< sick_tim::SickTimConfig >	dynamic_reconfigure_server_
ros::NodeHandle	nh_
AbstractParser *	parser_
ros::Publisher	pub_

Detailed Description

Definition at line 63 of file sick_tim_common.h.

Constructor & Destructor Documentation

sick_tim::SickTimCommon::SickTimCommon

(

AbstractParser *

parser

)

Definition at line 47 of file sick_tim_common.cpp.

sick_tim::SickTimCommon::~SickTimCommon ( )

virtual

Definition at line 137 of file sick_tim_common.cpp.

Member Function Documentation

void sick_tim::SickTimCommon::check_angle_range

(

SickTimConfig &

conf

)

Definition at line 340 of file sick_tim_common.cpp.

virtual int sick_tim::SickTimCommon::close_device ( )

protectedpure virtual

Implemented in sick_tim::SickTimCommonMockup, sick_tim::SickTimCommonUsb, and sick_tim::SickTimCommonTcp.

virtual int sick_tim::SickTimCommon::get_datagram ( unsigned char *  receiveBuffer, int  bufferSize, int *  actual_length  )

protectedpure virtual

Read a datagram from the device.

Parameters

[in]	receiveBuffer	data buffer to fill
[in]	bufferSize	max data size to write to buffer (result should be 0 terminated)
[out]	actual_length	the actual amount of data written

Implemented in sick_tim::SickTimCommonMockup, sick_tim::SickTimCommonUsb, and sick_tim::SickTimCommonTcp.

double sick_tim::SickTimCommon::get_expected_frequency ( ) const

inline

Definition at line 73 of file sick_tim_common.h.

int sick_tim::SickTimCommon::init ( )

virtual

Definition at line 145 of file sick_tim_common.cpp.

virtual int sick_tim::SickTimCommon::init_device ( )

protectedpure virtual

Implemented in sick_tim::SickTimCommonUsb, sick_tim::SickTimCommonMockup, and sick_tim::SickTimCommonTcp.

int sick_tim::SickTimCommon::init_scanner ( )

protectedvirtual

Reimplemented in sick_tim::SickMrs1000Communication, and sick_tim::SickTimCommonMockup.

Definition at line 159 of file sick_tim_common.cpp.

bool sick_tim::SickTimCommon::isCompatibleDevice ( const std::string  identStr ) const

protected

Definition at line 270 of file sick_tim_common.cpp.

int sick_tim::SickTimCommon::loopOnce ( )

virtual

Reimplemented in sick_tim::SickMrs1000Communication.

Definition at line 290 of file sick_tim_common.cpp.

bool sick_tim::SickTimCommon::rebootScanner ( )

virtual

Send a SOPAS command to the scanner that should cause a soft reset.

Returns

true if reboot command was accepted, false otherwise

Definition at line 89 of file sick_tim_common.cpp.

std::string sick_tim::SickTimCommon::replyToString ( const std::vector< unsigned char > &  reply )

staticprotected

Converts reply from sendSOPASCommand to string.

Parameters

[in]

reply

reply from sendSOPASCommand

Returns

reply as string with special characters stripped out

Definition at line 257 of file sick_tim_common.cpp.

virtual int sick_tim::SickTimCommon::sendSOPASCommand ( const char *  request, std::vector< unsigned char > *  reply  )

protectedpure virtual

Send a SOPAS command to the device and print out the response to the console.

Parameters

[in]	request	the command to send.
[out]	reply	if not NULL, will be filled with the reply package to the command.

Implemented in sick_tim::SickTimCommonMockup, sick_tim::SickTimCommonUsb, and sick_tim::SickTimCommonTcp.

int sick_tim::SickTimCommon::stop_scanner ( )

protectedvirtual

Definition at line 73 of file sick_tim_common.cpp.

void sick_tim::SickTimCommon::update_config	(	sick_tim::SickTimConfig &	new_config,
		uint32_t	level = 0
	)

Definition at line 349 of file sick_tim_common.cpp.

Member Data Documentation

SickTimConfig sick_tim::SickTimCommon::config_

protected

Definition at line 115 of file sick_tim_common.h.

ros::Publisher sick_tim::SickTimCommon::datagram_pub_

protected

Definition at line 117 of file sick_tim_common.h.

diagnostic_updater::DiagnosedPublisher<sensor_msgs::LaserScan>* sick_tim::SickTimCommon::diagnosticPub_

protected

Definition at line 120 of file sick_tim_common.h.

diagnostic_updater::Updater sick_tim::SickTimCommon::diagnostics_

protected

Definition at line 112 of file sick_tim_common.h.

dynamic_reconfigure::Server<sick_tim::SickTimConfig> sick_tim::SickTimCommon::dynamic_reconfigure_server_

private

Definition at line 129 of file sick_tim_common.h.

double sick_tim::SickTimCommon::expectedFrequency_

protected

Definition at line 121 of file sick_tim_common.h.

ros::NodeHandle sick_tim::SickTimCommon::nh_

private

Definition at line 125 of file sick_tim_common.h.

AbstractParser* sick_tim::SickTimCommon::parser_

private

Definition at line 132 of file sick_tim_common.h.

ros::Publisher sick_tim::SickTimCommon::pub_

private

Definition at line 126 of file sick_tim_common.h.

bool sick_tim::SickTimCommon::publish_datagram_

protected

Definition at line 116 of file sick_tim_common.h.

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

• sick_tim_common.h
• sick_tim_common.cpp