40 namespace data_processing {
44 m_reader_ptr = std::make_shared<sick::data_processing::ReadWriteHelper>();
51 const uint8_t* data_ptr(buffer.
getBuffer().data());
60 uint8_t type_code_interface_1 =
m_reader_ptr->readuint8_t(data_ptr, 14);
61 uint8_t type_code_interface_2 =
m_reader_ptr->readuint8_t(data_ptr, 15);
65 if ((type_code_interface_1 ==
'Z' && type_code_interface_2 ==
'A') ||
66 (type_code_interface_1 ==
'A' && type_code_interface_2 ==
'A'))
70 else if (type_code_interface_1 ==
'I' && type_code_interface_2 ==
'Z')
74 else if ((type_code_interface_1 ==
'P' && type_code_interface_2 ==
'Z') ||
75 (type_code_interface_1 ==
'L' && type_code_interface_2 ==
'Z'))
79 else if (type_code_interface_1 ==
'A' && type_code_interface_2 ==
'N')
89 uint8_t type_code_interface_1 =
m_reader_ptr->readuint8_t(data_ptr, 12);
90 uint8_t type_code_interface_2 =
m_reader_ptr->readuint8_t(data_ptr, 13);
94 if ((type_code_interface_1 ==
'3' && type_code_interface_2 ==
'0') ||
95 (type_code_interface_1 ==
'4' && type_code_interface_2 ==
'0') ||
96 (type_code_interface_1 ==
'5' && type_code_interface_2 ==
'5'))
100 else if (type_code_interface_1 ==
'9' && type_code_interface_2 ==
'0')
std::shared_ptr< sick::data_processing::ReadWriteHelper > m_reader_ptr
bool parseTCPSequence(const datastructure::PacketBuffer &buffer, datastructure::TypeCode &type_code) const
Parses a tcp sequence to read the type code of the sensor.
A packetbuffer for the raw data from the sensor.
const VectorBuffer & getBuffer() const
Getter to return the VectorBuffer saved in the PacketBuffer.
ParseTypeCodeData()
Constructor of the parser.
void setMaxRange(float max_distance)
Sets the max range for the scanner.
float readMaxRange(const uint8_t *&data_ptr) const
Class containing the type code of a laser scanner.
void setInterfaceType(uint8_t interface_type)
Sets the interface type for the scanner.
uint8_t readInterfaceType(const uint8_t *&data_ptr) const