Classes | |
| class | Command |
| Generates firmware-compatible commands for tuning performance parameters. More... | |
| class | Sensor |
| Converts raw sensor data to ROS friendly message structures. More... | |
| class | Serial |
| Provides low-level I/O access to TS data stream using native Unix API. More... | |
Enumerations | |
| enum | TsParam { UseExternalTemperature = 0b00000001, EchoRejectionThreshold = 0b00000010, NoiseIndicatorThreshold = 0b00000100, NumberOfPulses = 0b00001000, PeakDetectionWindow = 0b00010000, ExternalTemperature = 0b00100000, ScanMode = 0b01000000 } |
| enum | TsService { FirmwareConfiguration, FirmwareVersion } |
Variables | |
| static const int | kQueueSize = 100 |
| static const char | kScansTopic [] = "ts_scans" |
Defined in TS firmware and exposed as public constants to be accessed by the Command API. Ranges and default values are stated in the package's cfg file. The enumeration values are used as dynamic reconfiguration levels by the dynamic reconfiguration server, which matches parameters based their level bit mask. In case of multiple parameter updates, the bit masks are concatenated by an OR operation.
| Enumerator | |
|---|---|
| UseExternalTemperature | Switch between internal temperature sensor value or user-defined temp value. |
| EchoRejectionThreshold | Minimum amplitude for an echo to be considered valid [0 to 20]. |
| NoiseIndicatorThreshold | Normalized noise level on ADC signals to mark processed points as noisy. |
| NumberOfPulses | Number of ultrasonic pulses emitted in every transmission cycle [0 to 20]. |
| PeakDetectionWindow | Kernel size applied on ADC signals for peak detection [1 to 100]. |
| ExternalTemperature | Temperature value used to calibrate speed-of-sound. |
| ScanMode | Scan Mode of Sensor: 0 for scanning continuously; 1 for scanning once; 2 for listening only (once) |
|
static |
Maximum number of messages held in buffer for kScansTopic.