Class responsible for communicating with LMS1xx device. More...

#include <LMS1xx.h>

Public Member Functions
void	connect (std::string host, int port=2111)
	Connect to LMS1xx.
void	disconnect ()
	Disconnect from LMS1xx device.
void	getData (scanData &data)
	Receive single scan message.
scanCfg	getScanCfg () const
	Get current scan configuration. Get scan configuration :
bool	isConnected ()
	Get status of connection.
	LMS1xx ()
void	login ()
	Log into LMS1xx unit. Increase privilege level, giving ability to change device configuration.
status_t	queryStatus ()
	Get current status of LMS1xx device.
void	saveConfig ()
	Save data permanently. Parameters are saved in the EEPROM of the LMS and will also be available after the device is switched off and on again.
void	scanContinous (int start)
	Start or stop continuous data acquisition. After reception of this command device start or stop continuous data stream containing scan messages.
void	setScanCfg (const scanCfg &cfg)
	Set scan configuration. Get scan configuration :
void	setScanDataCfg (const scanDataCfg &cfg)
	Set scan data configuration. Set format of scan message returned by device.
void	startDevice ()
	The device is returned to the measurement mode after configuration.
void	startMeas ()
	Start measurements. After receiving this command LMS1xx unit starts spinning laser and measuring.
void	stopMeas ()
	Stop measurements. After receiving this command LMS1xx unit stop spinning laser and measuring.
virtual	~LMS1xx ()
Private Attributes
bool	connected
bool	debug
int	sockDesc

Detailed Description

Class responsible for communicating with LMS1xx device.

Author:: Konrad Banachowicz

Definition at line 195 of file LMS1xx.h.

Constructor & Destructor Documentation

LMS1xx::LMS1xx ( )

Definition at line 35 of file LMS1xx.cpp.

LMS1xx::~LMS1xx ( ) [virtual]

Definition at line 40 of file LMS1xx.cpp.

Member Function Documentation

void LMS1xx::connect	(	std::string	host,
		int	port = `2111`
	)

Connect to LMS1xx.

Parameters:

host	LMS1xx host name or ip address.
port	LMS1xx port number.

Definition at line 44 of file LMS1xx.cpp.

void LMS1xx::disconnect ( )

Disconnect from LMS1xx device.

Definition at line 63 of file LMS1xx.cpp.

void LMS1xx::getData ( scanData & data )

Receive single scan message.

Parameters:

data	pointer to scanData buffer structure.

Definition at line 207 of file LMS1xx.cpp.

scanCfg LMS1xx::getScanCfg ( ) const

Get current scan configuration. Get scan configuration :

scanning frequency.
scanning resolution.
start angle.
stop angle.
Returns:
scanCfg structure.

Definition at line 138 of file LMS1xx.cpp.

bool LMS1xx::isConnected ( )

Get status of connection.

Returns:: connected or not.

Definition at line 70 of file LMS1xx.cpp.

void LMS1xx::login ( )

Log into LMS1xx unit. Increase privilege level, giving ability to change device configuration.

Definition at line 123 of file LMS1xx.cpp.

status_t LMS1xx::queryStatus ( )

Get current status of LMS1xx device.

Returns:: status of LMS1xx device.

Definition at line 104 of file LMS1xx.cpp.

void LMS1xx::saveConfig ( )

Save data permanently. Parameters are saved in the EEPROM of the LMS and will also be available after the device is switched off and on again.

Definition at line 371 of file LMS1xx.cpp.

void LMS1xx::scanContinous ( int start )

Start or stop continuous data acquisition. After reception of this command device start or stop continuous data stream containing scan messages.

Parameters:

start 1 : start 0 : stop

Definition at line 185 of file LMS1xx.cpp.

void LMS1xx::setScanCfg ( const scanCfg & cfg )

Set scan configuration. Get scan configuration :

scanning frequency.
scanning resolution.
start angle.
stop angle.
Parameters:

cfg structure containing scan configuration.

Definition at line 158 of file LMS1xx.cpp.

void LMS1xx::setScanDataCfg ( const scanDataCfg & cfg )

Set scan data configuration. Set format of scan message returned by device.

Parameters:

cfg	structure containing scan data configuration.

Definition at line 171 of file LMS1xx.cpp.

void LMS1xx::startDevice ( )

The device is returned to the measurement mode after configuration.

Definition at line 386 of file LMS1xx.cpp.

void LMS1xx::startMeas ( )

Start measurements. After receiving this command LMS1xx unit starts spinning laser and measuring.

Definition at line 74 of file LMS1xx.cpp.

void LMS1xx::stopMeas ( )

Stop measurements. After receiving this command LMS1xx unit stop spinning laser and measuring.

Definition at line 89 of file LMS1xx.cpp.

Member Data Documentation

bool LMS1xx::connected [private]

Definition at line 299 of file LMS1xx.h.

bool LMS1xx::debug [private]

Definition at line 300 of file LMS1xx.h.

int LMS1xx::sockDesc [private]

Definition at line 302 of file LMS1xx.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