Class RobosenseHwInterface

• Defined in File robosense_hw_interface.hpp

Class Documentation

class RobosenseHwInterface

Hardware interface of Robosense driver.

Public Functions

explicit RobosenseHwInterface(const std::shared_ptr<loggers::Logger> &logger)

Constructor.

void receive_sensor_packet_callback(std::vector<uint8_t> &buffer)

Callback function to receive the Cloud Packet data from the UDP Driver.

Parameters:

buffer – Buffer containing the data received from the UDP socket

void receive_info_packet_callback(std::vector<uint8_t> &buffer)

Callback function to receive the Info Packet data from the UDP Driver.

Parameters:

buffer – Buffer containing the data received from the UDP socket

Status sensor_interface_start()

Starting the interface that handles UDP streams for MSOP packets.

Returns:

Resulting status

Status info_interface_start()

Starting the interface that handles UDP streams for DIFOP packets.

Returns:

Resulting status

Status set_sensor_configuration(std::shared_ptr<const RobosenseSensorConfiguration> sensor_configuration)

Setting sensor configuration.

Parameters:

sensor_configuration – SensorConfiguration for this interface

Returns:

Resulting status

Status register_scan_callback(std::function<void(std::vector<uint8_t>&)> scan_callback)

Registering callback for RobosenseScan.

Parameters:

scan_callback – Callback function

Returns:

Resulting status

Status register_info_callback(std::function<void(std::vector<uint8_t>&)> info_callback)

Registering callback for RobosensePacket.

Parameters:

scan_callback – Callback function

Returns:

Resulting status