Class VelodyneHwInterface

• Defined in File velodyne_hw_interface.hpp

Class Documentation

class VelodyneHwInterface

Hardware interface of velodyne driver.

Public Functions

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

Constructor.

virtual ~VelodyneHwInterface() = default

void receive_sensor_packet_callback(const 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

Status sensor_interface_start()

Starting the interface that handles UDP streams.

Returns:

Resulting status

Status sensor_interface_stop()

Function for stopping the interface that handles UDP streams.

Returns:

Resulting status

Status get_sensor_configuration(SensorConfigurationBase &sensor_configuration)

Printing sensor configuration.

Parameters:

sensor_configuration – SensorConfiguration for this interface

Returns:

Resulting status

Status get_calibration_configuration(CalibrationConfigurationBase &calibration_configuration)

Printing calibration configuration.

Parameters:

calibration_configuration – CalibrationConfiguration for the checking

Returns:

Resulting status

Status initialize_sensor_configuration(std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration)

Initializing sensor configuration.

Parameters:

sensor_configuration – SensorConfiguration for this interface

Returns:

Resulting status

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

Setting sensor configuration with InitializeSensorConfiguration & CheckAndSetConfigBySnapshotAsync.

Parameters:

sensor_configuration – SensorConfiguration for this interface

Returns:

Resulting status

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

Registering callback for PandarScan.

Parameters:

scan_callback – Callback function

Returns:

Resulting status

boost::property_tree::ptree parse_json(const std::string &str)

Parsing JSON string to property_tree.

Parameters:

str – JSON string

Returns:

property_tree

VelodyneStatus init_http_client()

Initializing HTTP client (sync)

Returns:

Resulting status

nebula::util::expected<std::string, VelodyneStatus> get_status()

Getting the current operational state and parameters of the sensor (sync)

Returns:

Resulting JSON string

nebula::util::expected<std::string, VelodyneStatus> get_diag()

Getting diagnostic information from the sensor (sync)

Returns:

Resulting JSON string

nebula::util::expected<std::string, VelodyneStatus> get_snapshot()

Getting current sensor configuration and status data (sync)

Returns:

Resulting JSON string

VelodyneStatus set_rpm(uint16_t rpm)

Setting Motor RPM (sync)

Parameters:

rpm – the RPM of the motor

Returns:

Resulting status

VelodyneStatus set_fov_start(uint16_t fov_start)

Setting Field of View Start (sync)

Parameters:

fov_start – FOV start

Returns:

Resulting status

VelodyneStatus set_fov_end(uint16_t fov_end)

Setting Field of View End (sync)

Parameters:

fov_end – FOV end

Returns:

Resulting status

VelodyneStatus set_return_type(ReturnMode return_mode)

Setting Return Type (sync)

Parameters:

return_mode – ReturnMode

Returns:

Resulting status

VelodyneStatus save_config()

Save Configuration to the LiDAR memory (sync)

Returns:

Resulting status

VelodyneStatus reset_system()

Resets the sensor (sync)

Returns:

Resulting status

VelodyneStatus laser_on()

Turn laser state on (sync)

Returns:

Resulting status

VelodyneStatus laser_off()

Turn laser state off (sync)

Returns:

Resulting status

VelodyneStatus laser_on_off(bool on)

Turn laser state on/off (sync)

Parameters:

on – is ON

Returns:

Resulting status

VelodyneStatus set_host_addr(std::string addr)

Setting host (destination) IP address (sync)

Parameters:

addr – destination IP address

Returns:

Resulting status

VelodyneStatus set_host_dport(uint16_t dport)

Setting host (destination) data port (sync)

Parameters:

dport – destination data port

Returns:

Resulting status

VelodyneStatus set_host_tport(uint16_t tport)

Setting host (destination) telemetry port (sync)

Parameters:

tport – destination telemetry port

Returns:

Resulting status

VelodyneStatus set_net_addr(std::string addr)

Setting network (sensor) IP address (sync)

Parameters:

addr – sensor IP address

Returns:

Resulting status

VelodyneStatus set_net_mask(std::string mask)

Setting the network mask of the sensor (sync)

Parameters:

mask – Network mask

Returns:

Resulting status

VelodyneStatus set_net_gateway(std::string gateway)

Setting the gateway address of the sensor (sync)

Parameters:

gateway – Gateway address

Returns:

Resulting status

VelodyneStatus set_net_dhcp(bool use_dhcp)

This determines if the sensor is to rely on a DHCP server for its IP address (sync)

Parameters:

use_dhcp – DHCP on

Returns:

Resulting status