Public Member Functions | Private Member Functions | Private Attributes
pepperl_fuchs::HttpCommandInterface Class Reference

Allows accessing the HTTP/JSON interface of the Pepperl+Fuchs Laserscanner R2000. More...

#include <http_command_interface.h>

List of all members.

Public Member Functions

std::string discoverLocalIP ()
bool feedWatchdog (const std::string &handle)
 Feed the watchdog to keep the handle alive.
const std::string & getHttpHost () const
 Get the HTTP hostname/IP of the scanner.
boost::optional< std::string > getParameter (const std::string name)
std::vector< std::string > getParameterList ()
std::map< std::string,
std::string > 
getParameters (const std::vector< std::string > &names)
boost::optional< ProtocolInfogetProtocolInfo ()
 HttpCommandInterface (const std::string &http_host, int http_port=80)
bool rebootDevice ()
 Reboot laserscanner.
bool releaseHandle (const std::string &handle)
 Release handle.
boost::optional< HandleInforequestHandleTCP (int start_angle=-1800000)
boost::optional< HandleInforequestHandleUDP (int port, std::string hostname=std::string(""), int start_angle=-1800000)
bool resetParameters (const std::vector< std::string > &names)
bool setParameter (const std::string name, const std::string value)
bool startScanOutput (const std::string &handle)
 Initiate output of scan data.
bool stopScanOutput (const std::string &handle)
 Terminate output of scan data.

Private Member Functions

bool checkErrorCode ()
int httpGet (const std::string request_path, std::string &header, std::string &content)
bool sendHttpCommand (const std::string cmd, const std::map< std::string, std::string > param_values)
bool sendHttpCommand (const std::string cmd, const std::string param="", const std::string value="")

Private Attributes

std::string http_host_
 Scanner IP.
int http_port_
 Port of HTTP-Interface.
int http_status_code_
 HTTP-Status code of last request.
boost::property_tree::ptree pt_
 Returned JSON as property_tree.

Detailed Description

Allows accessing the HTTP/JSON interface of the Pepperl+Fuchs Laserscanner R2000.

Definition at line 22 of file http_command_interface.h.


Constructor & Destructor Documentation

pepperl_fuchs::HttpCommandInterface::HttpCommandInterface ( const std::string &  http_host,
int  http_port = 80 
)

Setup a new HTTP command interface

Parameters:
http_ipIP or DNS name of sensor
http_portHTTP/TCP port of sensor

Definition at line 19 of file http_command_interface.cpp.


Member Function Documentation

Check the error code and text of the returned JSON by the last request

Returns:
False in case of an error, True otherwise

Definition at line 207 of file http_command_interface.cpp.

Discovers the local IP of the NIC which talks to the laser range finder

Returns:
The local IP as a string, an empty string otherwise

Definition at line 397 of file http_command_interface.cpp.

bool pepperl_fuchs::HttpCommandInterface::feedWatchdog ( const std::string &  handle)

Feed the watchdog to keep the handle alive.

Definition at line 366 of file http_command_interface.cpp.

const std::string& pepperl_fuchs::HttpCommandInterface::getHttpHost ( ) const [inline]

Get the HTTP hostname/IP of the scanner.

Definition at line 31 of file http_command_interface.h.

boost::optional< std::string > pepperl_fuchs::HttpCommandInterface::getParameter ( const std::string  name)

Get sensor parameter

Parameters:
nameParameter name
Returns:
Optional string value with value of given parameter name

Definition at line 172 of file http_command_interface.cpp.

List available ro/rw parameters

Returns:
A vector with the names of all available parameters

Definition at line 253 of file http_command_interface.cpp.

std::map< std::string, std::string > pepperl_fuchs::HttpCommandInterface::getParameters ( const std::vector< std::string > &  names)

Get multiple sensor parameters

Parameters:
namesParameter names
Returns:
vector with string values with the values of the given parameter names

Definition at line 180 of file http_command_interface.cpp.

Get protocol info (protocol_name, version, commands)

Returns:
A struct with the requested data

Definition at line 222 of file http_command_interface.cpp.

int pepperl_fuchs::HttpCommandInterface::httpGet ( const std::string  request_path,
std::string &  header,
std::string &  content 
) [private]

Send a HTTP-GET request to http_ip_ at http_port_

Parameters:
requestStrThe last part of an URL with a slash leading
headerThe response header returned as std::string, empty string in case of an error
contentThe response content returned as std::string, empty string in case of an error
Returns:
The HTTP status code or 0 in case of an error

Definition at line 27 of file http_command_interface.cpp.

Reboot laserscanner.

Definition at line 374 of file http_command_interface.cpp.

bool pepperl_fuchs::HttpCommandInterface::releaseHandle ( const std::string &  handle)

Release handle.

Definition at line 343 of file http_command_interface.cpp.

boost::optional< HandleInfo > pepperl_fuchs::HttpCommandInterface::requestHandleTCP ( int  start_angle = -1800000)

Request TCP handle

Parameters:
start_angleSet start angle for scans in the range [0,3600000] (1/10000°)
Returns:
A valid HandleInfo on success, an empty boost::optional<HandleInfo> container otherwise

Definition at line 278 of file http_command_interface.cpp.

boost::optional< HandleInfo > pepperl_fuchs::HttpCommandInterface::requestHandleUDP ( int  port,
std::string  hostname = std::string(""),
int  start_angle = -1800000 
)

Request UDP handle

Parameters:
portSet UDP port where scanner data should be sent to
hostnameOptional: Set hostname/IP where scanner data should be sent to, local IP is determined automatically if not specified
start_angleOptional: Set start angle for scans in the range [0,3600000] (1/10000°), defaults to -1800000
Returns:
A valid HandleInfo on success, an empty boost::optional<HandleInfo> container otherwise

Definition at line 309 of file http_command_interface.cpp.

bool pepperl_fuchs::HttpCommandInterface::resetParameters ( const std::vector< std::string > &  names)

Reset laserscanner parameters to factory default

Parameters:
namesNames of parameters to reset

Definition at line 382 of file http_command_interface.cpp.

bool pepperl_fuchs::HttpCommandInterface::sendHttpCommand ( const std::string  cmd,
const std::map< std::string, std::string >  param_values 
) [private]

Send a sensor specific HTTP-Command

Parameters:
cmdcommand name
keys_valuesparameter->value map, which is encoded in the GET-request: ?p1=v1&p2=v2

Definition at line 124 of file http_command_interface.cpp.

bool pepperl_fuchs::HttpCommandInterface::sendHttpCommand ( const std::string  cmd,
const std::string  param = "",
const std::string  value = "" 
) [private]

Send a sensor specific HTTP-Command with a single parameter

Parameters:
cmdCommand name
paramParameter
valueValue

Definition at line 157 of file http_command_interface.cpp.

bool pepperl_fuchs::HttpCommandInterface::setParameter ( const std::string  name,
const std::string  value 
)

Set sensor parameter

Parameters:
nameName
valueValue
Returns:
True on success, false otherwise

Definition at line 166 of file http_command_interface.cpp.

bool pepperl_fuchs::HttpCommandInterface::startScanOutput ( const std::string &  handle)

Initiate output of scan data.

Definition at line 351 of file http_command_interface.cpp.

bool pepperl_fuchs::HttpCommandInterface::stopScanOutput ( const std::string &  handle)

Terminate output of scan data.

Definition at line 359 of file http_command_interface.cpp.


Member Data Documentation

Scanner IP.

Definition at line 117 of file http_command_interface.h.

Port of HTTP-Interface.

Definition at line 120 of file http_command_interface.h.

HTTP-Status code of last request.

Definition at line 126 of file http_command_interface.h.

boost::property_tree::ptree pepperl_fuchs::HttpCommandInterface::pt_ [private]

Returned JSON as property_tree.

Definition at line 123 of file http_command_interface.h.


The documentation for this class was generated from the following files:


pepperl_fuchs_r2000
Author(s): Denis Dillenberger
autogenerated on Thu Jun 6 2019 19:34:11