psen_scan::Scanner Class Reference

Class for Modeling a PSENscan safety laser scanner. More...

#include <scanner.h>

Inheritance diagram for psen_scan::Scanner:

Public Member Functions
LaserScan	getCompleteScan ()
	Reads from UDP Interface until complete laserscan object can be formed. More...
	Scanner (const std::string &scanner_ip, const uint32_t &host_ip, const uint32_t &host_udp_port, const std::string &password, const PSENscanInternalAngle &angle_start, const PSENscanInternalAngle &angle_end, std::unique_ptr< ScannerCommunicationInterface > communication_interface)
	Construct a new Scanner:: Scanner object. More...
void	start ()
	Send start signal to Laserscanner. More...
void	stop ()
	Send stop signal to Laserscanner. More...
Public Member Functions inherited from psen_scan::vScanner
virtual	~vScanner ()=default

Private Member Functions
MonitoringFrame	fetchMonitoringFrame (std::chrono::steady_clock::duration timeout)
	Gets one MonitoringFrame from Laserscanner. More...
bool	isDiagnosticInformationOk (const DiagnosticInformation &diag_info)
	Checks if DiagnosticInformation Bitfield contains no errors. More...
bool	parseFields (const MonitoringFrame &monitoring_frame)
	Parses a MonitoringFrame to check whether all fields are as expected. More...

Private Attributes
PSENscanInternalAngle	angle_end_
PSENscanInternalAngle	angle_start_
std::unique_ptr< ScannerCommunicationInterface >	communication_interface_
MonitoringFrame	previous_monitoring_frame_
std::string	scanner_ip_
StartMonitoringFrame	start_monitoring_frame_
StopMonitoringFrame	stop_monitoring_frame_

Detailed Description

Class for Modeling a PSENscan safety laser scanner.

Definition at line 42 of file scanner.h.

Constructor & Destructor Documentation

Scanner()

psen_scan::Scanner::Scanner	(	const std::string &	scanner_ip,
		const uint32_t &	host_ip,
		const uint32_t &	host_udp_port,
		const std::string &	password,
		const PSENscanInternalAngle &	angle_start,
		const PSENscanInternalAngle &	angle_end,
		std::unique_ptr< ScannerCommunicationInterface >	communication_interface
	)

Construct a new Scanner:: Scanner object.

Parameters

scanner_ip	IP-Adress of Laserscanner
host_ip	IP-Adress of host machine
host_udp_port	UDP Port on which packets from Laserscanner should be received
password	Password for Laserscanner
angle_start	Start angle of Laserscanner measurements in tenths of degree
angle_end	End angle of Laserscanner measurements in tenths of degree
communication_interface	Pointer to the communication interface

Definition at line 53 of file scanner.cpp.

Member Function Documentation

fetchMonitoringFrame()

MonitoringFrame psen_scan::Scanner::fetchMonitoringFrame ( std::chrono::steady_clock::duration  timeout )

private

Gets one MonitoringFrame from Laserscanner.

Returns

MonitoringFrame

Exceptions

FetchMonitoringFrameException

Definition at line 127 of file scanner.cpp.

getCompleteScan()

LaserScan psen_scan::Scanner::getCompleteScan ( )

virtual

Reads from UDP Interface until complete laserscan object can be formed.

Returns

LaserScan Complete laserscan object

Exceptions

CoherentMonitoringFramesException

Implements psen_scan::vScanner.

Definition at line 306 of file scanner.cpp.

isDiagnosticInformationOk()

bool psen_scan::Scanner::isDiagnosticInformationOk ( const DiagnosticInformation &  diag_info )

private

Checks if DiagnosticInformation Bitfield contains no errors.

Parameters

diag_info

DiagnosticInformation Bitfield to check

Returns

true DiagnosticInformation Bitfield contains no errors

false DiagnosticInformation Bitfield contains atleast one error

Exceptions

DiagnosticInformationException

Definition at line 193 of file scanner.cpp.

parseFields()

bool psen_scan::Scanner::parseFields ( const MonitoringFrame &  monitoring_frame )

private

Parses a MonitoringFrame to check whether all fields are as expected.

Parameters

monitoring_frame

MonitoringFrame to check

Returns

true Fields are ok

false At least one field is not ok

Exceptions

ParseMonitoringFrameException

Definition at line 159 of file scanner.cpp.

start()

void psen_scan::Scanner::start ( )

virtual

Send start signal to Laserscanner.

Implements psen_scan::vScanner.

Definition at line 106 of file scanner.cpp.

stop()

void psen_scan::Scanner::stop ( )

virtual

Send stop signal to Laserscanner.

Implements psen_scan::vScanner.

Definition at line 115 of file scanner.cpp.

Member Data Documentation

angle_end_

PSENscanInternalAngle psen_scan::Scanner::angle_end_

private

End angle of Laserscanner measurements

Definition at line 62 of file scanner.h.

angle_start_

PSENscanInternalAngle psen_scan::Scanner::angle_start_

private

Start angle of Laserscanner measurements

Definition at line 61 of file scanner.h.

communication_interface_

std::unique_ptr<ScannerCommunicationInterface> psen_scan::Scanner::communication_interface_

private

Definition at line 64 of file scanner.h.

previous_monitoring_frame_

MonitoringFrame psen_scan::Scanner::previous_monitoring_frame_

private

Buffer for incoming Laserscanner data

Definition at line 63 of file scanner.h.

scanner_ip_

std::string psen_scan::Scanner::scanner_ip_

private

IP-Adress of Laserscanner

Definition at line 58 of file scanner.h.

start_monitoring_frame_

StartMonitoringFrame psen_scan::Scanner::start_monitoring_frame_

private

Start Monitoring Command Frame

Definition at line 59 of file scanner.h.

stop_monitoring_frame_

StopMonitoringFrame psen_scan::Scanner::stop_monitoring_frame_

private

Stop Monitoring Command Frame

Definition at line 60 of file scanner.h.

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

• scanner.h
• scanner.cpp