#include <sick_scan_common.h>

Inheritance diagram for sick_scan_xd::SickScanCommon:

Classes
struct	ScanLayerFilterCfg

Public Types
enum	SOPAS_CMD { CMD_DEVICE_IDENT_LEGACY, CMD_DEVICE_IDENT, CMD_SERIAL_NUMBER, CMD_REBOOT, CMD_WRITE_EEPROM, CMD_FIRMWARE_VERSION, CMD_DEVICE_STATE, CMD_OPERATION_HOURS, CMD_POWER_ON_COUNT, CMD_LOCATION_NAME, CMD_ACTIVATE_STANDBY, CMD_SET_PARTICLE_FILTER, CMD_SET_MEAN_FILTER, CMD_SCAN_LAYER_FILTER, CMD_APPLICATION_MODE, CMD_APPLICATION_MODE_FIELD_ON, CMD_APPLICATION_MODE_FIELD_OFF, CMD_APPLICATION_MODE_RANGING_ON, CMD_READ_ACTIVE_APPLICATIONS, CMD_SET_ACCESS_MODE_3, CMD_SET_ACCESS_MODE_3_SAFETY_SCANNER, CMD_SET_OUTPUT_RANGES, CMD_SET_OUTPUT_RANGES_NAV3, CMD_GET_OUTPUT_RANGES, CMD_RUN, CMD_SET_PARTIAL_SCAN_CFG, CMD_GET_PARTIAL_SCAN_CFG, CMD_GET_PARTIAL_SCANDATA_CFG, CMD_SET_PARTIAL_SCANDATA_CFG, CMD_STOP_SCANDATA, CMD_START_SCANDATA, CMD_START_RADARDATA, CMD_ACTIVATE_NTP_CLIENT, CMD_SET_NTP_INTERFACE_ETH, CMD_SET_ENCODER_MODE, CMD_SET_ENCODER_MODE_NO, CMD_SET_ENCODER_MODE_SI, CMD_SET_ENCODER_MODE_DP, CMD_SET_ENCODER_MODE_DL, CMD_SET_ENCODER_MODE_FI, CMD_SET_INCREMENTSOURCE_ENC, CMD_SET_3_4_TO_ENCODER, CMD_SET_ENOCDER_RES_1, CMD_SET_ENCODER_RES, CMD_START_IMU_DATA, CMD_STOP_IMU_DATA, CMD_SET_TRANSMIT_RAWTARGETS_ON, CMD_SET_TRANSMIT_RAWTARGETS_OFF, CMD_SET_TRANSMIT_OBJECTS_ON, CMD_SET_TRANSMIT_OBJECTS_OFF, CMD_SET_TRACKING_MODE_0, CMD_SET_TRACKING_MODE_1, CMD_LOAD_APPLICATION_DEFAULT, CMD_DEVICE_TYPE, CMD_ORDER_NUMBER, CMD_START_MEASUREMENT, CMD_STOP_MEASUREMENT, CMD_SET_ECHO_FILTER, CMD_SET_NTP_UPDATETIME, CMD_SET_NTP_TIMEZONE, CMD_SET_IP_ADDR, CMD_SET_GATEWAY, CMD_SET_NTP_SERVER_IP_ADDR, CMD_SET_SCANDATACONFIGNAV, CMD_GET_SCANDATACONFIGNAV, CMD_SEN_SCANDATACONFIGNAV, CMD_GET_ANGLE_COMPENSATION_PARAM, CMD_SET_TO_COLA_A_PROTOCOL, CMD_SET_TO_COLA_B_PROTOCOL, CMD_GET_SAFTY_FIELD_CFG, CMD_SET_LFEREC_ACTIVE, CMD_SET_LID_OUTPUTSTATE_ACTIVE, CMD_SET_LID_INPUTSTATE_ACTIVE, CMD_SET_SCAN_CFG_LIST, CMD_SET_NAV_OPERATIONAL_MODE_0, CMD_SET_NAV_OPERATIONAL_MODE_1, CMD_SET_NAV_OPERATIONAL_MODE_2, CMD_SET_NAV_OPERATIONAL_MODE_3, CMD_SET_NAV_OPERATIONAL_MODE_4, CMD_SET_NAV_CURR_LAYER, CMD_SET_NAV_LANDMARK_DATA_FORMAT, CMD_SET_NAV_SCAN_DATA_FORMAT, CMD_SET_NAV_POSE_DATA_FORMAT, CMD_SET_NAV_MAP_CFG, CMD_SET_NAV_REFL_SIZE, CMD_SET_NAV_DO_MAPPING, CMD_SET_NAV_ADD_LANDMARK, CMD_SET_NAV_ERASE_LAYOUT, CMD_SET_NAV_STORE_LAYOUT, CMD_SET_NAV_POSE, CMD_SET_LFPMEANFILTER, CMD_SET_LFPMEDIANFILTER, CMD_SET_LMDSCANDATASCALEFACTOR, CMD_SET_GLARE_DETECTION_SENS, CMD_SET_SCAN_LAYER_FILTER, CMD_END }

Public Member Functions
int	ActivateStandBy (void)

bool	changeIPandreboot (const std::string &IpAdress)
	Send a SOPAS command to the scanner that logs in the authorized client, changes the ip address and the reboots the scanner. More...

void	check_angle_range (SickScanConfig &conf)
	check angle setting in the config and adjust the min_ang to the max_ang if min_ang greater than max_ax More...

ExitCode	checkColaTypeAndSwitchToConfigured (bool useBinaryCmd)

std::string	cmdSetAccessMode3 (void)
	Returns "sMN SetAccessMode 3 F4724744" resp. "\x02sMN SetAccessMode 3 6FD62C05\x03\0" for safety scanner. More...

int	convertAscii2BinaryCmd (const char requestAscii, std::vector< unsigned char > requestBinary)
	Convert ASCII-message to Binary-message. More...

virtual int	convertSendSOPASCommand (const std::string &sopas_ascii_request, std::vector< unsigned char > *reply, bool wait_for_reply=true)
	Converts a given SOPAS command from ascii to binary (in case of binary communication), sends sopas (ascii or binary) and returns the response (if wait_for_reply:=true) More...

std::vector< std::string >	generateExpectedAnswerString (const std::vector< unsigned char > &requestStr)
	Generate expected answer strings from the command string. More...

std::vector< std::string >	generateUnexpectedAnswerString (const std::string &requestStr)

int	get2ndSopasResponse (std::vector< uint8_t > &sopas_response, const std::string &sopas_keyword)

double	get_expected_frequency () const

SickScanConfig *	getConfigPtr ()

ScannerBasicParam *	getCurrentParamPtr ()

uint64_t	getNanosecTimestampLastTcpMessageReceived (void)

int	getProtocolType (void)
	get protocol type as enum More...

int	getReadTimeOutInMs ()
	get timeout in milliseconds More...

bool	handleNAV350BinaryPositionData (const uint8_t receiveBuffer, int receiveBufferLength, short &elevAngleX200, double &elevationAngleInRad, rosTime &recvTimeStamp, bool config_sw_pll_only_publish, double config_time_offset, SickGenericParser parser_, int &numEchos, ros_sensor_msgs::LaserScan &msg, NAV350mNPOSData &navdata)

virtual int	init (rosNodePtr nh)
	init routine of scanner More...

int	init_cmdTables (rosNodePtr nh)
	init command tables and define startup sequence More...

int	loopOnce (rosNodePtr nh)
	parsing datagram and publishing ros messages More...

void	messageCbNavOdomVelocity (const sick_scan_msg::NAVOdomVelocity &msg)

int	readActiveFieldSet (int &active_field_set, std::vector< unsigned char > &sopasReply, bool useBinaryCmd=true)

int	readFieldSetSelectionMethod (int &field_set_selection_method, std::vector< unsigned char > &sopasReply, bool useBinaryCmd=true)

virtual bool	rebootScanner ()
	Send a SOPAS command to the scanner that should cause a soft reset. More...

int	sendNAV350mNPOSGetData (void)

int	sendSopasAndCheckAnswer (std::string request, std::vector< unsigned char > *reply, int cmdId)
	send command and check answer More...

int	sendSopasAndCheckAnswer (std::vector< unsigned char > request, std::vector< unsigned char > *reply, int cmdId)
	send command and check answer More...

int	sendSopasAorBgetAnswer (const std::string &request, std::vector< unsigned char > *reply, bool useBinaryCmd)

bool	sendSopasRunSetAccessMode (bool useBinaryCmd)

int	setAligmentMode (int _AligmentMode)

int	setApplicationMode (bool _active, int _mode)

void	setLengthAndCRCinBinarySopasRequest (std::vector< uint8_t > *requestBinary)

int	setMeanFilter (bool _active, int _numberOfScans)

int	setParticleFilter (bool _active, int _particleThreshold)

void	setProtocolType (SopasProtocol cola_dialect_id)
	set protocol type as enum More...

void	setReadTimeOutInMs (int timeOutInMs)
	set timeout in milliseconds More...

	SickScanCommon (rosNodePtr nh, SickGenericParser *parser)
	Construction of SickScanCommon. More...

std::string	sopasReplyToString (const std::vector< unsigned char > &reply)
	Converts reply from sendSOPASCommand to string. More...

bool	testsetActivateStandBy ()

bool	testsetAligmentMode ()

bool	testsetApplicationMode ()

bool	testsetMeanFilter ()

bool	testsetParticleFilter ()

bool	testSettingIpAddress ()

void	update_config (sick_scan_xd::SickScanConfig &new_config, uint32_t level=0)
	updating configuration More...

int	writeActiveFieldSet (int active_field_set, std::vector< unsigned char > &sopasReply, bool useBinaryCmd=true)

int	writeFieldSetSelectionMethod (int field_set_selection_method, std::vector< unsigned char > &sopasReply, bool useBinaryCmd=true)

virtual	~SickScanCommon ()
	Destructor of SickScanCommon. More...

Static Public Member Functions
static bool	dumpDatagramForDebugging (unsigned char *buffer, int bufLen, bool isBinary=true)

Public Attributes
ros_sensor_msgs::PointCloud2	cloud_

ros_sensor_msgs::PointCloud2	cloud_polar_

rosPublisher< ros_sensor_msgs::PointCloud2 >	cloud_pub_

SickScanConfig	config_

rosPublisher< sick_scan_msg::Encoder >	Encoder_pub

rosPublisher< ros_sensor_msgs::Imu >	imuScan_pub_

SickScanCommonNw	m_nw

Protected Member Functions
int	checkForBinaryAnswer (const std::vector< unsigned char > *reply)
	Check block for correct framing and starting sequence of a binary message. More...

virtual int	close_device ()=0

unsigned long	convertBigEndianCharArrayToUnsignedLong (const unsigned char *vecArr)
	Convert little endian to big endian (should be replaced by swap-routine) More...

virtual int	get_datagram (rosNodePtr nh, rosTime &recvTimeStamp, unsigned char receiveBuffer, int bufferSize, int actual_length, bool isBinaryProtocol, int *numberOfRemainingFifoEntries, const std::vector< std::string > &datagram_keywords)=0
	Read a datagram from the device. More...

virtual int	init_device ()=0

virtual int	init_scanner (rosNodePtr nh)
	initialize scanner More...

bool	isCompatibleDevice (const std::string identStr) const
	check the identification string More...

int	readLIDinputstate (SickScanFieldMonSingleton *fieldMon, bool useBinaryCmd)

virtual int	readWithTimeout (size_t timeout_ms, char buffer, int buffer_size, int bytes_read, const std::vector< std::string > &datagram_keywords)=0

std::string	replyToString (const std::vector< unsigned char > &reply)
	Converts reply from sendSOPASCommand to string. More...

virtual int	sendSOPASCommand (const char request, std::vector< unsigned char > reply, int cmdLen, bool wait_for_reply=true)=0
	Send a SOPAS command to the device and print out the response to the console. More...

virtual int	stop_scanner (bool force_immediate_shutdown=false)
	Stops sending scan data. More...

bool	switchColaProtocol (bool useBinaryCmd)

Private Member Functions
bool	checkForProtocolChangeAndMaybeReconnect (bool &useBinaryCmdNow)
	checks the current protocol type and gives information about necessary change More...

bool	getSensorIsRadar (void)

int	readParseSafetyFields (bool useBinaryCmd)

bool	setNewIpAddress (const std::string &ipNewIPAddr, bool useBinaryCmd)

bool	setNTPServerAndStart (const std::string &ipNewIPAddr, bool useBinaryCmd)

void	setSensorIsRadar (bool _isRadar)

Private Attributes
AngleCompensator *	angleCompensator = NULL

SickScanMarker *	cloud_marker_

std::string	cloud_topic_val = "cloud"

rosPublisher< ros_std_msgs::String >	datagram_pub_

std::string	deviceIdentStr

uint8_t *	diagnosticPub_

double	expectedFrequency_

rosPublisher< sick_scan_msg::LFErecMsg >	lferec_pub_

rosPublisher< sick_scan_msg::LIDinputstateMsg >	lidinputstate_pub_

rosPublisher< sick_scan_msg::LIDoutputstateMsg >	lidoutputstate_pub_

sick_scan_xd::SickCloudTransform	m_add_transform_xyz_rpy

double	m_min_intensity

rosNodePtr	m_nh

SopasProtocol	m_protocolId

int	m_read_timeout_millisec_default

int	m_read_timeout_millisec_startup

ScanLayerFilterCfg	m_scan_layer_filter_cfg

rosPublisher< sick_scan_msg::NAVLandmarkData >	nav_landmark_data_pub_

rosPublisher< sick_scan_msg::NAVPoseData >	nav_pose_data_pub_

rosPublisher< ros_visualization_msgs::MarkerArray >	nav_reflector_pub_

std::string	nav_tf_child_frame_id_

std::string	nav_tf_parent_frame_id_

int	outputChannelFlagId

SickGenericParser *	parser_ = 0

rosPublisher< ros_sensor_msgs::LaserScan >	pub_

bool	publish_datagram_

bool	publish_lferec_

bool	publish_lidinputstate_

bool	publish_lidoutputstate_

bool	publish_nav_landmark_data_

bool	publish_nav_pose_data_

int	readTimeOutInMs

bool	sensorIsRadar

std::vector< int >	sopasCmdChain

std::vector< std::string >	sopasCmdErrMsg

std::vector< std::string >	sopasCmdMaskVec

std::vector< std::string >	sopasCmdVec

std::vector< std::vector< unsigned char > >	sopasReplyBinVec

std::vector< std::string >	sopasReplyStrVec

std::vector< std::string >	sopasReplyVec

std::mutex	sopasSendMutex

Detailed Description

Definition at line 102 of file sick_scan_common.h.

Member Enumeration Documentation

◆ SOPAS_CMD

enum sick_scan_xd::SickScanCommon::SOPAS_CMD

Enumerator
CMD_DEVICE_IDENT_LEGACY
CMD_DEVICE_IDENT
CMD_SERIAL_NUMBER
CMD_REBOOT
CMD_WRITE_EEPROM
CMD_FIRMWARE_VERSION
CMD_DEVICE_STATE
CMD_OPERATION_HOURS
CMD_POWER_ON_COUNT
CMD_LOCATION_NAME
CMD_ACTIVATE_STANDBY
CMD_SET_PARTICLE_FILTER
CMD_SET_MEAN_FILTER
CMD_SCAN_LAYER_FILTER
CMD_APPLICATION_MODE
CMD_APPLICATION_MODE_FIELD_ON
CMD_APPLICATION_MODE_FIELD_OFF
CMD_APPLICATION_MODE_RANGING_ON
CMD_READ_ACTIVE_APPLICATIONS
CMD_SET_ACCESS_MODE_3
CMD_SET_ACCESS_MODE_3_SAFETY_SCANNER
CMD_SET_OUTPUT_RANGES
CMD_SET_OUTPUT_RANGES_NAV3
CMD_GET_OUTPUT_RANGES
CMD_RUN
CMD_SET_PARTIAL_SCAN_CFG
CMD_GET_PARTIAL_SCAN_CFG
CMD_GET_PARTIAL_SCANDATA_CFG
CMD_SET_PARTIAL_SCANDATA_CFG
CMD_STOP_SCANDATA
CMD_START_SCANDATA
CMD_START_RADARDATA
CMD_ACTIVATE_NTP_CLIENT
CMD_SET_NTP_INTERFACE_ETH
CMD_SET_ENCODER_MODE
CMD_SET_ENCODER_MODE_NO
CMD_SET_ENCODER_MODE_SI
CMD_SET_ENCODER_MODE_DP
CMD_SET_ENCODER_MODE_DL
CMD_SET_ENCODER_MODE_FI
CMD_SET_INCREMENTSOURCE_ENC
CMD_SET_3_4_TO_ENCODER
CMD_SET_ENOCDER_RES_1
CMD_SET_ENCODER_RES
CMD_START_IMU_DATA
CMD_STOP_IMU_DATA
CMD_SET_TRANSMIT_RAWTARGETS_ON
CMD_SET_TRANSMIT_RAWTARGETS_OFF
CMD_SET_TRANSMIT_OBJECTS_ON
CMD_SET_TRANSMIT_OBJECTS_OFF
CMD_SET_TRACKING_MODE_0
CMD_SET_TRACKING_MODE_1
CMD_LOAD_APPLICATION_DEFAULT
CMD_DEVICE_TYPE
CMD_ORDER_NUMBER
CMD_START_MEASUREMENT
CMD_STOP_MEASUREMENT
CMD_SET_ECHO_FILTER
CMD_SET_NTP_UPDATETIME
CMD_SET_NTP_TIMEZONE
CMD_SET_IP_ADDR
CMD_SET_GATEWAY
CMD_SET_NTP_SERVER_IP_ADDR
CMD_SET_SCANDATACONFIGNAV
CMD_GET_SCANDATACONFIGNAV
CMD_SEN_SCANDATACONFIGNAV
CMD_GET_ANGLE_COMPENSATION_PARAM
CMD_SET_TO_COLA_A_PROTOCOL
CMD_SET_TO_COLA_B_PROTOCOL
CMD_GET_SAFTY_FIELD_CFG
CMD_SET_LFEREC_ACTIVE
CMD_SET_LID_OUTPUTSTATE_ACTIVE
CMD_SET_LID_INPUTSTATE_ACTIVE
CMD_SET_SCAN_CFG_LIST
CMD_SET_NAV_OPERATIONAL_MODE_0
CMD_SET_NAV_OPERATIONAL_MODE_1
CMD_SET_NAV_OPERATIONAL_MODE_2
CMD_SET_NAV_OPERATIONAL_MODE_3
CMD_SET_NAV_OPERATIONAL_MODE_4
CMD_SET_NAV_CURR_LAYER
CMD_SET_NAV_LANDMARK_DATA_FORMAT
CMD_SET_NAV_SCAN_DATA_FORMAT
CMD_SET_NAV_POSE_DATA_FORMAT
CMD_SET_NAV_MAP_CFG
CMD_SET_NAV_REFL_SIZE
CMD_SET_NAV_DO_MAPPING
CMD_SET_NAV_ADD_LANDMARK
CMD_SET_NAV_ERASE_LAYOUT
CMD_SET_NAV_STORE_LAYOUT
CMD_SET_NAV_POSE
CMD_SET_LFPMEANFILTER
CMD_SET_LFPMEDIANFILTER
CMD_SET_LMDSCANDATASCALEFACTOR
CMD_SET_GLARE_DETECTION_SENS
CMD_SET_SCAN_LAYER_FILTER
CMD_END

Definition at line 105 of file sick_scan_common.h.

Constructor & Destructor Documentation

◆ SickScanCommon()

sick_scan_xd::SickScanCommon::SickScanCommon	(	rosNodePtr	nh,
		SickGenericParser *	parser
	)

Construction of SickScanCommon.

Parameters

parser Corresponding parser holding specific scanner parameter

Definition at line 462 of file sick_scan_common.cpp.

◆ ~SickScanCommon()

sick_scan_xd::SickScanCommon::~SickScanCommon ( )

virtual

Destructor of SickScanCommon.

Definition at line 919 of file sick_scan_common.cpp.

Member Function Documentation

◆ ActivateStandBy()

int sick_scan_xd::SickScanCommon::ActivateStandBy ( void )

◆ changeIPandreboot()

bool sick_scan_xd::SickScanCommon::changeIPandreboot ( const std::string & IpAdress )

Send a SOPAS command to the scanner that logs in the authorized client, changes the ip address and the reboots the scanner.

Parameters

IpAdress new IP address

Returns: true if ip was changed and scanner is rebooting

◆ check_angle_range()

void sick_scan_xd::SickScanCommon::check_angle_range ( SickScanConfig & conf )

check angle setting in the config and adjust the min_ang to the max_ang if min_ang greater than max_ax

Definition at line 5384 of file sick_scan_common.cpp.

◆ checkColaTypeAndSwitchToConfigured()

ExitCode sick_scan_xd::SickScanCommon::checkColaTypeAndSwitchToConfigured ( bool useBinaryCmd )

Definition at line 1289 of file sick_scan_common.cpp.

◆ checkForBinaryAnswer()

int sick_scan_xd::SickScanCommon::checkForBinaryAnswer ( const std::vector< unsigned char > * reply )

protected

Check block for correct framing and starting sequence of a binary message.

Parameters

[in] reply check reply whether is SOPAS-ASCII or SOPAS-Binary

Returns: -1 if ascii otherwise the length of data content following offset 8

Parameters

reply Pointer to datablock

Returns: length of message (-1 if message format is not correct)

Definition at line 793 of file sick_scan_common.cpp.

◆ checkForProtocolChangeAndMaybeReconnect()

bool sick_scan_xd::SickScanCommon::checkForProtocolChangeAndMaybeReconnect ( bool & useBinaryCmdNow )

private

checks the current protocol type and gives information about necessary change

Parameters

useBinaryCmdNow Input/Output: Holds information about current protocol

Returns: true, if protocol type is already the right one

Definition at line 6059 of file sick_scan_common.cpp.

◆ close_device()

virtual int sick_scan_xd::SickScanCommon::close_device ( )

protectedpure virtual

Implemented in sick_scan_xd::SickScanCommonTcp.

◆ cmdSetAccessMode3()

std::string sick_scan_xd::SickScanCommon::cmdSetAccessMode3 ( void )

Returns "sMN SetAccessMode 3 F4724744" resp. "\x02sMN SetAccessMode 3 6FD62C05\x03\0" for safety scanner.

Returns: error code

Definition at line 715 of file sick_scan_common.cpp.

◆ convertAscii2BinaryCmd()

int sick_scan_xd::SickScanCommon::convertAscii2BinaryCmd	(	const char *	requestAscii,
		std::vector< unsigned char > *	requestBinary
	)

Convert ASCII-message to Binary-message.

Parameters

requestAscii	holds ASCII-encoded command
requestBinary	hold binary command as vector of unsigned char

Returns: success = 0

Definition at line 5455 of file sick_scan_common.cpp.

◆ convertBigEndianCharArrayToUnsignedLong()

unsigned long sick_scan_xd::SickScanCommon::convertBigEndianCharArrayToUnsignedLong ( const unsigned char * vecArr )

protected

Convert little endian to big endian (should be replaced by swap-routine)

Parameters

[in] *vecArr to (unsigned) char buffer in big endian byte oder (MSB first)

Returns: unsigned long value as interpretation of big endian long value

Parameters

*vecArr Pointer to 4 byte block

Returns: swapped 4-byte-value as long

Definition at line 776 of file sick_scan_common.cpp.

◆ convertSendSOPASCommand()

int sick_scan_xd::SickScanCommon::convertSendSOPASCommand	(	const std::string &	sopas_ascii_request,
		std::vector< unsigned char > *	sopas_reply,
		bool	wait_for_reply = `true`
	)

virtual

Converts a given SOPAS command from ascii to binary (in case of binary communication), sends sopas (ascii or binary) and returns the response (if wait_for_reply:=true)

Parameters

[in]	request	the command to send.
[in]	cmdLen	Length of the Comandstring in bytes used for Binary Mode only

Definition at line 830 of file sick_scan_common.cpp.

◆ dumpDatagramForDebugging()

bool sick_scan_xd::SickScanCommon::dumpDatagramForDebugging	(	unsigned char *	buffer,
		int	bufLen,
		bool	isBinary = `true`
	)

static

Definition at line 4233 of file sick_scan_common.cpp.

◆ generateExpectedAnswerString()

std::vector< std::string > sick_scan_xd::SickScanCommon::generateExpectedAnswerString ( const std::vector< unsigned char > & requestStr )

Generate expected answer strings from the command string.

Changes the Identifier of a commandstr. to its expected answer counterpart

Parameters

requestStr sent request string

Returns: Expected answer

Parameters

requestStr command string (either as ASCII or BINARY)

Returns: expected answer string

Map that defines expected answer identifiers

Definition at line 932 of file sick_scan_common.cpp.

◆ generateUnexpectedAnswerString()

std::vector< std::string > sick_scan_xd::SickScanCommon::generateUnexpectedAnswerString ( const std::string & requestStr )

Returns a list of unexpected lidar responses like "" for request ""

Parameters

requestStr sent request string

Returns: Expected answer

Definition at line 1050 of file sick_scan_common.cpp.

◆ get2ndSopasResponse()

int sick_scan_xd::SickScanCommon::get2ndSopasResponse	(	std::vector< uint8_t > &	sopas_response,
		const std::string &	sopas_keyword
	)

Definition at line 1252 of file sick_scan_common.cpp.

◆ get_datagram()

virtual int sick_scan_xd::SickScanCommon::get_datagram	(	rosNodePtr	nh,
		rosTime &	recvTimeStamp,
		unsigned char *	receiveBuffer,
		int	bufferSize,
		int *	actual_length,
		bool	isBinaryProtocol,
		int *	numberOfRemainingFifoEntries,
		const std::vector< std::string > &	datagram_keywords
	)

protectedpure virtual

Read a datagram from the device.

Parameters

[out]	recvTimeStamp	timestamp of received packet
[in]	receiveBuffer	data buffer to fill
[in]	bufferSize	max data size to write to buffer (result should be 0 terminated)
[out]	actual_length	the actual amount of data written
[in]	isBinaryProtocol	used Communication protocol True=Binary false=ASCII
[in]	datagram_keywords	keyword in returned datagram, e.g. { "LMDscandata" } to get scandata telegrams, or {} (empty vector) for next received datagram

Implemented in sick_scan_xd::SickScanCommonTcp.

◆ get_expected_frequency()

double sick_scan_xd::SickScanCommon::get_expected_frequency ( ) const

inline

Definition at line 319 of file sick_scan_common.h.

◆ getConfigPtr()

SickScanConfig* sick_scan_xd::SickScanCommon::getConfigPtr ( )

inline

Definition at line 343 of file sick_scan_common.h.

◆ getCurrentParamPtr()

ScannerBasicParam* sick_scan_xd::SickScanCommon::getCurrentParamPtr ( )

inline

Definition at line 348 of file sick_scan_common.h.

◆ getNanosecTimestampLastTcpMessageReceived()

uint64_t sick_scan_xd::SickScanCommon::getNanosecTimestampLastTcpMessageReceived ( void )

inline

Definition at line 365 of file sick_scan_common.h.

◆ getProtocolType()

int sick_scan_xd::SickScanCommon::getProtocolType ( void )

get protocol type as enum

Returns: enum type of type SopasProtocol

See also: setProtocolType

Definition at line 1483 of file sick_scan_common.cpp.

◆ getReadTimeOutInMs()

int sick_scan_xd::SickScanCommon::getReadTimeOutInMs ( )

get timeout in milliseconds

Returns: timeout in milliseconds

See also: setReadTimeOutInMs

Definition at line 1473 of file sick_scan_common.cpp.

◆ getSensorIsRadar()

bool sick_scan_xd::SickScanCommon::getSensorIsRadar ( void )

private

Definition at line 6218 of file sick_scan_common.cpp.

◆ handleNAV350BinaryPositionData()

bool sick_scan_xd::SickScanCommon::handleNAV350BinaryPositionData	(	const uint8_t *	receiveBuffer,
		int	receiveBufferLength,
		short &	elevAngleX200,
		double &	elevationAngleInRad,
		rosTime &	recvTimeStamp,
		bool	config_sw_pll_only_publish,
		double	config_time_offset,
		SickGenericParser *	parser_,
		int &	numEchos,
		ros_sensor_msgs::LaserScan &	msg,
		NAV350mNPOSData &	navdata
	)

Definition at line 1376 of file sick_scan_common.cpp.

◆ init()

int sick_scan_xd::SickScanCommon::init ( rosNodePtr nh )

virtual

init routine of scanner

Returns: exit code

Definition at line 1513 of file sick_scan_common.cpp.

◆ init_cmdTables()

int sick_scan_xd::SickScanCommon::init_cmdTables ( rosNodePtr nh )

init command tables and define startup sequence

Returns: exit code

Definition at line 1541 of file sick_scan_common.cpp.

◆ init_device()

virtual int sick_scan_xd::SickScanCommon::init_device ( )

protectedpure virtual

Implemented in sick_scan_xd::SickScanCommonTcp.

◆ init_scanner()

int sick_scan_xd::SickScanCommon::init_scanner ( rosNodePtr nh )

protectedvirtual

initialize scanner

Returns: exit code

Definition at line 2046 of file sick_scan_common.cpp.

◆ isCompatibleDevice()

bool sick_scan_xd::SickScanCommon::isCompatibleDevice ( const std::string identStr ) const

protected

check the identification string

Parameters

identStr string (got from sopas request)

Returns: true, if this driver supports the scanner identified by the identification string

Definition at line 4277 of file sick_scan_common.cpp.

◆ loopOnce()

int sick_scan_xd::SickScanCommon::loopOnce ( rosNodePtr nh )

parsing datagram and publishing ros messages

Returns: error code

Definition at line 4360 of file sick_scan_common.cpp.

◆ messageCbNavOdomVelocity()

void sick_scan_xd::SickScanCommon::messageCbNavOdomVelocity ( const sick_scan_msg::NAVOdomVelocity & msg )

Definition at line 1422 of file sick_scan_common.cpp.

◆ readActiveFieldSet()

int sick_scan_xd::SickScanCommon::readActiveFieldSet	(	int &	active_field_set,
		std::vector< unsigned char > &	sopasReply,
		bool	useBinaryCmd = `true`
	)

Definition at line 6461 of file sick_scan_common.cpp.

◆ readFieldSetSelectionMethod()

int sick_scan_xd::SickScanCommon::readFieldSetSelectionMethod	(	int &	field_set_selection_method,
		std::vector< unsigned char > &	sopasReply,
		bool	useBinaryCmd = `true`
	)

Definition at line 6409 of file sick_scan_common.cpp.

◆ readLIDinputstate()

int sick_scan_xd::SickScanCommon::readLIDinputstate	(	SickScanFieldMonSingleton *	fieldMon,
		bool	useBinaryCmd
	)

protected

Definition at line 6358 of file sick_scan_common.cpp.

◆ readParseSafetyFields()

int sick_scan_xd::SickScanCommon::readParseSafetyFields ( bool useBinaryCmd )

private

Definition at line 6270 of file sick_scan_common.cpp.

◆ readWithTimeout()

virtual int sick_scan_xd::SickScanCommon::readWithTimeout	(	size_t	timeout_ms,
		char *	buffer,
		int	buffer_size,
		int *	bytes_read,
		const std::vector< std::string > &	datagram_keywords
	)

protectedpure virtual

Implemented in sick_scan_xd::SickScanCommonTcp.

◆ rebootScanner()

bool sick_scan_xd::SickScanCommon::rebootScanner ( )

virtual

Send a SOPAS command to the scanner that should cause a soft reset.

Reboot scanner.

Returns: true if reboot command was accepted, false otherwise; Result of rebooting attempt

Definition at line 853 of file sick_scan_common.cpp.

◆ replyToString()

std::string sick_scan_xd::SickScanCommon::replyToString ( const std::vector< unsigned char > & reply )

protected

Converts reply from sendSOPASCommand to string.

convert ASCII or binary reply to a human readable string

Parameters

[in] reply reply from sendSOPASCommand

Returns: reply as string with special characters stripped out

Parameters

reply datablock, which should be converted

Returns: human readable string (used for debug/monitoring output)

Definition at line 4190 of file sick_scan_common.cpp.

◆ sendNAV350mNPOSGetData()

int sick_scan_xd::SickScanCommon::sendNAV350mNPOSGetData ( void )

Definition at line 1364 of file sick_scan_common.cpp.

◆ sendSopasAndCheckAnswer() [1/2]

int sick_scan_xd::SickScanCommon::sendSopasAndCheckAnswer	(	std::string	requestStr,
		std::vector< unsigned char > *	reply,
		int	cmdId = `-1`
	)

send command and check answer

Parameters

requestStr	Sopas-Command
*reply	Antwort-String
cmdId	Command index to derive the correct error message (optional)

Returns: error code

Definition at line 1068 of file sick_scan_common.cpp.

◆ sendSopasAndCheckAnswer() [2/2]

int sick_scan_xd::SickScanCommon::sendSopasAndCheckAnswer	(	std::vector< unsigned char >	requestStr,
		std::vector< unsigned char > *	reply,
		int	cmdId = `-1`
	)

send command and check answer

Parameters

requestStr	Sopas-Command given as byte-vector
*reply	Antwort-String
cmdId	Command index to derive the correct error message (optional)

Returns: error code

Definition at line 1086 of file sick_scan_common.cpp.

◆ sendSopasAorBgetAnswer()

int sick_scan_xd::SickScanCommon::sendSopasAorBgetAnswer	(	const std::string &	request,
		std::vector< unsigned char > *	reply,
		bool	useBinaryCmd
	)

Definition at line 1227 of file sick_scan_common.cpp.

◆ sendSOPASCommand()

virtual int sick_scan_xd::SickScanCommon::sendSOPASCommand	(	const char *	request,
		std::vector< unsigned char > *	reply,
		int	cmdLen,
		bool	wait_for_reply = `true`
	)

protectedpure virtual

Send a SOPAS command to the device and print out the response to the console.

Parameters

[in]	request	the command to send.
[out]	reply	if not NULL, will be filled with the reply package to the command.
[in]	cmdLen	Length of the Comandstring in bytes used for Binary Mode only

Implemented in sick_scan_xd::SickScanCommonTcp.

◆ sendSopasRunSetAccessMode()

bool sick_scan_xd::SickScanCommon::sendSopasRunSetAccessMode ( bool useBinaryCmd )

Definition at line 1337 of file sick_scan_common.cpp.

◆ setAligmentMode()

int sick_scan_xd::SickScanCommon::setAligmentMode ( int _AligmentMode )

◆ setApplicationMode()

int sick_scan_xd::SickScanCommon::setApplicationMode	(	bool	_active,
		int	_mode
	)

◆ setLengthAndCRCinBinarySopasRequest()

void sick_scan_xd::SickScanCommon::setLengthAndCRCinBinarySopasRequest ( std::vector< uint8_t > * requestBinary )

Definition at line 6031 of file sick_scan_common.cpp.

◆ setMeanFilter()

int sick_scan_xd::SickScanCommon::setMeanFilter	(	bool	_active,
		int	_numberOfScans
	)

◆ setNewIpAddress()

bool sick_scan_xd::SickScanCommon::setNewIpAddress	(	const std::string &	ipNewIPAddr,
		bool	useBinaryCmd
	)

private

Definition at line 6095 of file sick_scan_common.cpp.

◆ setNTPServerAndStart()

bool sick_scan_xd::SickScanCommon::setNTPServerAndStart	(	const std::string &	ipNewIPAddr,
		bool	useBinaryCmd
	)

private

Definition at line 6154 of file sick_scan_common.cpp.

◆ setParticleFilter()

int sick_scan_xd::SickScanCommon::setParticleFilter	(	bool	_active,
		int	_particleThreshold
	)

◆ setProtocolType()

void sick_scan_xd::SickScanCommon::setProtocolType ( SopasProtocol cola_dialect_id )

set protocol type as enum

See also: getProtocolType

Definition at line 1492 of file sick_scan_common.cpp.

◆ setReadTimeOutInMs()

void sick_scan_xd::SickScanCommon::setReadTimeOutInMs ( int timeOutInMs )

set timeout in milliseconds

Parameters

timeOutInMs in milliseconds

See also: getReadTimeOutInMs

Definition at line 1463 of file sick_scan_common.cpp.

◆ setSensorIsRadar()

void sick_scan_xd::SickScanCommon::setSensorIsRadar ( bool _isRadar )

private

Definition at line 6213 of file sick_scan_common.cpp.

◆ sopasReplyToString()

std::string sick_scan_xd::SickScanCommon::sopasReplyToString ( const std::vector< unsigned char > & reply )

inline

Converts reply from sendSOPASCommand to string.

Parameters

[in] reply reply from sendSOPASCommand

Returns: reply as string with special characters stripped out

Definition at line 360 of file sick_scan_common.h.

◆ stop_scanner()

int sick_scan_xd::SickScanCommon::stop_scanner ( bool force_immediate_shutdown = false )

protectedvirtual

Stops sending scan data.

Returns: error code

Definition at line 727 of file sick_scan_common.cpp.

◆ switchColaProtocol()

bool sick_scan_xd::SickScanCommon::switchColaProtocol ( bool useBinaryCmd )

protected

Definition at line 1267 of file sick_scan_common.cpp.

◆ testsetActivateStandBy()

bool sick_scan_xd::SickScanCommon::testsetActivateStandBy ( )

◆ testsetAligmentMode()

bool sick_scan_xd::SickScanCommon::testsetAligmentMode ( )

◆ testsetApplicationMode()

bool sick_scan_xd::SickScanCommon::testsetApplicationMode ( )

◆ testsetMeanFilter()

bool sick_scan_xd::SickScanCommon::testsetMeanFilter ( )

◆ testsetParticleFilter()

bool sick_scan_xd::SickScanCommon::testsetParticleFilter ( )

◆ testSettingIpAddress()

bool sick_scan_xd::SickScanCommon::testSettingIpAddress ( )

◆ update_config()

void sick_scan_xd::SickScanCommon::update_config	(	sick_scan_xd::SickScanConfig &	new_config,
		uint32_t	level = `0`
	)

updating configuration

Parameters

new_config	Pointer to new configuration
level	(not used - should be removed)

Definition at line 5398 of file sick_scan_common.cpp.

◆ writeActiveFieldSet()

int sick_scan_xd::SickScanCommon::writeActiveFieldSet	(	int	active_field_set,
		std::vector< unsigned char > &	sopasReply,
		bool	useBinaryCmd = `true`
	)

Definition at line 6438 of file sick_scan_common.cpp.

◆ writeFieldSetSelectionMethod()

int sick_scan_xd::SickScanCommon::writeFieldSetSelectionMethod	(	int	field_set_selection_method,
		std::vector< unsigned char > &	sopasReply,
		bool	useBinaryCmd = `true`
	)

Definition at line 6386 of file sick_scan_common.cpp.

Member Data Documentation

◆ angleCompensator

AngleCompensator* sick_scan_xd::SickScanCommon::angleCompensator = NULL

private

Definition at line 550 of file sick_scan_common.h.

◆ cloud_

ros_sensor_msgs::PointCloud2 sick_scan_xd::SickScanCommon::cloud_

Definition at line 386 of file sick_scan_common.h.

◆ cloud_marker_

SickScanMarker* sick_scan_xd::SickScanCommon::cloud_marker_

private

Definition at line 477 of file sick_scan_common.h.

◆ cloud_polar_

ros_sensor_msgs::PointCloud2 sick_scan_xd::SickScanCommon::cloud_polar_

Definition at line 387 of file sick_scan_common.h.

◆ cloud_pub_

rosPublisher<ros_sensor_msgs::PointCloud2> sick_scan_xd::SickScanCommon::cloud_pub_

Definition at line 383 of file sick_scan_common.h.

◆ cloud_topic_val

std::string sick_scan_xd::SickScanCommon::cloud_topic_val = "cloud"

private

Definition at line 465 of file sick_scan_common.h.

◆ config_

SickScanConfig sick_scan_xd::SickScanCommon::config_

Definition at line 395 of file sick_scan_common.h.

◆ datagram_pub_

rosPublisher<ros_std_msgs::String> sick_scan_xd::SickScanCommon::datagram_pub_

private

Definition at line 468 of file sick_scan_common.h.

◆ deviceIdentStr

std::string sick_scan_xd::SickScanCommon::deviceIdentStr

private

Definition at line 514 of file sick_scan_common.h.

◆ diagnosticPub_

uint8_t* sick_scan_xd::SickScanCommon::diagnosticPub_

private

Definition at line 511 of file sick_scan_common.h.

◆ Encoder_pub

rosPublisher<sick_scan_msg::Encoder> sick_scan_xd::SickScanCommon::Encoder_pub

Definition at line 385 of file sick_scan_common.h.

◆ expectedFrequency_

double sick_scan_xd::SickScanCommon::expectedFrequency_

private

Definition at line 513 of file sick_scan_common.h.

◆ imuScan_pub_

rosPublisher<ros_sensor_msgs::Imu> sick_scan_xd::SickScanCommon::imuScan_pub_

Definition at line 384 of file sick_scan_common.h.

◆ lferec_pub_

rosPublisher<sick_scan_msg::LFErecMsg> sick_scan_xd::SickScanCommon::lferec_pub_

private

Definition at line 471 of file sick_scan_common.h.

◆ lidinputstate_pub_

rosPublisher<sick_scan_msg::LIDinputstateMsg> sick_scan_xd::SickScanCommon::lidinputstate_pub_

private

Definition at line 473 of file sick_scan_common.h.

◆ lidoutputstate_pub_

rosPublisher<sick_scan_msg::LIDoutputstateMsg> sick_scan_xd::SickScanCommon::lidoutputstate_pub_

private

Definition at line 474 of file sick_scan_common.h.

◆ m_add_transform_xyz_rpy

sick_scan_xd::SickCloudTransform sick_scan_xd::SickScanCommon::m_add_transform_xyz_rpy

private

Definition at line 560 of file sick_scan_common.h.

◆ m_min_intensity

double sick_scan_xd::SickScanCommon::m_min_intensity

private

Definition at line 552 of file sick_scan_common.h.

◆ m_nh

rosNodePtr sick_scan_xd::SickScanCommon::m_nh

private

Definition at line 580 of file sick_scan_common.h.

◆ m_nw

SickScanCommonNw sick_scan_xd::SickScanCommon::m_nw

Definition at line 341 of file sick_scan_common.h.

◆ m_protocolId

SopasProtocol sick_scan_xd::SickScanCommon::m_protocolId

private

Definition at line 464 of file sick_scan_common.h.

◆ m_read_timeout_millisec_default

int sick_scan_xd::SickScanCommon::m_read_timeout_millisec_default

private

Definition at line 557 of file sick_scan_common.h.

◆ m_read_timeout_millisec_startup

int sick_scan_xd::SickScanCommon::m_read_timeout_millisec_startup

private

Definition at line 558 of file sick_scan_common.h.

◆ m_scan_layer_filter_cfg

ScanLayerFilterCfg sick_scan_xd::SickScanCommon::m_scan_layer_filter_cfg

private

Definition at line 578 of file sick_scan_common.h.

◆ nav_landmark_data_pub_

rosPublisher<sick_scan_msg::NAVLandmarkData> sick_scan_xd::SickScanCommon::nav_landmark_data_pub_

private

Definition at line 481 of file sick_scan_common.h.

◆ nav_pose_data_pub_

rosPublisher<sick_scan_msg::NAVPoseData> sick_scan_xd::SickScanCommon::nav_pose_data_pub_

private

Definition at line 479 of file sick_scan_common.h.

◆ nav_reflector_pub_

rosPublisher<ros_visualization_msgs::MarkerArray> sick_scan_xd::SickScanCommon::nav_reflector_pub_

private

Definition at line 482 of file sick_scan_common.h.

◆ nav_tf_child_frame_id_

std::string sick_scan_xd::SickScanCommon::nav_tf_child_frame_id_

private

Definition at line 486 of file sick_scan_common.h.

◆ nav_tf_parent_frame_id_

std::string sick_scan_xd::SickScanCommon::nav_tf_parent_frame_id_

private

Definition at line 485 of file sick_scan_common.h.

◆ outputChannelFlagId

int sick_scan_xd::SickScanCommon::outputChannelFlagId

private

Definition at line 529 of file sick_scan_common.h.

◆ parser_

SickGenericParser* sick_scan_xd::SickScanCommon::parser_ = 0

private

Definition at line 520 of file sick_scan_common.h.

◆ pub_

rosPublisher<ros_sensor_msgs::LaserScan> sick_scan_xd::SickScanCommon::pub_

private

Definition at line 467 of file sick_scan_common.h.

◆ publish_datagram_

bool sick_scan_xd::SickScanCommon::publish_datagram_

private

Definition at line 469 of file sick_scan_common.h.

◆ publish_lferec_

bool sick_scan_xd::SickScanCommon::publish_lferec_

private

Definition at line 472 of file sick_scan_common.h.

◆ publish_lidinputstate_

bool sick_scan_xd::SickScanCommon::publish_lidinputstate_

private

Definition at line 475 of file sick_scan_common.h.

◆ publish_lidoutputstate_

bool sick_scan_xd::SickScanCommon::publish_lidoutputstate_

private

Definition at line 476 of file sick_scan_common.h.

◆ publish_nav_landmark_data_

bool sick_scan_xd::SickScanCommon::publish_nav_landmark_data_

private

Definition at line 483 of file sick_scan_common.h.

◆ publish_nav_pose_data_

bool sick_scan_xd::SickScanCommon::publish_nav_pose_data_

private

Definition at line 480 of file sick_scan_common.h.

◆ readTimeOutInMs

int sick_scan_xd::SickScanCommon::readTimeOutInMs

private

Definition at line 543 of file sick_scan_common.h.

◆ sensorIsRadar

bool sick_scan_xd::SickScanCommon::sensorIsRadar

private

Definition at line 548 of file sick_scan_common.h.

◆ sopasCmdChain

std::vector<int> sick_scan_xd::SickScanCommon::sopasCmdChain

private

Definition at line 527 of file sick_scan_common.h.

◆ sopasCmdErrMsg

std::vector<std::string> sick_scan_xd::SickScanCommon::sopasCmdErrMsg

private

Definition at line 526 of file sick_scan_common.h.

◆ sopasCmdMaskVec

std::vector<std::string> sick_scan_xd::SickScanCommon::sopasCmdMaskVec

private

Definition at line 522 of file sick_scan_common.h.

◆ sopasCmdVec

std::vector<std::string> sick_scan_xd::SickScanCommon::sopasCmdVec

private

Definition at line 521 of file sick_scan_common.h.

◆ sopasReplyBinVec

std::vector<std::vector<unsigned char> > sick_scan_xd::SickScanCommon::sopasReplyBinVec

private

Definition at line 524 of file sick_scan_common.h.

◆ sopasReplyStrVec

std::vector<std::string> sick_scan_xd::SickScanCommon::sopasReplyStrVec

private

Definition at line 525 of file sick_scan_common.h.

◆ sopasReplyVec

std::vector<std::string> sick_scan_xd::SickScanCommon::sopasReplyVec

private

Definition at line 523 of file sick_scan_common.h.

◆ sopasSendMutex

std::mutex sick_scan_xd::SickScanCommon::sopasSendMutex

private

Definition at line 545 of file sick_scan_common.h.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ SOPAS_CMD

Constructor & Destructor Documentation

◆ SickScanCommon()

◆ ~SickScanCommon()

Member Function Documentation

◆ ActivateStandBy()

◆ changeIPandreboot()

◆ check_angle_range()

◆ checkColaTypeAndSwitchToConfigured()

◆ checkForBinaryAnswer()

◆ checkForProtocolChangeAndMaybeReconnect()

◆ close_device()

◆ cmdSetAccessMode3()

◆ convertAscii2BinaryCmd()

◆ convertBigEndianCharArrayToUnsignedLong()

◆ convertSendSOPASCommand()

◆ dumpDatagramForDebugging()

◆ generateExpectedAnswerString()

◆ generateUnexpectedAnswerString()

◆ get2ndSopasResponse()

◆ get_datagram()

◆ get_expected_frequency()

◆ getConfigPtr()

◆ getCurrentParamPtr()

◆ getNanosecTimestampLastTcpMessageReceived()

◆ getProtocolType()

◆ getReadTimeOutInMs()

◆ getSensorIsRadar()

◆ handleNAV350BinaryPositionData()

◆ init()

◆ init_cmdTables()

◆ init_device()

◆ init_scanner()

◆ isCompatibleDevice()

◆ loopOnce()

◆ messageCbNavOdomVelocity()

◆ readActiveFieldSet()

◆ readFieldSetSelectionMethod()

◆ readLIDinputstate()

◆ readParseSafetyFields()

◆ readWithTimeout()

◆ rebootScanner()

◆ replyToString()

◆ sendNAV350mNPOSGetData()

◆ sendSopasAndCheckAnswer() [1/2]

◆ sendSopasAndCheckAnswer() [2/2]

◆ sendSopasAorBgetAnswer()

◆ sendSOPASCommand()

◆ sendSopasRunSetAccessMode()

◆ setAligmentMode()

◆ setApplicationMode()

◆ setLengthAndCRCinBinarySopasRequest()

◆ setMeanFilter()

◆ setNewIpAddress()

◆ setNTPServerAndStart()

◆ setParticleFilter()

◆ setProtocolType()

◆ setReadTimeOutInMs()

◆ setSensorIsRadar()

◆ sopasReplyToString()

◆ stop_scanner()

◆ switchColaProtocol()

◆ testsetActivateStandBy()

◆ testsetAligmentMode()

◆ testsetApplicationMode()

◆ testsetMeanFilter()

◆ testsetParticleFilter()

◆ testSettingIpAddress()

◆ update_config()

◆ writeActiveFieldSet()