#include <sick_scan_services.h>

Public Member Functions
bool	sendAuthorization ()

bool	sendSopasAndCheckAnswer (const std::string &sopasCmd, std::vector< unsigned char > &sopasReplyBin, std::string &sopasReplyString)

bool	sendSopasCmdCheckResponse (const std::string &sopas_request, const std::string &expected_response)

bool	serviceCbColaMsg (sick_scan_srv::ColaMsgSrv::Request &service_request, sick_scan_srv::ColaMsgSrv::Response &service_response)

bool	serviceCbColaMsgROS2 (std::shared_ptr< sick_scan_srv::ColaMsgSrv::Request > service_request, std::shared_ptr< sick_scan_srv::ColaMsgSrv::Response > service_response)

bool	serviceCbECRChangeArr (sick_scan_srv::ECRChangeArrSrv::Request &service_request, sick_scan_srv::ECRChangeArrSrv::Response &service_response)

bool	serviceCbECRChangeArrROS2 (std::shared_ptr< sick_scan_srv::ECRChangeArrSrv::Request > service_request, std::shared_ptr< sick_scan_srv::ECRChangeArrSrv::Response > service_response)

bool	serviceCbGetContaminationResult (sick_scan_srv::GetContaminationResultSrv::Request &service_request, sick_scan_srv::GetContaminationResultSrv::Response &service_response)

bool	serviceCbGetContaminationResultROS2 (std::shared_ptr< sick_scan_srv::GetContaminationResultSrv::Request > service_request, std::shared_ptr< sick_scan_srv::GetContaminationResultSrv::Response > service_response)

bool	serviceCbLIDoutputstate (sick_scan_srv::LIDoutputstateSrv::Request &service_request, sick_scan_srv::LIDoutputstateSrv::Response &service_response)

bool	serviceCbLIDoutputstateROS2 (std::shared_ptr< sick_scan_srv::LIDoutputstateSrv::Request > service_request, std::shared_ptr< sick_scan_srv::LIDoutputstateSrv::Response > service_response)

bool	serviceCbSCdevicestate (sick_scan_srv::SCdevicestateSrv::Request &service_request, sick_scan_srv::SCdevicestateSrv::Response &service_response)

bool	serviceCbSCdevicestateROS2 (std::shared_ptr< sick_scan_srv::SCdevicestateSrv::Request > service_request, std::shared_ptr< sick_scan_srv::SCdevicestateSrv::Response > service_response)

bool	serviceCbSCreboot (sick_scan_srv::SCrebootSrv::Request &service_request, sick_scan_srv::SCrebootSrv::Response &service_response)

bool	serviceCbSCrebootROS2 (std::shared_ptr< sick_scan_srv::SCrebootSrv::Request > service_request, std::shared_ptr< sick_scan_srv::SCrebootSrv::Response > service_response)

bool	serviceCbSCsoftreset (sick_scan_srv::SCsoftresetSrv::Request &service_request, sick_scan_srv::SCsoftresetSrv::Response &service_response)

bool	serviceCbSCsoftresetROS2 (std::shared_ptr< sick_scan_srv::SCsoftresetSrv::Request > service_request, std::shared_ptr< sick_scan_srv::SCsoftresetSrv::Response > service_response)

bool	serviceCbSickScanExit (sick_scan_srv::SickScanExitSrv::Request &service_request, sick_scan_srv::SickScanExitSrv::Response &service_response)

bool	serviceCbSickScanExitROS2 (std::shared_ptr< sick_scan_srv::SickScanExitSrv::Request > service_request, std::shared_ptr< sick_scan_srv::SickScanExitSrv::Response > service_response)

	SickScanServices (rosNodePtr nh=0, sick_scan_xd::SickScanCommonTcp common_tcp=0, ScannerBasicParam lidar_param=0)

virtual	~SickScanServices ()

Static Public Member Functions
static std::string	convertAngleDegToHexString (float angle_deg, bool hexStrIsBigEndian)

static std::string	convertFloatToHexString (float value, bool hexStrIsBigEndian)

static float	convertHexStringToAngleDeg (const std::string &hex_str, bool hexStrIsBigEndian)

static float	convertHexStringToFloat (const std::string &hex_str, bool hexStrIsBigEndian)

Protected Member Functions
bool	sendRun ()

Protected Attributes
std::string	m_client_authorization_pw

bool	m_cola_binary
	cola ascii or cola binary messages More...

sick_scan_xd::SickScanCommonTcp *	m_common_tcp
	common tcp handler More...

rosServiceServer< sick_scan_srv::ColaMsgSrv >	m_srv_server_ColaMsg
	service "ColaMsg", &sick_scan::SickScanServices::serviceCbColaMsg More...

rosServiceServer< sick_scan_srv::ECRChangeArrSrv >	m_srv_server_ECRChangeArr
	service "ECRChangeArr", &sick_scan::SickScanServices::serviceCbECRChangeArr More...

rosServiceServer< sick_scan_srv::GetContaminationResultSrv >	m_srv_server_GetContaminationResult
	service "GetContaminationResult", &sick_scan::SickScanServices::serviceCbGetContaminationResult More...

rosServiceServer< sick_scan_srv::LIDoutputstateSrv >	m_srv_server_LIDoutputstate
	service "LIDoutputstate", &sick_scan::SickScanServices::serviceCbLIDoutputstate More...

rosServiceServer< sick_scan_srv::SCdevicestateSrv >	m_srv_server_SCdevicestate
	service "SCdevicestate", &sick_scan::SickScanServices::serviceCbSCdevicestate More...

rosServiceServer< sick_scan_srv::SCrebootSrv >	m_srv_server_SCreboot
	service "SCreboot", &sick_scan::SickScanServices::serviceCbSCreboot More...

rosServiceServer< sick_scan_srv::SCsoftresetSrv >	m_srv_server_SCsoftreset
	service "SCsoftreset", &sick_scan::SickScanServices::serviceCbSCsoftreset More...

rosServiceServer< sick_scan_srv::SickScanExitSrv >	m_srv_server_SickScanExit
	service "SickScanExitSrv", &sick_scan::SickScanServices::serviceCbSickScanExit More...

Detailed Description

Definition at line 76 of file sick_scan_services.h.

Constructor & Destructor Documentation

◆ SickScanServices()

sick_scan_xd::SickScanServices::SickScanServices	(	rosNodePtr	nh = `0`,
		sick_scan_xd::SickScanCommonTcp *	common_tcp = `0`,
		ScannerBasicParam *	lidar_param = `0`
	)

Definition at line 70 of file sick_scan_services.cpp.

◆ ~SickScanServices()

sick_scan_xd::SickScanServices::~SickScanServices ( )

virtual

Definition at line 196 of file sick_scan_services.cpp.

Member Function Documentation

◆ convertAngleDegToHexString()

std::string sick_scan_xd::SickScanServices::convertAngleDegToHexString	(	float	angle_deg,
		bool	hexStrIsBigEndian
	)

static

Converts an angle in [deg] to hex string coded in 1/10000 deg (hex_str: 4 byte hex value as string, little or big endian).

Definition at line 720 of file sick_scan_services.cpp.

◆ convertFloatToHexString()

std::string sick_scan_xd::SickScanServices::convertFloatToHexString	(	float	value,
		bool	hexStrIsBigEndian
	)

static

Converts a float value to hex string (hex_str: 4 byte hex value as string, little or big endian). Check f.e. by https://www.h-schmidt.net/FloatConverter/IEEE754.html Examples: convertFloatToHexString(-3.14, true) returns "C0490FDB" convertFloatToHexString(+1.57, true) returns "3FC90FF8"

Definition at line 668 of file sick_scan_services.cpp.

◆ convertHexStringToAngleDeg()

float sick_scan_xd::SickScanServices::convertHexStringToAngleDeg	(	const std::string &	hex_str,
		bool	hexStrIsBigEndian
	)

static

Converts a hex string coded in 1/10000 deg (hex_str: 4 byte hex value as string, little or big endian) to an angle in [deg] (float).

Definition at line 690 of file sick_scan_services.cpp.

◆ convertHexStringToFloat()

float sick_scan_xd::SickScanServices::convertHexStringToFloat	(	const std::string &	hex_str,
		bool	hexStrIsBigEndian
	)

static

Converts a hex string (hex_str: 4 byte hex value as string, little or big endian) to float. Check f.e. by https://www.h-schmidt.net/FloatConverter/IEEE754.html Examples: convertHexStringToFloat("C0490FF9", true) returns -3.14 convertHexStringToFloat("3FC90FF9", true) returns +1.57

Definition at line 638 of file sick_scan_services.cpp.

◆ sendAuthorization()

bool sick_scan_xd::SickScanServices::sendAuthorization ( )

Sends the SOPAS authorization command "sMN SetAccessMode 3 F4724744".

Definition at line 372 of file sick_scan_services.cpp.

◆ sendRun()

bool sick_scan_xd::SickScanServices::sendRun ( )

protected

Sends the SOPAS command "sMN Run", which applies previous send settings

Definition at line 393 of file sick_scan_services.cpp.

◆ sendSopasAndCheckAnswer()

bool sick_scan_xd::SickScanServices::sendSopasAndCheckAnswer	(	const std::string &	sopasCmd,
		std::vector< unsigned char > &	sopasReplyBin,
		std::string &	sopasReplyString
	)

Sends a sopas command and returns the lidar reply.

Parameters

[in]	sopasCmd	sopas command to send, f.e. "sEN ECRChangeArr 1"
[out]	sopasReplyBin	response from lidar incl. start/stop byte
[out]	sopasReplyString	sopasReplyBin converted to string

Returns: true on success, false in case of errors.

Definition at line 207 of file sick_scan_services.cpp.

◆ sendSopasCmdCheckResponse()

bool sick_scan_xd::SickScanServices::sendSopasCmdCheckResponse	(	const std::string &	sopas_request,
		const std::string &	expected_response
	)

Sends a multiScan or picoScan SOPAS command

Sends a multiScan136 command

Definition at line 414 of file sick_scan_services.cpp.

◆ serviceCbColaMsg()

bool sick_scan_xd::SickScanServices::serviceCbColaMsg	(	sick_scan_srv::ColaMsgSrv::Request &	service_request,
		sick_scan_srv::ColaMsgSrv::Response &	service_response
	)

Callback for service ColaMsg (ColaMsg, send a cola message to lidar).

Parameters

[in]	service_request	ros service request to lidar
[out]	service_response	service response from lidar

Returns: true on success, false in case of errors.

Definition at line 248 of file sick_scan_services.cpp.

◆ serviceCbColaMsgROS2()

bool sick_scan_xd::SickScanServices::serviceCbColaMsgROS2	(	std::shared_ptr< sick_scan_srv::ColaMsgSrv::Request >	service_request,
		std::shared_ptr< sick_scan_srv::ColaMsgSrv::Response >	service_response
	)

inline

Definition at line 101 of file sick_scan_services.h.

◆ serviceCbECRChangeArr()

bool sick_scan_xd::SickScanServices::serviceCbECRChangeArr	(	sick_scan_srv::ECRChangeArrSrv::Request &	service_request,
		sick_scan_srv::ECRChangeArrSrv::Response &	service_response
	)

Callback for service messages (ECRChangeArr, Request status change of monitoring fields on event). Sends a cola telegram "sEN ECRChangeArr {0|1}" and receives the response from the lidar device.

Parameters

[in]	service_request	ros service request to lidar
[out]	service_response	service response from lidar

Returns: true on success, false in case of errors.

Definition at line 274 of file sick_scan_services.cpp.

◆ serviceCbECRChangeArrROS2()

bool sick_scan_xd::SickScanServices::serviceCbECRChangeArrROS2	(	std::shared_ptr< sick_scan_srv::ECRChangeArrSrv::Request >	service_request,
		std::shared_ptr< sick_scan_srv::ECRChangeArrSrv::Response >	service_response
	)

inline

Definition at line 111 of file sick_scan_services.h.

◆ serviceCbGetContaminationResult()

bool sick_scan_xd::SickScanServices::serviceCbGetContaminationResult	(	sick_scan_srv::GetContaminationResultSrv::Request &	service_request,
		sick_scan_srv::GetContaminationResultSrv::Response &	service_response
	)

Callback for service messages (GetContaminationResult, Read contamination indication result). Sends a cola telegram "sRN ContaminationResult" and receives the response from the lidar device.

Parameters

[in]	service_request	ros service request to lidar
[out]	service_response	service response from lidar

Returns: true on success, false in case of errors.

Callbacks for service messages.

Parameters

[in]	service_request	ros service request to lidar
[out]	service_response	service response from lidar

Returns: true on success, false in case of errors.

Definition at line 300 of file sick_scan_services.cpp.

◆ serviceCbGetContaminationResultROS2()

bool sick_scan_xd::SickScanServices::serviceCbGetContaminationResultROS2	(	std::shared_ptr< sick_scan_srv::GetContaminationResultSrv::Request >	service_request,
		std::shared_ptr< sick_scan_srv::GetContaminationResultSrv::Response >	service_response
	)

inline

Definition at line 121 of file sick_scan_services.h.

◆ serviceCbLIDoutputstate()

bool sick_scan_xd::SickScanServices::serviceCbLIDoutputstate	(	sick_scan_srv::LIDoutputstateSrv::Request &	service_request,
		sick_scan_srv::LIDoutputstateSrv::Response &	service_response
	)

Callback for service messages (LIDoutputstate, Request status change of monitoring fields on event). Sends a cola telegram "sEN LIDoutputstate {0|1}" and receives the response from the lidar device.

Parameters

[in]	service_request	ros service request to lidar
[out]	service_response	service response from lidar

Returns: true on success, false in case of errors.

Definition at line 349 of file sick_scan_services.cpp.

◆ serviceCbLIDoutputstateROS2()

bool sick_scan_xd::SickScanServices::serviceCbLIDoutputstateROS2	(	std::shared_ptr< sick_scan_srv::LIDoutputstateSrv::Request >	service_request,
		std::shared_ptr< sick_scan_srv::LIDoutputstateSrv::Response >	service_response
	)

inline

Definition at line 131 of file sick_scan_services.h.

◆ serviceCbSCdevicestate()

bool sick_scan_xd::SickScanServices::serviceCbSCdevicestate	(	sick_scan_srv::SCdevicestateSrv::Request &	service_request,
		sick_scan_srv::SCdevicestateSrv::Response &	service_response
	)

Callbacks for service messages.

Parameters

[in]	service_request	ros service request to lidar
[out]	service_response	service response from lidar

Returns: true on success, false in case of errors.

Definition at line 1007 of file sick_scan_services.cpp.

◆ serviceCbSCdevicestateROS2()

bool sick_scan_xd::SickScanServices::serviceCbSCdevicestateROS2	(	std::shared_ptr< sick_scan_srv::SCdevicestateSrv::Request >	service_request,
		std::shared_ptr< sick_scan_srv::SCdevicestateSrv::Response >	service_response
	)

inline

Definition at line 141 of file sick_scan_services.h.

◆ serviceCbSCreboot()

bool sick_scan_xd::SickScanServices::serviceCbSCreboot	(	sick_scan_srv::SCrebootSrv::Request &	service_request,
		sick_scan_srv::SCrebootSrv::Response &	service_response
	)

Definition at line 1037 of file sick_scan_services.cpp.

◆ serviceCbSCrebootROS2()

bool sick_scan_xd::SickScanServices::serviceCbSCrebootROS2	(	std::shared_ptr< sick_scan_srv::SCrebootSrv::Request >	service_request,
		std::shared_ptr< sick_scan_srv::SCrebootSrv::Response >	service_response
	)

inline

Definition at line 144 of file sick_scan_services.h.

◆ serviceCbSCsoftreset()

bool sick_scan_xd::SickScanServices::serviceCbSCsoftreset	(	sick_scan_srv::SCsoftresetSrv::Request &	service_request,
		sick_scan_srv::SCsoftresetSrv::Response &	service_response
	)

Definition at line 1069 of file sick_scan_services.cpp.

◆ serviceCbSCsoftresetROS2()

bool sick_scan_xd::SickScanServices::serviceCbSCsoftresetROS2	(	std::shared_ptr< sick_scan_srv::SCsoftresetSrv::Request >	service_request,
		std::shared_ptr< sick_scan_srv::SCsoftresetSrv::Response >	service_response
	)

inline

Definition at line 147 of file sick_scan_services.h.

◆ serviceCbSickScanExit()

bool sick_scan_xd::SickScanServices::serviceCbSickScanExit	(	sick_scan_srv::SickScanExitSrv::Request &	service_request,
		sick_scan_srv::SickScanExitSrv::Response &	service_response
	)

Definition at line 1101 of file sick_scan_services.cpp.

◆ serviceCbSickScanExitROS2()

bool sick_scan_xd::SickScanServices::serviceCbSickScanExitROS2	(	std::shared_ptr< sick_scan_srv::SickScanExitSrv::Request >	service_request,
		std::shared_ptr< sick_scan_srv::SickScanExitSrv::Response >	service_response
	)

inline

Definition at line 150 of file sick_scan_services.h.

Member Data Documentation

◆ m_client_authorization_pw

std::string sick_scan_xd::SickScanServices::m_client_authorization_pw

protected

Definition at line 249 of file sick_scan_services.h.

◆ m_cola_binary

bool sick_scan_xd::SickScanServices::m_cola_binary

protected

cola ascii or cola binary messages

Definition at line 247 of file sick_scan_services.h.

◆ m_common_tcp

sick_scan_xd::SickScanCommonTcp* sick_scan_xd::SickScanServices::m_common_tcp

protected

common tcp handler

Definition at line 248 of file sick_scan_services.h.

◆ m_srv_server_ColaMsg

rosServiceServer<sick_scan_srv::ColaMsgSrv> sick_scan_xd::SickScanServices::m_srv_server_ColaMsg

protected

service "ColaMsg", &sick_scan::SickScanServices::serviceCbColaMsg

Definition at line 250 of file sick_scan_services.h.

◆ m_srv_server_ECRChangeArr

rosServiceServer<sick_scan_srv::ECRChangeArrSrv> sick_scan_xd::SickScanServices::m_srv_server_ECRChangeArr

protected

service "ECRChangeArr", &sick_scan::SickScanServices::serviceCbECRChangeArr

Definition at line 251 of file sick_scan_services.h.

◆ m_srv_server_GetContaminationResult

rosServiceServer<sick_scan_srv::GetContaminationResultSrv> sick_scan_xd::SickScanServices::m_srv_server_GetContaminationResult

protected

service "GetContaminationResult", &sick_scan::SickScanServices::serviceCbGetContaminationResult

Definition at line 252 of file sick_scan_services.h.

◆ m_srv_server_LIDoutputstate

rosServiceServer<sick_scan_srv::LIDoutputstateSrv> sick_scan_xd::SickScanServices::m_srv_server_LIDoutputstate

protected

service "LIDoutputstate", &sick_scan::SickScanServices::serviceCbLIDoutputstate

Definition at line 253 of file sick_scan_services.h.

◆ m_srv_server_SCdevicestate

rosServiceServer<sick_scan_srv::SCdevicestateSrv> sick_scan_xd::SickScanServices::m_srv_server_SCdevicestate

protected

service "SCdevicestate", &sick_scan::SickScanServices::serviceCbSCdevicestate

Definition at line 254 of file sick_scan_services.h.

◆ m_srv_server_SCreboot

rosServiceServer<sick_scan_srv::SCrebootSrv> sick_scan_xd::SickScanServices::m_srv_server_SCreboot

protected

service "SCreboot", &sick_scan::SickScanServices::serviceCbSCreboot

Definition at line 255 of file sick_scan_services.h.

◆ m_srv_server_SCsoftreset

rosServiceServer<sick_scan_srv::SCsoftresetSrv> sick_scan_xd::SickScanServices::m_srv_server_SCsoftreset

protected

service "SCsoftreset", &sick_scan::SickScanServices::serviceCbSCsoftreset

Definition at line 256 of file sick_scan_services.h.

◆ m_srv_server_SickScanExit

rosServiceServer<sick_scan_srv::SickScanExitSrv> sick_scan_xd::SickScanServices::m_srv_server_SickScanExit

protected

service "SickScanExitSrv", &sick_scan::SickScanServices::serviceCbSickScanExit

Definition at line 257 of file sick_scan_services.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SickScanServices()

◆ ~SickScanServices()

Member Function Documentation

◆ convertAngleDegToHexString()

◆ convertFloatToHexString()

◆ convertHexStringToAngleDeg()

◆ convertHexStringToFloat()

◆ sendAuthorization()

◆ sendRun()

◆ sendSopasAndCheckAnswer()

◆ sendSopasCmdCheckResponse()

◆ serviceCbColaMsg()

◆ serviceCbColaMsgROS2()

◆ serviceCbECRChangeArr()

◆ serviceCbECRChangeArrROS2()

◆ serviceCbGetContaminationResult()

◆ serviceCbGetContaminationResultROS2()

◆ serviceCbLIDoutputstate()

◆ serviceCbLIDoutputstateROS2()

◆ serviceCbSCdevicestate()

◆ serviceCbSCdevicestateROS2()

◆ serviceCbSCreboot()

◆ serviceCbSCrebootROS2()

◆ serviceCbSCsoftreset()

◆ serviceCbSCsoftresetROS2()

◆ serviceCbSickScanExit()

◆ serviceCbSickScanExitROS2()

Member Data Documentation

◆ m_client_authorization_pw

◆ m_cola_binary

◆ m_common_tcp

◆ m_srv_server_ColaMsg

◆ m_srv_server_ECRChangeArr

◆ m_srv_server_GetContaminationResult

◆ m_srv_server_LIDoutputstate

◆ m_srv_server_SCdevicestate

◆ m_srv_server_SCreboot

◆ m_srv_server_SCsoftreset

◆ m_srv_server_SickScanExit