sick_generic_laser.h File Reference

#include "sick_scan/sick_scan_base.h"
#include <sick_scan/sick_scan_common_tcp.h>

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Macros
#define	SICK_GENERIC_LASER_H

Enumerations
enum	NodeRunState { scanner_init, scanner_run, scanner_finalize }

Functions
bool	convertSendSOPASCommand (const std::string &sopas_ascii_request, std::string &sopas_response, 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::string	getVersionInfo ()
void	joinGenericLaser (void)
	Waits until all GenericLaser jobs finished. More...
int	mainGenericLaser (int argc, char **argv, std::string scannerName, rosNodePtr nh)
	Internal Startup routine. More...
bool	parseLaunchfileSetParameter (rosNodePtr nhPriv, int argc, char **argv)
	Parses an optional launchfile and sets all parameters. This function is used at startup to enable system independant parameter handling for native Linux/Windows, ROS-1 and ROS-2. Parameter are overwritten by optional commandline arguments. More...
void	rosSignalHandler (int signalRecv)
void	setVersionInfo (std::string _versionInfo)
bool	startGenericLaser (int argc, char **argv, std::string nodeName, rosNodePtr nhPriv, int *exit_code)
	Runs mainGenericLaser non-blocking in a new thread. More...
bool	stopScannerAndExit (bool force_immediate_shutdown=false)

Macro Definition Documentation

SICK_GENERIC_LASER_H

#define SICK_GENERIC_LASER_H

Definition at line 3 of file sick_generic_laser.h.

Enumeration Type Documentation

NodeRunState

enum NodeRunState

Enumerator
scanner_init
scanner_run
scanner_finalize

Definition at line 12 of file sick_generic_laser.h.

Function Documentation

convertSendSOPASCommand()

bool convertSendSOPASCommand	(	const std::string &	sopas_ascii_request,
		std::string &	sopas_response,
		bool	wait_for_reply
	)

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]	sopas_ascii_request	sopas command to send in ascii (converted automatically to binary if required)
[out]	sopas_response	sopas response from lidar (with optional parameter in hex values)

Definition at line 233 of file sick_generic_laser.cpp.

getVersionInfo()

std::string getVersionInfo

(

)

Definition at line 121 of file sick_generic_laser.cpp.

joinGenericLaser()

void joinGenericLaser

(

void

)

Waits until all GenericLaser jobs finished.

Definition at line 855 of file sick_generic_laser.cpp.

mainGenericLaser()

int mainGenericLaser	(	int	argc,
		char **	argv,
		std::string	nodeName,
		rosNodePtr	nhPriv
	)

Internal Startup routine.

Parameters

argc	Number of Arguments
argv	Argument variable
nodeName	name of the ROS-node

Returns

exit-code

See also

main

Definition at line 873 of file sick_generic_laser.cpp.

parseLaunchfileSetParameter()

bool parseLaunchfileSetParameter	(	rosNodePtr	nhPriv,
		int	argc,
		char **	argv
	)

Parses an optional launchfile and sets all parameters. This function is used at startup to enable system independant parameter handling for native Linux/Windows, ROS-1 and ROS-2. Parameter are overwritten by optional commandline arguments.

Parameters

argc	Number of commandline arguments
argv	commandline arguments
nodeName	name of the ROS-node

Returns

exit-code

See also

main

Definition at line 352 of file sick_generic_laser.cpp.

rosSignalHandler()

void rosSignalHandler

(

int

signalRecv

)

Definition at line 211 of file sick_generic_laser.cpp.

setVersionInfo()

void setVersionInfo

(

std::string

_versionInfo

)

Definition at line 116 of file sick_generic_laser.cpp.

startGenericLaser()

bool startGenericLaser	(	int	argc,
		char **	argv,
		std::string	nodeName,
		rosNodePtr	nhPriv,
		int *	exit_code
	)

Runs mainGenericLaser non-blocking in a new thread.

Parameters

argc	Number of Arguments
argv	Argument variable
nodeName	name of the ROS-node
nhPriv	ros node handle
exit_code	exit-code

Returns

true if mainGenericLaser is running, false otherwise

See also

mainGenericLaser

Definition at line 837 of file sick_generic_laser.cpp.

stopScannerAndExit()

bool stopScannerAndExit

(

bool

force_immediate_shutdown = false

)

Definition at line 190 of file sick_generic_laser.cpp.