#include <sick_tim_common.h>

Inheritance diagram for sick_tim::SickTimCommon:

[legend]

Public Member Functions
void	check_angle_range (SickTimConfig &conf)

double	get_expected_frequency () const

virtual int	init ()

virtual int	loopOnce ()

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

	SickTimCommon (AbstractParser *parser)

void	update_config (sick_tim::SickTimConfig &new_config, uint32_t level=0)

virtual	~SickTimCommon ()

Protected Member Functions
virtual int	close_device ()=0

virtual int	get_datagram (unsigned char receiveBuffer, int bufferSize, int actual_length)=0
	Read a datagram from the device. More...

virtual int	init_device ()=0

virtual int	init_scanner ()

bool	isCompatibleDevice (const std::string identStr) const

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

virtual int	stop_scanner ()

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

Protected Attributes
SickTimConfig	config_

ros::Publisher	datagram_pub_

diagnostic_updater::DiagnosedPublisher< sensor_msgs::LaserScan > *	diagnosticPub_

diagnostic_updater::Updater	diagnostics_

double	expectedFrequency_

bool	publish_datagram_

Private Attributes
dynamic_reconfigure::Server< sick_tim::SickTimConfig >	dynamic_reconfigure_server_

ros::NodeHandle	nh_

AbstractParser *	parser_

ros::Publisher	pub_

Detailed Description

Definition at line 63 of file sick_tim_common.h.

Constructor & Destructor Documentation

◆ SickTimCommon()

sick_tim::SickTimCommon::SickTimCommon ( AbstractParser * parser )

Definition at line 47 of file sick_tim_common.cpp.

◆ ~SickTimCommon()

sick_tim::SickTimCommon::~SickTimCommon ( )

virtual

Definition at line 137 of file sick_tim_common.cpp.

Member Function Documentation

◆ check_angle_range()

void sick_tim::SickTimCommon::check_angle_range ( SickTimConfig & conf )

Definition at line 340 of file sick_tim_common.cpp.

◆ close_device()

virtual int sick_tim::SickTimCommon::close_device ( )

protectedpure virtual

Implemented in sick_tim::SickTimCommonMockup, sick_tim::SickTimCommonUsb, and sick_tim::SickTimCommonTcp.

◆ get_datagram()

virtual int sick_tim::SickTimCommon::get_datagram	(	unsigned char *	receiveBuffer,
		int	bufferSize,
		int *	actual_length
	)

protectedpure virtual

Read a datagram from the device.

Parameters

[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

Implemented in sick_tim::SickTimCommonMockup, sick_tim::SickTimCommonUsb, and sick_tim::SickTimCommonTcp.

◆ get_expected_frequency()

double sick_tim::SickTimCommon::get_expected_frequency ( ) const

inline

Definition at line 73 of file sick_tim_common.h.

◆ init()

int sick_tim::SickTimCommon::init ( )

virtual

Definition at line 145 of file sick_tim_common.cpp.

◆ init_device()

virtual int sick_tim::SickTimCommon::init_device ( )

protectedpure virtual

Implemented in sick_tim::SickTimCommonUsb, sick_tim::SickTimCommonMockup, and sick_tim::SickTimCommonTcp.

◆ init_scanner()

int sick_tim::SickTimCommon::init_scanner ( )

protectedvirtual

Reimplemented in sick_tim::SickMrs1000Communication, and sick_tim::SickTimCommonMockup.

Definition at line 159 of file sick_tim_common.cpp.

◆ isCompatibleDevice()

bool sick_tim::SickTimCommon::isCompatibleDevice ( const std::string identStr ) const

protected

Definition at line 270 of file sick_tim_common.cpp.

◆ loopOnce()

int sick_tim::SickTimCommon::loopOnce ( )

virtual

Reimplemented in sick_tim::SickMrs1000Communication.

Definition at line 290 of file sick_tim_common.cpp.

◆ rebootScanner()

bool sick_tim::SickTimCommon::rebootScanner ( )

virtual

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

Returns: true if reboot command was accepted, false otherwise

Definition at line 89 of file sick_tim_common.cpp.

◆ replyToString()

std::string sick_tim::SickTimCommon::replyToString ( const std::vector< unsigned char > & reply )

staticprotected

Converts reply from sendSOPASCommand to string.

Parameters

[in] reply reply from sendSOPASCommand

Returns: reply as string with special characters stripped out

Definition at line 257 of file sick_tim_common.cpp.

◆ sendSOPASCommand()

virtual int sick_tim::SickTimCommon::sendSOPASCommand	(	const char *	request,
		std::vector< unsigned char > *	reply
	)

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.

Implemented in sick_tim::SickTimCommonMockup, sick_tim::SickTimCommonUsb, and sick_tim::SickTimCommonTcp.

◆ stop_scanner()

int sick_tim::SickTimCommon::stop_scanner ( )

protectedvirtual

Definition at line 73 of file sick_tim_common.cpp.

◆ update_config()

void sick_tim::SickTimCommon::update_config	(	sick_tim::SickTimConfig &	new_config,
		uint32_t	level = `0`
	)

Definition at line 349 of file sick_tim_common.cpp.

Member Data Documentation

◆ config_

SickTimConfig sick_tim::SickTimCommon::config_

protected

Definition at line 115 of file sick_tim_common.h.

◆ datagram_pub_

ros::Publisher sick_tim::SickTimCommon::datagram_pub_

protected

Definition at line 117 of file sick_tim_common.h.

◆ diagnosticPub_

diagnostic_updater::DiagnosedPublisher<sensor_msgs::LaserScan>* sick_tim::SickTimCommon::diagnosticPub_

protected

Definition at line 120 of file sick_tim_common.h.

◆ diagnostics_

diagnostic_updater::Updater sick_tim::SickTimCommon::diagnostics_

protected

Definition at line 112 of file sick_tim_common.h.

◆ dynamic_reconfigure_server_

dynamic_reconfigure::Server<sick_tim::SickTimConfig> sick_tim::SickTimCommon::dynamic_reconfigure_server_

private

Definition at line 129 of file sick_tim_common.h.

◆ expectedFrequency_

double sick_tim::SickTimCommon::expectedFrequency_

protected

Definition at line 121 of file sick_tim_common.h.

◆ nh_

ros::NodeHandle sick_tim::SickTimCommon::nh_

private

Definition at line 125 of file sick_tim_common.h.

◆ parser_

AbstractParser* sick_tim::SickTimCommon::parser_

private

Definition at line 132 of file sick_tim_common.h.

◆ pub_

ros::Publisher sick_tim::SickTimCommon::pub_

private

Definition at line 126 of file sick_tim_common.h.

◆ publish_datagram_

bool sick_tim::SickTimCommon::publish_datagram_

protected

Definition at line 116 of file sick_tim_common.h.

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

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SickTimCommon()

◆ ~SickTimCommon()

Member Function Documentation

◆ check_angle_range()

◆ close_device()

◆ get_datagram()

◆ get_expected_frequency()

◆ init()

◆ init_device()

◆ init_scanner()

◆ isCompatibleDevice()

◆ loopOnce()

◆ rebootScanner()

◆ replyToString()

◆ sendSOPASCommand()

◆ stop_scanner()

◆ update_config()

Member Data Documentation

◆ config_

◆ datagram_pub_

◆ diagnosticPub_

◆ diagnostics_

◆ dynamic_reconfigure_server_

◆ expectedFrequency_

◆ nh_

◆ parser_

◆ pub_

◆ publish_datagram_