Classes
class	EchoOneDriver

class	RosParameters

Typedefs
using	EchoOneDriverConfigServer = dynamic_reconfigure::Server< EchoOneDriverConfig >

Functions
void	adcDumpEndCallback (uint16_t sender_id)
	Callback for device driver library. More...

void	ConfigureSensorLogMessages (void(Callback)(uint16_t Sender_u16, uint8_t ReceivedPayload_pu8), LogLevel_t log_level)
	Sets log level with the sensor and registers callback. More...

void	DeinitCanInterface ()

void	DeinitUARTInterface ()

auto	getStaticTransformMsg (const ros::Time &t, const std::vector< float > &trans, const tf::Quaternion &q, const std::string &from, const std::string &to) -> geometry_msgs::TransformStamped
	Returns geometry_msgs::TransformStamped to be published by TF broadcaster. More...

void	InitCanInterface (const std::string &can_device, int data_rate=1000000)
	Inits the driver on given `can_device` with hard-coded data rate. More...

void	InitUARTInterface (const std::string &uart_device, int data_rate=0010002)
	Inits the driver on given `uart_device` with hard-coded data rate. More...

void	LogMsgCallback (uint16_t SenderId_u16, uint8_t *ReceivedPayload_pu8)
	Callback handling log messages from sensor. More...

bool	requestAdcDump (RequestAdcDump::Request &req, RequestAdcDump::Response &res)
	ROS Service Callback for ADC Dump Requests. More...

void	requestAdcDumpCallback (uint16_t sender_id, uint32_t data_size)
	Callback for device driver library. More...

auto	RequestSessionData () -> Sensor_Session_t *
	Requesting single shot measurement from first sensor in known sensors array. More...

auto	saveAdcBlobData (ADCDump_t adc_dump, const char file_path) -> bool
	Saves given `adc_dump` to file `file_path`. More...

auto	SetTargetSensor (uint16_t TargetSensor_u16) -> bool
	Checks if `TargetSensor_u16` is known and sets current target accordingly. More...

auto	to_TsScan (const Sensor_Session_t *session_data, const RosParameters &params) -> toposens_msgs::TsScan
	Converts all points availabble in `session_data` to ROS message. More...

auto	toHexString (const uint16_t i) -> std::string
	Convert given `i` to hex string. More...

Typedef Documentation

◆ EchoOneDriverConfigServer

using toposens_echo_driver::EchoOneDriverConfigServer = typedef dynamic_reconfigure::Server<EchoOneDriverConfig>

Definition at line 20 of file echo_driver.h.

Function Documentation

◆ adcDumpEndCallback()

void toposens_echo_driver::adcDumpEndCallback ( uint16_t sender_id )

Callback for device driver library.

Simply acknowledging

Definition at line 94 of file adc_dump.cpp.

◆ ConfigureSensorLogMessages()

void toposens_echo_driver::ConfigureSensorLogMessages	(	void()(uint16_t Sender_u16, uint8_t ReceivedPayload_pu8)	Callback,
		LogLevel_t	log_level = `LOG_LEVEL_INFO`
	)

Sets log level with the sensor and registers callback.

Definition at line 202 of file lib_utils.cpp.

◆ DeinitCanInterface()

void toposens_echo_driver::DeinitCanInterface ( )

Definition at line 13 of file lib_utils.cpp.

◆ DeinitUARTInterface()

void toposens_echo_driver::DeinitUARTInterface ( )

Definition at line 20 of file lib_utils.cpp.

◆ getStaticTransformMsg()

auto toposens_echo_driver::getStaticTransformMsg	(	const ros::Time &	t,
		const std::vector< float > &	trans,
		const tf::Quaternion &	q,
		const std::string &	from,
		const std::string &	to
	)		-> geometry_msgs::TransformStamped

Returns geometry_msgs::TransformStamped to be published by TF broadcaster.

Take transformation arguments (translation/rotation) and the corresponding frame ids and create the TF message to be published.

Definition at line 86 of file ros_utils.cpp.

◆ InitCanInterface()

void toposens_echo_driver::InitCanInterface	(	const std::string &	can_device,
		int	data_rate = `1000000`
	)

Inits the driver on given can_device with hard-coded data rate.

Definition at line 8 of file lib_utils.cpp.

◆ InitUARTInterface()

void toposens_echo_driver::InitUARTInterface	(	const std::string &	uart_device,
		int	data_rate = `0010002`
	)

Inits the driver on given uart_device with hard-coded data rate.

Definition at line 15 of file lib_utils.cpp.

◆ LogKnownSensors()

void toposens_echo_driver::LogKnownSensors ( double log_interval = 3.0 )

Get currently known sensors from driver and log to ROS console every log_interval seconds.

Definition at line 96 of file lib_utils.cpp.

◆ LogMsgCallback()

void toposens_echo_driver::LogMsgCallback	(	uint16_t	SenderId_u16,
		uint8_t *	ReceivedPayload_pu8
	)

Callback handling log messages from sensor.

Definition at line 216 of file lib_utils.cpp.

◆ LogSessionData()

void toposens_echo_driver::LogSessionData ( const Sensor_Session_t * session )

Log given session data to ROS concole.

Logs all 1D as well as all 3D Points

Definition at line 148 of file lib_utils.cpp.

◆ LogSettings()

void toposens_echo_driver::LogSettings ( )

Read current configuration from sensor and log to ROS console.

Group of functions to log information to ROS console.

Definition at line 54 of file lib_utils.cpp.

◆ LogVersions()

void toposens_echo_driver::LogVersions ( )

Read all version information (such as bootloader version, app versionetc.) from sensor and log to ROS console.

Definition at line 123 of file lib_utils.cpp.

◆ requestAdcDump()

auto toposens_echo_driver::requestAdcDump	(	RequestAdcDump::Request &	req,
		RequestAdcDump::Response &	res
	)

ROS Service Callback for ADC Dump Requests.

Performs necessary steps to obtain ADC Dump from sensor. Utilizing the device driver library.

Returns: true if successful, false otherwise

Definition at line 9 of file adc_dump.cpp.

◆ requestAdcDumpCallback()

void toposens_echo_driver::requestAdcDumpCallback	(	uint16_t	sender_id,
		uint32_t	data_size
	)

Callback for device driver library.

Simply acknowledging

Definition at line 92 of file adc_dump.cpp.

◆ RequestSessionData()

auto toposens_echo_driver::RequestSessionData ( ) -> Sensor_Session_t*

Requesting single shot measurement from first sensor in known sensors array.

This is a blocking call!

Definition at line 22 of file lib_utils.cpp.

◆ saveAdcBlobData()

auto toposens_echo_driver::saveAdcBlobData	(	ADCDump_t *	adc_dump,
		const char *	file_path
	)		-> bool

Saves given adc_dump to file file_path.

This was directly copied from an example application in the driver library. It should be updated to our C++ coding guidelines, possibly when the TODO in the code is addressed.

Returns: true if successful, false otherwise

Definition at line 59 of file adc_dump.cpp.

◆ to_TsScan()

auto toposens_echo_driver::to_TsScan	(	const Sensor_Session_t *	session_data,
		const RosParameters &	params
	)		-> toposens_msgs::TsScan

Converts all points availabble in session_data to ROS message.

Based on coordinate frame defintion from here (Toposens) https://teamtoposens.atlassian.net/wiki/spaces/EN/pages/467697939/Standardized+Coordinate+System and here (ROS) https://www.ros.org/reps/rep-0103.html#axis-orientation.

Definition at line 55 of file ros_utils.cpp.

◆ toHexString()

auto toposens_echo_driver::toHexString ( const uint16_t i ) -> std::string

inline

Convert given i to hex string.

Note: Don't be tempted to change the parameter type to uint8_t!

Todo:: Potentially move this even to a separate utils header

Definition at line 62 of file lib_utils.h.

Classes

Typedefs

Functions