#include <AgvSensor.h>
Public Member Functions | |
AgvSensor () | |
Base constructor. | |
~AgvSensor () | |
Destructor (disconects the data sensor) | |
AgvSensor (BaseCommunication *comm) | |
Copy constructor: sets the basic communication object. | |
CommunicationStatus | Initialize () |
Initializes the object to connect the sensor. | |
void | Close () |
Method that closes all communication stops all threads and cleanup memory This method must be called when finishing usage of sensor. | |
RawData | RetrieveRawData () |
Wait for Raw Data availability. | |
void | SendMdi () |
Request the sensor to start sending MDI data to host. | |
void | StopMdi () |
Request the sensor to stop sending MDI data to host. | |
PROTOCOL | GetRawDataExchangeMode () |
Get the raw data exchange mode. | |
AngleRange | GetAngleRange () |
Gets the angle range. | |
SCAN_PACKET_TYPE | GetDataPacketType () |
Gets the data packed type. | |
unsigned int | GetImmunityLevel () |
Gets the immunity level. | |
ContaminationThreshold | GetContaminationThreshold () |
Gets the contamination threshold. | |
SoftwareVersion | GetVersion () |
Gets the sensor version data. | |
int | GetTemperature () |
Gets the temperature. | |
vector< RawDataError > | GetErrorLog () |
Gets the error log. | |
NetworkInformation | GetNetworkInformation () |
Gets whole data information. | |
string | GetDeviceName () |
Gets the sensor's name. | |
ConfigurationResult | SetRawDataExchangeMode (PROTOCOL pProtocol) |
Sets the RAW data exchange mode. Can be either TCP or UDP. | |
ConfigurationResult | SetDataPacketType (SCAN_PACKET_TYPE pPacketType) |
Sets the packet type returned in raw data. Can be either DISTANCE or DISTANCE_INTENSITY. | |
ConfigurationResult | SetAngleRange (AngleRange pAngleRange) |
Sets the Angle range (start and stop) | |
ConfigurationResult | SetImmunityLevel (int pImmunityLevel) |
Sets the sensor's immunity level. | |
ConfigurationResult | SetContaminationThreshold (ContaminationThreshold pContaminationThreshold) |
Sets the contamination level threshold for warning and error. | |
ConfigurationResult | SetNetworkInformation (NetworkInformation pNetwork) |
Set the overall network information except IP v4 and Port. | |
ConfigurationResult | SetDeviceName (string pName) |
Sets the sensor's name. | |
void | ResetDevice () |
Resets the device. | |
void | RebootDevice () |
Reboots the device. | |
vector< unsigned int > | GetWms () |
Returns the window monitoring system of each sector (SECTORS_COUNT sectors - 132 -) | |
FieldName | GetFieldName (int fieldSetNumber) |
Gets the field name for a given field number. | |
ObjectSize | GetObjectSize () |
Gets the object size. | |
FieldData | GetField (uint8_t fieldNumber, NativeZoneTypeEnum zone) |
Returns the requested field data. | |
MultipleSampling | GetMultipleSampling () |
Gets the multiple sampling data. | |
HoldTime | GetHoldTime () |
Gets Hold Time (ms) | |
OutputActiveLevel | GetOutputActiveLevel () |
Gets the output active level for 4 outputs. | |
OutputFunction | GetOutputFunction () |
Gest the output function for 4 outputs. | |
AgvSensorLeds | GetSensorLeds () |
Gets the navigation sensor leds status. | |
ConfigurationResult | SetFieldName (FieldName fieldName) |
Gets the sensor lamps status. | |
ConfigurationResult | SetObjectSize (ObjectSize sizeToSet) |
Sets the object size. | |
ConfigurationResult | SetField (FieldData data) |
Set the requested field data. | |
ConfigurationResult | SetMultipleSampling (MultipleSampling sampling) |
Sets the multiple sampling. | |
ConfigurationResult | SetHoldTime (HoldTime holdTime) |
Sets the Hold time. | |
ConfigurationResult | SetOutputActiveLevel (OutputActiveLevel activeLevel) |
Sets the output active level. | |
ConfigurationResult | SetOutputFunction (OutputFunction function) |
Sets the output function. | |
ConfigurationResult | SetSensorLeds (AgvSensorLeds leds) |
Sets the sensor's leds. | |
ConfigurationResult | StoreInFlash () |
Store fields in the flash. | |
AgvSensor::AgvSensor | ( | ) |
Base constructor.
AgvSensor::~AgvSensor | ( | ) |
Destructor (disconects the data sensor)
AgvSensor::AgvSensor | ( | BaseCommunication * | comm | ) |
Copy constructor: sets the basic communication object.
comm | The basic communication object |
void AgvSensor::Close | ( | ) |
Method that closes all communication stops all threads and cleanup memory This method must be called when finishing usage of sensor.
AngleRange AgvSensor::GetAngleRange | ( | ) |
Gets the angle range.
ContaminationThreshold AgvSensor::GetContaminationThreshold | ( | ) |
Gets the contamination threshold.
SCAN_PACKET_TYPE AgvSensor::GetDataPacketType | ( | ) |
Gets the data packed type.
string AgvSensor::GetDeviceName | ( | ) |
Gets the sensor's name.
vector< RawDataError > AgvSensor::GetErrorLog | ( | ) |
Gets the error log.
FieldData AgvSensor::GetField | ( | uint8_t | fieldNumber, |
NativeZoneTypeEnum | zone ) |
Returns the requested field data.
fieldNumber | The field number we want to retrieve |
zone | The zone type (Protection, Warning 1, Warning 2) |
FieldName AgvSensor::GetFieldName | ( | int | fieldSetNumber | ) |
Gets the field name for a given field number.
fieldSetNumber | The fieldset number to retrieve |
HoldTime AgvSensor::GetHoldTime | ( | ) |
Gets Hold Time (ms)
unsigned int AgvSensor::GetImmunityLevel | ( | ) |
Gets the immunity level.
MultipleSampling AgvSensor::GetMultipleSampling | ( | ) |
Gets the multiple sampling data.
NetworkInformation AgvSensor::GetNetworkInformation | ( | ) |
Gets whole data information.
ObjectSize AgvSensor::GetObjectSize | ( | ) |
Gets the object size.
OutputActiveLevel AgvSensor::GetOutputActiveLevel | ( | ) |
Gets the output active level for 4 outputs.
OutputFunction AgvSensor::GetOutputFunction | ( | ) |
Gest the output function for 4 outputs.
PROTOCOL AgvSensor::GetRawDataExchangeMode | ( | ) |
Get the raw data exchange mode.
AgvSensorLeds AgvSensor::GetSensorLeds | ( | ) |
Gets the navigation sensor leds status.
int AgvSensor::GetTemperature | ( | ) |
Gets the temperature.
SoftwareVersion AgvSensor::GetVersion | ( | ) |
Gets the sensor version data.
vector< unsigned int > AgvSensor::GetWms | ( | ) |
Returns the window monitoring system of each sector (SECTORS_COUNT sectors - 132 -)
CommunicationStatus AgvSensor::Initialize | ( | ) |
Initializes the object to connect the sensor.
void AgvSensor::RebootDevice | ( | ) |
Reboots the device.
void AgvSensor::ResetDevice | ( | ) |
Resets the device.
RawData AgvSensor::RetrieveRawData | ( | ) |
Wait for Raw Data availability.
void AgvSensor::SendMdi | ( | ) |
Request the sensor to start sending MDI data to host.
ConfigurationResult AgvSensor::SetAngleRange | ( | AngleRange | pAngleRange | ) |
Sets the Angle range (start and stop)
pAngleRange | The encapsulation of the angle range to be set |
ConfigurationResult AgvSensor::SetContaminationThreshold | ( | ContaminationThreshold | pContaminationThreshold | ) |
Sets the contamination level threshold for warning and error.
pContaminationThreshold | The encapsulation of contamination leve threshold |
ConfigurationResult AgvSensor::SetDataPacketType | ( | SCAN_PACKET_TYPE | pPacketType | ) |
Sets the packet type returned in raw data. Can be either DISTANCE or DISTANCE_INTENSITY.
pPacketType | The packet type to be set |
ConfigurationResult AgvSensor::SetDeviceName | ( | string | pName | ) |
Sets the sensor's name.
ConfigurationResult AgvSensor::SetField | ( | FieldData | data | ) |
Set the requested field data.
ConfigurationResult AgvSensor::SetFieldName | ( | FieldName | fieldName | ) |
Gets the sensor lamps status.
Sets the field name data
fieldName |
ConfigurationResult AgvSensor::SetHoldTime | ( | HoldTime | holdTime | ) |
Sets the Hold time.
ConfigurationResult AgvSensor::SetImmunityLevel | ( | int | pImmunityLevel | ) |
Sets the sensor's immunity level.
pImmunityLevel | The immunity level to be set |
ConfigurationResult AgvSensor::SetMultipleSampling | ( | MultipleSampling | sampling | ) |
Sets the multiple sampling.
sampling |
ConfigurationResult AgvSensor::SetNetworkInformation | ( | NetworkInformation | pNetwork | ) |
Set the overall network information except IP v4 and Port.
pNetwork | An encapsulation of the network data |
ConfigurationResult AgvSensor::SetObjectSize | ( | ObjectSize | sizeToSet | ) |
Sets the object size.
sizeToSet |
ConfigurationResult AgvSensor::SetOutputActiveLevel | ( | OutputActiveLevel | activeLevel | ) |
Sets the output active level.
activeLevel |
ConfigurationResult AgvSensor::SetOutputFunction | ( | OutputFunction | function | ) |
Sets the output function.
function |
ConfigurationResult AgvSensor::SetRawDataExchangeMode | ( | PROTOCOL | pProtocol | ) |
Sets the RAW data exchange mode. Can be either TCP or UDP.
pProtocol | The exchange mode (TCP or UDP) |
ConfigurationResult AgvSensor::SetSensorLeds | ( | AgvSensorLeds | leds | ) |
Sets the sensor's leds.
leds |
void AgvSensor::StopMdi | ( | ) |
Request the sensor to stop sending MDI data to host.
ConfigurationResult AgvSensor::StoreInFlash | ( | ) |
Store fields in the flash.