Definition of the Raw data sensor services. This header will let the programmer to handle all the requests that have to be sent to the hardware through the appropriate channel. More...

#include <RawDataSensor.h>

Inheritance diagram for RawDataSensor:

Public Member Functions
	RawDataSensor ()
	Base constructor.

	~RawDataSensor ()
	Destructor (disconects the data sensor)

	RawDataSensor (BaseCommunication *comm)
	Copy constructor: sets the basic communication object.

RawData	ExtractData (vector< string >pDataToExtract)
	Extracts the data from the datastream (Internal method, do not use as is)

bool	IsCommandAcknowledgment (string pDataToVerify)
	Check if data is a command acknowledgment.

bool	IsHeader (string pDataToVerify)
	Check if data is a HEADER.

bool	IsEndOfPacket (string pDataToVerify)
	Check if the data is an end of packet group.

bool	IsFirstPacket (string pDataToVerify)
	Check if the data is the first packet group.

int	GetPacketHeaderSizeToRead ()
	Returns a pointer on an array with a determined size.

int	CountToReadForLength (char *pHeaderBuffer)
	Indicates how much byte must be read in order to obtain packet len.

int	GetPacketLengthToRead (char *pLenHeaderBuffer, int pPacketType)
	Retrieve, in the pHeaderBuffer, the amount of data to read.

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	ResetDevice ()
	Resets the device.

void	RebootDevice ()
	Reboots the device.

NetworkInformation	GetNetworkInformation ()
	Gets whole data information.

PROTOCOL	GetRawDataExchangeMode ()
	Get the raw data exchange mode.

SCAN_PACKET_TYPE	GetDataPacketType ()
	Gets the data packed type.

SensorResolutionFrequencyEnum	GetAngularResolution ()
	Gets the angular resolution.

SCANNING_DIRECTION	GetScanningDirection ()
	SensorResolutionFrequencyEnum Gets the scanning direction.

AngleRange	GetAngleRange ()
	Gets the angle range.

unsigned int	GetSkipScan ()
	Gets the skip scan.

unsigned int	GetImmunityLevel ()
	Gets the immunity level.

ContaminationThreshold	GetContaminationThreshold ()
	Gets the contamination threshold.

ContaminationStatus	GetContaminationStatus ()
	Gets the contamination status.

SoftwareVersion	GetVersion ()
	Gets the sensor version data.

int	GetTemperature ()
	Gets the temperature.

vector< RawDataError >	GetErrorLog ()
	Gets the error log.

SensorLeds	GetSensorLeds ()
	Gets the sensor's leds status.

SensorLamps	GetSensorLamps ()
	Gets the sensor lamps status.

long	GetRuntimeHours ()
	Gets the sensor runtime hours.

string	GetDeviceName ()
	Gets the sensor's name.

FILTER_STATUS	GetFilterStatus ()
	Gets the sensor's filter status.

WINDOW_CALIBRATION	GetWindowCalibrationStatus ()
	Gets the window calibration status.

ConfigurationResult	SetNetworkInformation (NetworkInformation pNetwork)
	Set the overall network information except IP v4 and Port.

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	SetAngularResolution (SensorResolutionFrequencyEnum pResolution)
	Sets the angle resolution. Can be either 80Hz or 40Hz.

ConfigurationResult	SetScanningDirection (SCANNING_DIRECTION pScanDirection)
	Sets the scanning direction. Can be either CLOCKWISE or COUNTER_CLOCKWISE.

ConfigurationResult	SetAngleRange (AngleRange pAngleRange)
	Sets the Angle range (start and stop)

ConfigurationResult	SetSkipScan (int pSkipScan)
	Sets the skip scan.

ConfigurationResult	SetImmunityLevel (int pImmunityLevel)
	Sets the sensor's immunity level.

ConfigurationResult	SetContaminationThreshold (ContaminationThreshold pContaminationThreshold)
	Sets the contamination level threshold for warning and error.

ConfigurationResult	SetSensorLeds (SensorLeds pLeds)
	Sets the sensors external leds status (ON or OFF)

ConfigurationResult	SetDeviceName (string pName)
	Sets the sensor's name.

ConfigurationResult	SetFilterStatus (FILTER_STATUS pFilterStatus)
	Sets the sensor's filter status.

ConfigurationResult	StartWindowCalibration ()
	Starts the window calibration.

void	SendMdi ()
	Request the sensor to start sending MDI data to host.

void	StopMdi ()
	Request the sensor to stop sending MDI data to host.

Protected Member Functions
string	ExtractCommandResult (int MODE, string commandCode, string result)
	This method analyses and decompose the reply to a command comming from the sensor media. It also checks if the reply matches the command that was sent in order to ensure coherence of the data It decompose the reply into a data vector representing the requested data.

Protected Attributes
string	GetImmu = { 0x47 ,0x65 ,0x74 ,0x49, 0x6D, 0x6D, 0x75 }

string	SetImmu = { 0x53, 0x65, 0x74, 0x49, 0x6D, 0x6D, 0x75 }

Friends
class	AgvSensor

Detailed Description

Definition of the Raw data sensor services. This header will let the programmer to handle all the requests that have to be sent to the hardware through the appropriate channel.

Constructor & Destructor Documentation

◆ RawDataSensor() [1/2]

RawDataSensor::RawDataSensor ( )

Base constructor.

◆ ~RawDataSensor()

RawDataSensor::~RawDataSensor ( )

Destructor (disconects the data sensor)

Destructor.

◆ RawDataSensor() [2/2]

RawDataSensor::RawDataSensor ( BaseCommunication * comm )

Copy constructor: sets the basic communication object.

Parameters

comm	The basic communication object

Member Function Documentation

◆ Close()

void RawDataSensor::Close ( )

Method that closes all communication stops all threads and cleanup memory This method must be called when finishing usage of sensor.

◆ CountToReadForLength()

int RawDataSensor::CountToReadForLength ( char * pHeaderBuffer )

Indicates how much byte must be read in order to obtain packet len.

Returns: An integer representing the amount of bytes to read

◆ ExtractCommandResult()

string RawDataSensor::ExtractCommandResult	(	int	MODE,
		string	commandCode,
		string	result )

protected

This method analyses and decompose the reply to a command comming from the sensor media. It also checks if the reply matches the command that was sent in order to ensure coherence of the data It decompose the reply into a data vector representing the requested data.

Parameters

MODE	READ or WRITE mode
commandCode	The sensor GCID command to be analysed
result	A string representing the media stream returned from the sensor after command execution

Returns: A char array

◆ ExtractData()

RawData RawDataSensor::ExtractData ( vector< string > pDataToExtract )

Extracts the data from the datastream (Internal method, do not use as is)

Parameters

pDataToExtract Datastream vector

Returns: The encaspulated raw data

◆ GetAngleRange()

AngleRange RawDataSensor::GetAngleRange ( )

Gets the angle range.

Returns: An encapsulation of angle range

◆ GetAngularResolution()

SensorResolutionFrequencyEnum RawDataSensor::GetAngularResolution ( )

Gets the angular resolution.

Returns: An enum of angle resolution

◆ GetContaminationStatus()

ContaminationStatus RawDataSensor::GetContaminationStatus ( )

Gets the contamination status.

Returns: An ContaminationStatus representing the contamination status

◆ GetContaminationThreshold()

ContaminationThreshold RawDataSensor::GetContaminationThreshold ( )

Gets the contamination threshold.

Returns: An encapsulation of the contamination threshold

◆ GetDataPacketType()

SCAN_PACKET_TYPE RawDataSensor::GetDataPacketType ( )

Gets the data packed type.

Returns: DISTANCE or DISTANCE_INTENSITY

◆ GetDeviceName()

string RawDataSensor::GetDeviceName ( )

Gets the sensor's name.

Returns: A string representing the sensor's name

◆ GetErrorLog()

vector< RawDataError > RawDataSensor::GetErrorLog ( )

Gets the error log.

Returns: An encapsulation representing the error log

◆ GetFilterStatus()

FILTER_STATUS RawDataSensor::GetFilterStatus ( )

Gets the sensor's filter status.

Returns: 0: OFF, 1: ON

◆ GetImmunityLevel()

unsigned int RawDataSensor::GetImmunityLevel ( )

Gets the immunity level.

Returns: An integer representing the immunity level

◆ GetNetworkInformation()

NetworkInformation RawDataSensor::GetNetworkInformation ( )

Gets whole data information.

Returns: An encapsulated way to group the network information

Retrieve version to ensure retro compatibility

◆ GetPacketHeaderSizeToRead()

int RawDataSensor::GetPacketHeaderSizeToRead ( )

Returns a pointer on an array with a determined size.

Returns: A char array

◆ GetPacketLengthToRead()

int RawDataSensor::GetPacketLengthToRead	(	char *	pLenHeaderBuffer,
		int	pPacketType )

Retrieve, in the pHeaderBuffer, the amount of data to read.

Parameters

pHeaderBuffer
pPacketType	RAW data (2) or Command data (4) ?

Returns: The amount of data to read

◆ GetRawDataExchangeMode()

PROTOCOL RawDataSensor::GetRawDataExchangeMode ( )

Get the raw data exchange mode.

Returns: TCP or UDP

◆ GetRuntimeHours()

long RawDataSensor::GetRuntimeHours ( )

Gets the sensor runtime hours.

Returns: A long representing the sensor's runtime hours

◆ GetScanningDirection()

SCANNING_DIRECTION RawDataSensor::GetScanningDirection ( )

SensorResolutionFrequencyEnum Gets the scanning direction.

Gets the scanning direction.

Returns: CLOCKWISE or COUNTER_CLOCKWISE

◆ GetSensorLamps()

SensorLamps RawDataSensor::GetSensorLamps ( )

Gets the sensor lamps status.

Returns: An encapsulation of the sensor's internal lamps status

◆ GetSensorLeds()

SensorLeds RawDataSensor::GetSensorLeds ( )

Gets the sensor's leds status.

Returns: An encapsulation representing the sensor's leds status

◆ GetSkipScan()

unsigned int RawDataSensor::GetSkipScan ( )

Gets the skip scan.

Returns: An integer representing the skip scan

◆ GetTemperature()

int RawDataSensor::GetTemperature ( )

Gets the temperature.

Returns: An integer representing the sensor's temperature

◆ GetVersion()

SoftwareVersion RawDataSensor::GetVersion ( )

Gets the sensor version data.

Returns: An encapsulation representing the sensor version

◆ GetWindowCalibrationStatus()

WINDOW_CALIBRATION RawDataSensor::GetWindowCalibrationStatus ( )

Gets the window calibration status.

Returns: PROCESSING, DONE or FAILED

◆ Initialize()

CommunicationStatus RawDataSensor::Initialize ( )

Initializes the object to connect the sensor.

◆ IsCommandAcknowledgment()

bool RawDataSensor::IsCommandAcknowledgment ( string pDataToVerify )

Check if data is a command acknowledgment.

Parameters

pDataToVerify The string to be checked

Returns: true if verified

◆ IsEndOfPacket()

bool RawDataSensor::IsEndOfPacket ( string pDataToVerify )

Check if the data is an end of packet group.

Parameters

pDataToVerify The string to be checked

Returns: true if verified

◆ IsFirstPacket()

bool RawDataSensor::IsFirstPacket ( string pDataToVerify )

Check if the data is the first packet group.

Parameters

pDataToVerify The string to be checked

Returns: true if verified

◆ IsHeader()

bool RawDataSensor::IsHeader ( string pDataToVerify )

Check if data is a HEADER.

Parameters

pDataToVerify The string to be checked

Returns: true if verified

◆ RebootDevice()

void RawDataSensor::RebootDevice ( )

Reboots the device.

◆ ResetDevice()

void RawDataSensor::ResetDevice ( )

Resets the device.

◆ RetrieveRawData()

RawData RawDataSensor::RetrieveRawData ( )

Wait for Raw Data availability.

Returns: A pointer to the dequeued raw data

◆ SendMdi()

void RawDataSensor::SendMdi ( )

Request the sensor to start sending MDI data to host.

◆ SetAngleRange()

ConfigurationResult RawDataSensor::SetAngleRange ( AngleRange pAngleRange )

Sets the Angle range (start and stop)

Parameters

pAngleRange The encapsulation of the angle range to be set

Returns: A configuration result encapsulation

◆ SetAngularResolution()

ConfigurationResult RawDataSensor::SetAngularResolution ( SensorResolutionFrequencyEnum pResolution )

Sets the angle resolution. Can be either 80Hz or 40Hz.

Parameters

pResolution

Returns: A configuration result encapsulation

◆ SetContaminationThreshold()

ConfigurationResult RawDataSensor::SetContaminationThreshold ( ContaminationThreshold pContaminationThreshold )

Sets the contamination level threshold for warning and error.

Parameters

pContaminationThreshold The encapsulation of contamination leve threshold

Returns: A configuration result encapsulation

◆ SetDataPacketType()

ConfigurationResult RawDataSensor::SetDataPacketType ( SCAN_PACKET_TYPE pPacketType )

Sets the packet type returned in raw data. Can be either DISTANCE or DISTANCE_INTENSITY.

Parameters

pPacketType The packet type to be set

Returns: A configuration result encapsulation

◆ SetDeviceName()

ConfigurationResult RawDataSensor::SetDeviceName ( string pName )

Sets the sensor's name.

Returns: A string representing the sensor's name

◆ SetFilterStatus()

ConfigurationResult RawDataSensor::SetFilterStatus ( FILTER_STATUS pFilterStatus )

Sets the sensor's filter status.

Parameters

pFilterStatus FILTER_ON or FILTER_OFF will enable / disable the filter

Returns

◆ SetImmunityLevel()

ConfigurationResult RawDataSensor::SetImmunityLevel ( int pImmunityLevel )

Sets the sensor's immunity level.

Parameters

pImmunityLevel The immunity level to be set

Returns: A configuration result encapsulation

◆ SetNetworkInformation()

ConfigurationResult RawDataSensor::SetNetworkInformation ( NetworkInformation pNetwork )

Set the overall network information except IP v4 and Port.

Parameters

pNetwork An encapsulation of the network data

Returns: A configuration result encapsulation

◆ SetRawDataExchangeMode()

ConfigurationResult RawDataSensor::SetRawDataExchangeMode ( PROTOCOL pProtocol )

Sets the RAW data exchange mode. Can be either TCP or UDP.

Parameters

pProtocol The exchange mode (TCP or UDP)

Returns: A configuration result encapsulation

◆ SetScanningDirection()

ConfigurationResult RawDataSensor::SetScanningDirection ( SCANNING_DIRECTION pScanDirection )

Sets the scanning direction. Can be either CLOCKWISE or COUNTER_CLOCKWISE.

Parameters

pScanDirection

Returns: A configuration result encapsulation

◆ SetSensorLeds()

ConfigurationResult RawDataSensor::SetSensorLeds ( SensorLeds pLeds )

Sets the sensors external leds status (ON or OFF)

Parameters

pLeds The encapsulation of the leds to be set

Returns: A configuration result encapsulation

◆ SetSkipScan()

ConfigurationResult RawDataSensor::SetSkipScan ( int pSkipScan )

Sets the skip scan.

Parameters

pSkipScan The skip scan value to be set

Returns: A configuration result encapsulation

◆ StartWindowCalibration()

ConfigurationResult RawDataSensor::StartWindowCalibration ( )

Starts the window calibration.

Returns

◆ StopMdi()

void RawDataSensor::StopMdi ( )

Request the sensor to stop sending MDI data to host.

Friends And Related Symbol Documentation

◆ AgvSensor

friend class AgvSensor

friend

Member Data Documentation

◆ GetImmu

string RawDataSensor::GetImmu = { 0x47 ,0x65 ,0x74 ,0x49, 0x6D, 0x6D, 0x75 }

protected

◆ SetImmu

string RawDataSensor::SetImmu = { 0x53, 0x65, 0x74, 0x49, 0x6D, 0x6D, 0x75 }

protected

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

RawDataSensor.h
RawDataSensor.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ RawDataSensor() [1/2]

◆ ~RawDataSensor()

◆ RawDataSensor() [2/2]

Member Function Documentation

◆ Close()

◆ CountToReadForLength()

◆ ExtractCommandResult()

◆ ExtractData()

◆ GetAngleRange()

◆ GetAngularResolution()

◆ GetContaminationStatus()

◆ GetContaminationThreshold()

◆ GetDataPacketType()

◆ GetDeviceName()

◆ GetErrorLog()

◆ GetFilterStatus()

◆ GetImmunityLevel()

◆ GetNetworkInformation()

◆ GetPacketHeaderSizeToRead()

◆ GetPacketLengthToRead()

◆ GetRawDataExchangeMode()

◆ GetRuntimeHours()

◆ GetScanningDirection()

◆ GetSensorLamps()

◆ GetSensorLeds()

◆ GetSkipScan()

◆ GetTemperature()

◆ GetVersion()

◆ GetWindowCalibrationStatus()

◆ Initialize()

◆ IsCommandAcknowledgment()

◆ IsEndOfPacket()

◆ IsFirstPacket()

◆ IsHeader()

◆ RebootDevice()

◆ ResetDevice()

◆ RetrieveRawData()

◆ SendMdi()

◆ SetAngleRange()

◆ SetAngularResolution()

◆ SetContaminationThreshold()

◆ SetDataPacketType()

◆ SetDeviceName()

◆ SetFilterStatus()

◆ SetImmunityLevel()

◆ SetNetworkInformation()

◆ SetRawDataExchangeMode()

◆ SetScanningDirection()

◆ SetSensorLeds()

◆ SetSkipScan()

◆ StartWindowCalibration()

◆ StopMdi()

Friends And Related Symbol Documentation

◆ AgvSensor

Member Data Documentation

◆ GetImmu

◆ SetImmu