#include <AgvSensor.h>

Inheritance diagram for AgvSensor:

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.

ContaminationStatus	GetContaminationStatus ()
	Gets the contamination status.

SoftwareVersion	GetVersion ()
	Gets the sensor version data.

long	GetRuntimeHours ()
	Gets the sensor runtime hours.

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.

WarningSpot	GetWarningSpot ()
	Gets the warning spot value.

UncoverZone	GetUncoverZoneSize ()
	Gets the uncovered zone size.

FieldData	GetField (uint8_t fieldNumber, NativeZoneTypeEnum zone)
	Returns the requested field data.

uint8_t	GetSelectedField ()
	Returns the current selected field data based on inputs.

OnOffDelay	GetOnDelay ()
	Gets ON delay.

OnOffDelay	GetOffDelay ()
	Gets OFF delay.

ActiveLevel	GetOutputActiveLevel ()
	Gets the output active level for 4 outputs.

ActiveLevel	GetOutputStatus ()
	Gets the output active status for 4 outputs.

ActiveLevel	GetInputStatus ()
	Gets the input active status for 4 inputs.

OutputFunction	GetOutputFunction ()
	Gest the output function for 4 outputs.

DefaultValues	GetDefaultValues ()

AgvSensorLeds	GetSensorLeds ()
	Gets the navigation sensor leds status.

SensorLamps	GetSensorLamps ()
	Gets the sensor lamps status.

ConfigurationResult	SetFieldName (FieldName fieldName)
	Sets the field name data.

ConfigurationResult	SetObjectSize (ObjectSize sizeToSet)
	Sets the object size.

ConfigurationResult	SetWarningSpot (WarningSpot spotToSet)
	Sets the warning spots.

ConfigurationResult	SetUncoverZoneSize (UncoverZone uncoverZoneToSet)

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	SetOnDelay (OnOffDelay onDelay)
	Sets the ON delay.

ConfigurationResult	SetOffDelay (OnOffDelay offDelay)
	Sets the OFF delay.

ConfigurationResult	SetOutputActiveLevel (ActiveLevel activeLevel)
	Sets the output active level.

ConfigurationResult	SetOutputFunction (OutputFunction function)
	Sets the output function.

ConfigurationResult	SetInputControlModeStatus (NativeInputControleModeStatus controlMode)
	Sets the input control mode.

ConfigurationResult	SetInputsValue (NativeActiveLevelEnum input1, NativeActiveLevelEnum input2, NativeActiveLevelEnum input3, NativeActiveLevelEnum input4)
	Sets the input values.

ConfigurationResult	SetSensorLeds (AgvSensorLeds leds)
	Sets the sensor's leds.

ConfigurationResult	StoreInFlash ()
	Store fields in the flash.

uint16_t	GetPlatformVersion ()
	Gets the platform version.

NativeInputControleModeStatus	GetInputControlModeStatus ()
	Gets the input controle mode status.

void	StartLearning (uint8_t fieldNumber, NativeZoneTypeEnum zone, uint16_t uncover, NativeObjSizeEnum objectSize)
	Starts the field learning.

void	StopLearning ()
	Stops the learning.

void	AbortLearning ()
	Aborts the learning.

NativeFieldLearningStatus	GetLearningStatus ()
	Gets the actual learning status.

uint16_t	GetLearningErrorCode ()
	Gets the Learning error code.

NativeAbortStatus	GetAbortStatus ()
	Gets the learning abort status.

string	RequestChallenge ()
	Request the challenge to the sensor.

ConfigurationResult	SendCypher (string cypher)
	Sends the cypher to the sensor.

NativeZoneModeEnum	GetZone1Mode ()
	Getsq the Zone1Mode parameter.

ConfigurationResult	SetZone1Mode (NativeZoneModeEnum mode)
	Sets The Zone1Mode parameter.

void	ResetAllFields ()
	Resets all fields to MAXVALUE.

Constructor & Destructor Documentation

◆ AgvSensor() [1/2]

AgvSensor::AgvSensor ( )

Base constructor.

◆ ~AgvSensor()

AgvSensor::~AgvSensor ( )

Destructor (disconects the data sensor)

◆ AgvSensor() [2/2]

AgvSensor::AgvSensor ( BaseCommunication * comm )

Copy constructor: sets the basic communication object.

Parameters

comm	The basic communication object

Member Function Documentation

◆ AbortLearning()

void AgvSensor::AbortLearning ( )

Aborts the learning.

◆ Close()

void AgvSensor::Close ( )

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

◆ GetAbortStatus()

NativeAbortStatus AgvSensor::GetAbortStatus ( )

Gets the learning abort status.

Returns: a enum containing the abort status

◆ GetAngleRange()

AngleRange AgvSensor::GetAngleRange ( )

Gets the angle range.

Returns: An encapsulation of angle range

◆ GetContaminationStatus()

ContaminationStatus AgvSensor::GetContaminationStatus ( )

Gets the contamination status.

Returns: An ContaminationStatus representing the contamination status

◆ GetContaminationThreshold()

ContaminationThreshold AgvSensor::GetContaminationThreshold ( )

Gets the contamination threshold.

Returns: An encapsulation of the contamination threshold

◆ GetDataPacketType()

SCAN_PACKET_TYPE AgvSensor::GetDataPacketType ( )

Gets the data packed type.

Returns: DISTANCE or DISTANCE_INTENSITY

◆ GetDefaultValues()

DefaultValues AgvSensor::GetDefaultValues ( )

◆ GetDeviceName()

string AgvSensor::GetDeviceName ( )

Gets the sensor's name.

Returns: A string representing the sensor's name

◆ GetErrorLog()

vector< RawDataError > AgvSensor::GetErrorLog ( )

Gets the error log.

Returns: An encapsulation representing the error log

◆ GetField()

FieldData AgvSensor::GetField	(	uint8_t	fieldNumber,
		NativeZoneTypeEnum	zone )

Returns the requested field data.

Parameters

fieldNumber	The field number we want to retrieve
zone	The zone type (Near, Middle, Far)

Returns: An object encapsulating the results

◆ GetFieldName()

FieldName AgvSensor::GetFieldName ( int fieldSetNumber )

Gets the field name for a given field number.

Parameters

fieldSetNumber The fieldset number to retrieve

Returns: An encapsulation of date

◆ GetImmunityLevel()

unsigned int AgvSensor::GetImmunityLevel ( )

Gets the immunity level.

Returns: An integer representing the immunity level

◆ GetInputControlModeStatus()

NativeInputControleModeStatus AgvSensor::GetInputControlModeStatus ( )

Gets the input controle mode status.

Returns: a enum containing the status

◆ GetInputStatus()

ActiveLevel AgvSensor::GetInputStatus ( )

Gets the input active status for 4 inputs.

Returns: An object encapsulating the statuses

◆ GetLearningErrorCode()

uint16_t AgvSensor::GetLearningErrorCode ( )

Gets the Learning error code.

Returns: a uint16_t containing the learning error code

◆ GetLearningStatus()

NativeFieldLearningStatus AgvSensor::GetLearningStatus ( )

Gets the actual learning status.

Returns: An enum

◆ GetNetworkInformation()

NetworkInformation AgvSensor::GetNetworkInformation ( )

Gets whole data information.

Returns: An encapsulated way to group the network information

◆ GetObjectSize()

ObjectSize AgvSensor::GetObjectSize ( )

Gets the object size.

Returns: An encapsulation of enums

◆ GetOffDelay()

OnOffDelay AgvSensor::GetOffDelay ( )

Gets OFF delay.

Returns

◆ GetOnDelay()

OnOffDelay AgvSensor::GetOnDelay ( )

Gets ON delay.

Returns

◆ GetOutputActiveLevel()

ActiveLevel AgvSensor::GetOutputActiveLevel ( )

Gets the output active level for 4 outputs.

Returns: An object encapsulating the levels

◆ GetOutputFunction()

OutputFunction AgvSensor::GetOutputFunction ( )

Gest the output function for 4 outputs.

Returns: An object encapsulating the functions

◆ GetOutputStatus()

ActiveLevel AgvSensor::GetOutputStatus ( )

Gets the output active status for 4 outputs.

Returns: An object encapsulating the statuses

◆ GetPlatformVersion()

uint16_t AgvSensor::GetPlatformVersion ( )

Gets the platform version.

Returns: a uint16_t containing the version number

Gets the platform version

Returns: a uint16_t containing the version number

◆ GetRawDataExchangeMode()

PROTOCOL AgvSensor::GetRawDataExchangeMode ( )

Get the raw data exchange mode.

Returns: TCP or UDP

◆ GetRuntimeHours()

long AgvSensor::GetRuntimeHours ( )

Gets the sensor runtime hours.

Returns: A long representing the sensor's runtime hours

◆ GetSelectedField()

uint8_t AgvSensor::GetSelectedField ( )

Returns the current selected field data based on inputs.

Returns: The field number

◆ GetSensorLamps()

SensorLamps AgvSensor::GetSensorLamps ( )

Gets the sensor lamps status.

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

◆ GetSensorLeds()

AgvSensorLeds AgvSensor::GetSensorLeds ( )

Gets the navigation sensor leds status.

◆ GetTemperature()

int AgvSensor::GetTemperature ( )

Gets the temperature.

Returns: An integer representing the sensor's temperature

◆ GetUncoverZoneSize()

UncoverZone AgvSensor::GetUncoverZoneSize ( )

Gets the uncovered zone size.

Returns: An encapsulation of enums

◆ GetVersion()

SoftwareVersion AgvSensor::GetVersion ( )

Gets the sensor version data.

Returns: An encapsulation representing the sensor version

◆ GetWarningSpot()

WarningSpot AgvSensor::GetWarningSpot ( )

Gets the warning spot value.

Returns

◆ GetWms()

vector< unsigned int > AgvSensor::GetWms ( )

Returns the window monitoring system of each sector (SECTORS_COUNT sectors - 132 -)

Returns

◆ GetZone1Mode()

NativeZoneModeEnum AgvSensor::GetZone1Mode ( )

Getsq the Zone1Mode parameter.

Returns

◆ Initialize()

CommunicationStatus AgvSensor::Initialize ( )

Initializes the object to connect the sensor.

◆ RebootDevice()

void AgvSensor::RebootDevice ( )

Reboots the device.

◆ RequestChallenge()

string AgvSensor::RequestChallenge ( )

Request the challenge to the sensor.

Returns

◆ ResetAllFields()

void AgvSensor::ResetAllFields ( )

Resets all fields to MAXVALUE.

◆ ResetDevice()

void AgvSensor::ResetDevice ( )

Resets the device.

◆ RetrieveRawData()

RawData AgvSensor::RetrieveRawData ( )

Wait for Raw Data availability.

Returns: A pointer to the dequeued raw data

◆ SendCypher()

ConfigurationResult AgvSensor::SendCypher ( string cypher )

Sends the cypher to the sensor.

Parameters

cypher

Returns

◆ SendMdi()

void AgvSensor::SendMdi ( )

Request the sensor to start sending MDI data to host.

◆ SetAngleRange()

ConfigurationResult AgvSensor::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

◆ SetContaminationThreshold()

ConfigurationResult AgvSensor::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 AgvSensor::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 AgvSensor::SetDeviceName ( string pName )

Sets the sensor's name.

Returns: A string representing the sensor's name

◆ SetField()

ConfigurationResult AgvSensor::SetField ( FieldData data )

Set the requested field data.

Returns: A configuration result encapsulation

◆ SetFieldName()

ConfigurationResult AgvSensor::SetFieldName ( FieldName fieldName )

Sets the field name data.

Parameters

fieldName

Returns: A configuration result encapsulation

◆ SetHoldTime()

ConfigurationResult AgvSensor::SetHoldTime ( HoldTime holdTime )

Sets the Hold time.

Returns: A configuration result encapsulation

◆ SetImmunityLevel()

ConfigurationResult AgvSensor::SetImmunityLevel ( int pImmunityLevel )

Sets the sensor's immunity level.

Parameters

pImmunityLevel The immunity level to be set

Returns: A configuration result encapsulation

◆ SetInputControlModeStatus()

ConfigurationResult AgvSensor::SetInputControlModeStatus ( NativeInputControleModeStatus controlMode )

Sets the input control mode.

Parameters

controlMode

Returns: A configuration result encapsulation

◆ SetInputsValue()

ConfigurationResult AgvSensor::SetInputsValue	(	NativeActiveLevelEnum	input1,
		NativeActiveLevelEnum	input2,
		NativeActiveLevelEnum	input3,
		NativeActiveLevelEnum	input4 )

Sets the input values.

Sets the input control mode.

Parameters

input1
input2
input3
input4

Returns: A configuration result encapsulation

Parameters

controlMode

Returns: A configuration result encapsulation

◆ SetMultipleSampling()

ConfigurationResult AgvSensor::SetMultipleSampling ( MultipleSampling sampling )

Sets the multiple sampling.

Parameters

sampling

Returns: A configuration result encapsulation

◆ SetNetworkInformation()

ConfigurationResult AgvSensor::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

◆ SetObjectSize()

ConfigurationResult AgvSensor::SetObjectSize ( ObjectSize sizeToSet )

Sets the object size.

Parameters

sizeToSet

Returns: A configuration result encapsulation

◆ SetOffDelay()

ConfigurationResult AgvSensor::SetOffDelay ( OnOffDelay offDelay )

Sets the OFF delay.

Returns: A configuration result encapsulation

◆ SetOnDelay()

ConfigurationResult AgvSensor::SetOnDelay ( OnOffDelay onDelay )

Sets the ON delay.

Returns: A configuration result encapsulation

◆ SetOutputActiveLevel()

ConfigurationResult AgvSensor::SetOutputActiveLevel ( ActiveLevel activeLevel )

Sets the output active level.

Parameters

activeLevel

Returns: A configuration result encapsulation

◆ SetOutputFunction()

ConfigurationResult AgvSensor::SetOutputFunction ( OutputFunction function )

Sets the output function.

Parameters

function

Returns: A configuration result encapsulation

◆ SetRawDataExchangeMode()

ConfigurationResult AgvSensor::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

◆ SetSensorLeds()

ConfigurationResult AgvSensor::SetSensorLeds ( AgvSensorLeds leds )

Sets the sensor's leds.

Parameters

leds

Returns: A configuration result encapsulation

◆ SetUncoverZoneSize()

ConfigurationResult AgvSensor::SetUncoverZoneSize ( UncoverZone sizeToSet )

Sets the object size

Parameters

uncoverZoneToSet

Returns: A configuration result encapsulation

◆ SetWarningSpot()

ConfigurationResult AgvSensor::SetWarningSpot ( WarningSpot spotToSet )

Sets the warning spots.

Parameters

sportToSet

Returns: A configuration result encapsulation

Parameters

spotToSet

Returns: A configuration result encapsulation

◆ SetZone1Mode()

ConfigurationResult AgvSensor::SetZone1Mode ( NativeZoneModeEnum mode )

Sets The Zone1Mode parameter.

Parameters

mode	An enumeration indicating the mode

Returns

◆ StartLearning()

void AgvSensor::StartLearning	(	uint8_t	fieldNumber,
		NativeZoneTypeEnum	zone,
		uint16_t	uncover,
		NativeObjSizeEnum	objectSize )

Starts the field learning.

Parameters

fieldNumber	The field number on which the learning may be started
zone	The zone
uncover	Yhe uncover distance (from 0 to 500mm)
objectSize	The objecti size enum

◆ StopLearning()

void AgvSensor::StopLearning ( )

Stops the learning.

◆ StopMdi()

void AgvSensor::StopMdi ( )

Request the sensor to stop sending MDI data to host.

◆ StoreInFlash()

ConfigurationResult AgvSensor::StoreInFlash ( )

Store fields in the flash.

Returns: A configuration result encapsulation

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

AgvSensor.h
AgvSensor.cpp

Public Member Functions

Constructor & Destructor Documentation

◆ AgvSensor() [1/2]

◆ ~AgvSensor()

◆ AgvSensor() [2/2]

Member Function Documentation

◆ AbortLearning()

◆ Close()

◆ GetAbortStatus()

◆ GetAngleRange()

◆ GetContaminationStatus()

◆ GetContaminationThreshold()

◆ GetDataPacketType()

◆ GetDefaultValues()

◆ GetDeviceName()

◆ GetErrorLog()

◆ GetField()

◆ GetFieldName()

◆ GetImmunityLevel()

◆ GetInputControlModeStatus()

◆ GetInputStatus()

◆ GetLearningErrorCode()

◆ GetLearningStatus()

◆ GetNetworkInformation()

◆ GetObjectSize()

◆ GetOffDelay()

◆ GetOnDelay()

◆ GetOutputActiveLevel()

◆ GetOutputFunction()

◆ GetOutputStatus()

◆ GetPlatformVersion()

◆ GetRawDataExchangeMode()

◆ GetRuntimeHours()

◆ GetSelectedField()

◆ GetSensorLamps()

◆ GetSensorLeds()

◆ GetTemperature()

◆ GetUncoverZoneSize()

◆ GetVersion()

◆ GetWarningSpot()

◆ GetWms()

◆ GetZone1Mode()

◆ Initialize()

◆ RebootDevice()

◆ RequestChallenge()

◆ ResetAllFields()

◆ ResetDevice()

◆ RetrieveRawData()

◆ SendCypher()

◆ SendMdi()

◆ SetAngleRange()

◆ SetContaminationThreshold()

◆ SetDataPacketType()

◆ SetDeviceName()

◆ SetField()

◆ SetFieldName()

◆ SetHoldTime()

◆ SetImmunityLevel()

◆ SetInputControlModeStatus()

◆ SetInputsValue()

◆ SetMultipleSampling()

◆ SetNetworkInformation()

◆ SetObjectSize()

◆ SetOffDelay()

◆ SetOnDelay()

◆ SetOutputActiveLevel()

◆ SetOutputFunction()

◆ SetRawDataExchangeMode()

◆ SetSensorLeds()

◆ SetUncoverZoneSize()

◆ SetWarningSpot()

◆ SetZone1Mode()

◆ StartLearning()

◆ StopLearning()

◆ StopMdi()

◆ StoreInFlash()