rl::hal::LeuzeRs4 Class Reference

Leuze RS4 safety laser scanner. More...

#include <LeuzeRs4.h>

Inheritance diagram for rl::hal::LeuzeRs4:

Public Types
enum	BaudRate {   BAUDRATE_4800BPS, BAUDRATE_9600BPS, BAUDRATE_19200BPS, BAUDRATE_38400BPS,   BAUDRATE_57600BPS, BAUDRATE_115200BPS, BAUDRATE_345600BPS, BAUDRATE_625000BPS }

Public Member Functions
	LeuzeRs4 (const ::std::string &device="/dev/ttyS0", const BaudRate &baudRate=BAUDRATE_57600BPS, const ::std::string &password="ROD4LE")
virtual	~LeuzeRs4 ()
void	close ()
BaudRate	getBaudRate () const
void	getDistances (::rl::math::Vector &distances) const
::std::size_t	getDistancesCount () const
::rl::math::Real	getDistancesMaximum (const ::std::size_t &i) const
::rl::math::Real	getDistancesMinimum (const ::std::size_t &i) const
::rl::math::Real	getResolution () const
::rl::math::Real	getStartAngle () const
::rl::math::Real	getStopAngle () const
void	open ()
void	reset ()
void	start ()
void	step ()
void	stop ()
Public Member Functions inherited from rl::hal::CyclicDevice
	CyclicDevice (const ::std::chrono::nanoseconds &updateRate)
virtual	~CyclicDevice ()
virtual ::std::chrono::nanoseconds	getUpdateRate () const
Public Member Functions inherited from rl::hal::Device
	Device ()
virtual	~Device ()
bool	isConnected () const
bool	isRunning () const
Public Member Functions inherited from rl::hal::Lidar
	Lidar ()
virtual	~Lidar ()
Public Member Functions inherited from rl::hal::RangeSensor
	RangeSensor ()
virtual	~RangeSensor ()
virtual ::rl::math::Vector	getDistances () const =0

Private Member Functions
::std::uint8_t	crc (const ::std::uint8_t *buf, const ::std::size_t &len) const
const ::std::uint8_t &	get (const ::std::uint8_t *&ptr) const
::std::size_t	recv (uint8_t *buf, const ::std::size_t &len)
void	send (uint8_t *buf, const ::std::size_t &len)
void	set (const ::std::uint8_t &value, ::std::uint8_t *&ptr, ::std::size_t &len) const

Private Attributes
BaudRate	baudRate
::std::array< ::std::uint8_t, 1099 >	data
BaudRate	desired
bool	far1
bool	far2
bool	fn1Fn2
bool	near1
bool	near2
::std::string	password
Serial	serial
::std::uint16_t	startIndex
::std::uint16_t	stepSize
::std::uint16_t	stopIndex
::std::uint16_t	type

Additional Inherited Members
Protected Member Functions inherited from rl::hal::Device
void	setConnected (const bool &connected)
void	setRunning (const bool &running)

Detailed Description

Leuze RS4 safety laser scanner.

Member Enumeration Documentation

BaudRate

enum rl::hal::LeuzeRs4::BaudRate

Enumerator
BAUDRATE_4800BPS	4,800 bps.
BAUDRATE_9600BPS	9,600 bps.
BAUDRATE_19200BPS	19,200 bps.
BAUDRATE_38400BPS	38,400 bps.
BAUDRATE_57600BPS	57,600 bps.
BAUDRATE_115200BPS	115,200 bps.
BAUDRATE_345600BPS	345,600 bps.
BAUDRATE_625000BPS	625,000 bps.

Constructor & Destructor Documentation

LeuzeRs4()

rl::hal::LeuzeRs4::LeuzeRs4	(	const ::std::string &	device = "/dev/ttyS0",
		const BaudRate &	baudRate = BAUDRATE_57600BPS,
		const ::std::string &	password = "ROD4LE"
	)

Parameters

[in]

password

String with 8 characters.

~LeuzeRs4()

rl::hal::LeuzeRs4::~LeuzeRs4 ( )

virtual

Member Function Documentation

close()

void rl::hal::LeuzeRs4::close ( )

virtual

Precondition

stop()

Implements rl::hal::Device.

crc()

std::uint8_t rl::hal::LeuzeRs4::crc ( const ::std::uint8_t *  buf, const ::std::size_t &  len  ) const

private

get()

const ::std::uint8_t & rl::hal::LeuzeRs4::get ( const ::std::uint8_t *&  ptr ) const

private

getBaudRate()

LeuzeRs4::BaudRate rl::hal::LeuzeRs4::getBaudRate

(

)

const

getDistances()

void rl::hal::LeuzeRs4::getDistances

(

::rl::math::Vector &

distances

)

const

getDistancesCount()

std::size_t rl::hal::LeuzeRs4::getDistancesCount ( ) const

virtual

Implements rl::hal::RangeSensor.

getDistancesMaximum()

rl::math::Real rl::hal::LeuzeRs4::getDistancesMaximum ( const ::std::size_t &  i ) const

virtual

Returns

[m]

Implements rl::hal::RangeSensor.

getDistancesMinimum()

rl::math::Real rl::hal::LeuzeRs4::getDistancesMinimum ( const ::std::size_t &  i ) const

virtual

Returns

[m]

Implements rl::hal::RangeSensor.

getResolution()

rl::math::Real rl::hal::LeuzeRs4::getResolution ( ) const

virtual

Implements rl::hal::Lidar.

getStartAngle()

rl::math::Real rl::hal::LeuzeRs4::getStartAngle ( ) const

virtual

Implements rl::hal::Lidar.

getStopAngle()

rl::math::Real rl::hal::LeuzeRs4::getStopAngle ( ) const

virtual

Implements rl::hal::Lidar.

open()

void rl::hal::LeuzeRs4::open ( )

virtual

Implements rl::hal::Device.

recv()

std::size_t rl::hal::LeuzeRs4::recv ( uint8_t *  buf, const ::std::size_t &  len  )

private

reset()

void rl::hal::LeuzeRs4::reset

(

)

send()

void rl::hal::LeuzeRs4::send ( uint8_t *  buf, const ::std::size_t &  len  )

private

set()

void rl::hal::LeuzeRs4::set ( const ::std::uint8_t &  value, ::std::uint8_t *&  ptr, ::std::size_t &  len  ) const

private

start()

void rl::hal::LeuzeRs4::start ( )

virtual

Precondition

open()

Implements rl::hal::Device.

step()

void rl::hal::LeuzeRs4::step ( )

virtual

Precondition

start()

Implements rl::hal::CyclicDevice.

stop()

void rl::hal::LeuzeRs4::stop ( )

virtual

Precondition

open()

Implements rl::hal::Device.

Member Data Documentation

baudRate

BaudRate rl::hal::LeuzeRs4::baudRate

private

data

::std::array< ::std::uint8_t, 1099> rl::hal::LeuzeRs4::data

private

desired

BaudRate rl::hal::LeuzeRs4::desired

private

far1

bool rl::hal::LeuzeRs4::far1

private

far2

bool rl::hal::LeuzeRs4::far2

private

fn1Fn2

bool rl::hal::LeuzeRs4::fn1Fn2

private

near1

bool rl::hal::LeuzeRs4::near1

private

near2

bool rl::hal::LeuzeRs4::near2

private

password

::std::string rl::hal::LeuzeRs4::password

private

serial

Serial rl::hal::LeuzeRs4::serial

private

startIndex

::std::uint16_t rl::hal::LeuzeRs4::startIndex

private

stepSize

::std::uint16_t rl::hal::LeuzeRs4::stepSize

private

stopIndex

::std::uint16_t rl::hal::LeuzeRs4::stopIndex

private

type

::std::uint16_t rl::hal::LeuzeRs4::type

private

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

• rl/hal/LeuzeRs4.h
• rl/hal/LeuzeRs4.cpp