rl::hal::SchmersalLss300 Class Reference

Schmersal LSS 300 safety laser scanner. More...

#include <SchmersalLss300.h>

Inheritance diagram for rl::hal::SchmersalLss300:

Public Types
enum	BaudRate { BAUDRATE_9600BPS, BAUDRATE_19200BPS, BAUDRATE_38400BPS, BAUDRATE_57600BPS }
enum	Monitoring { MONITORING_CONTINUOUS, MONITORING_SINGLE }

Public Member Functions
	SchmersalLss300 (const ::std::string &device="/dev/ttyS0", const BaudRate &baudRate=BAUDRATE_9600BPS, const Monitoring &monitoring=MONITORING_SINGLE, const ::std::string &password="PASS_LSS")
virtual	~SchmersalLss300 ()
void	close ()
BaudRate	getBaudRate () const
::rl::math::Vector	getDistances () 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
Monitoring	getMonitoring () const
::rl::math::Real	getResolution () const
::rl::math::Real	getStartAngle () const
::rl::math::Real	getStopAngle () const
::std::string	getType ()
void	open ()
void	reset ()
void	setBaudRate (const BaudRate &baudRate)
void	setMonitoring (const Monitoring &monitoring)
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 ()

Private Member Functions
::std::uint16_t	crc (const ::std::uint8_t *buf, const ::std::size_t &len) const
::std::size_t	recv (::std::uint8_t *buf, const ::std::size_t &len, const ::std::uint8_t &command)
void	send (::std::uint8_t *buf, const ::std::size_t &len)
bool	waitAck ()

Private Attributes
BaudRate	baudRate
::std::array< ::std::uint8_t, 1013 >	data
BaudRate	desired
Monitoring	monitoring
::std::string	password
Serial	serial

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

Detailed Description

Schmersal LSS 300 safety laser scanner.

Member Enumeration Documentation

BaudRate

enum rl::hal::SchmersalLss300::BaudRate

Enumerator
BAUDRATE_9600BPS	9,600 bps.
BAUDRATE_19200BPS	19,200 bps.
BAUDRATE_38400BPS	38,400 bps.
BAUDRATE_57600BPS	57,600 bps.

Monitoring

enum rl::hal::SchmersalLss300::Monitoring

Enumerator
MONITORING_CONTINUOUS
MONITORING_SINGLE

Constructor & Destructor Documentation

SchmersalLss300()

rl::hal::SchmersalLss300::SchmersalLss300	(	const ::std::string &	device = "/dev/ttyS0",
		const BaudRate &	baudRate = BAUDRATE_9600BPS,
		const Monitoring &	monitoring = MONITORING_SINGLE,
		const ::std::string &	password = "PASS_LSS"
	)

Parameters

[in]

password

String with 8 characters comprising "0...9", "a...z", "A...Z", and "_".

~SchmersalLss300()

rl::hal::SchmersalLss300::~SchmersalLss300 ( )

virtual

Member Function Documentation

close()

void rl::hal::SchmersalLss300::close ( )

virtual

Precondition

stop()

Implements rl::hal::Device.

crc()

std::uint16_t rl::hal::SchmersalLss300::crc ( const ::std::uint8_t *  buf, const ::std::size_t &  len  ) const

private

getBaudRate()

SchmersalLss300::BaudRate rl::hal::SchmersalLss300::getBaudRate

(

)

const

getDistances()

rl::math::Vector rl::hal::SchmersalLss300::getDistances ( ) const

virtual

Parameters

[out]

distances

[m]

Implements rl::hal::RangeSensor.

getDistancesCount()

std::size_t rl::hal::SchmersalLss300::getDistancesCount ( ) const

virtual

Implements rl::hal::RangeSensor.

getDistancesMaximum()

rl::math::Real rl::hal::SchmersalLss300::getDistancesMaximum ( const ::std::size_t &  i ) const

virtual

Returns

[m]

Implements rl::hal::RangeSensor.

getDistancesMinimum()

rl::math::Real rl::hal::SchmersalLss300::getDistancesMinimum ( const ::std::size_t &  i ) const

virtual

Returns

[m]

Implements rl::hal::RangeSensor.

getMonitoring()

SchmersalLss300::Monitoring rl::hal::SchmersalLss300::getMonitoring

(

)

const

getResolution()

rl::math::Real rl::hal::SchmersalLss300::getResolution ( ) const

virtual

Implements rl::hal::Lidar.

getStartAngle()

rl::math::Real rl::hal::SchmersalLss300::getStartAngle ( ) const

virtual

Implements rl::hal::Lidar.

getStopAngle()

rl::math::Real rl::hal::SchmersalLss300::getStopAngle ( ) const

virtual

Implements rl::hal::Lidar.

getType()

std::string rl::hal::SchmersalLss300::getType

(

)

open()

void rl::hal::SchmersalLss300::open ( )

virtual

Implements rl::hal::Device.

recv()

std::size_t rl::hal::SchmersalLss300::recv ( ::std::uint8_t *  buf, const ::std::size_t &  len, const ::std::uint8_t &  command  )

private

reset()

void rl::hal::SchmersalLss300::reset

(

)

send()

void rl::hal::SchmersalLss300::send ( ::std::uint8_t *  buf, const ::std::size_t &  len  )

private

setBaudRate()

void rl::hal::SchmersalLss300::setBaudRate

(

const BaudRate &

baudRate

)

setMonitoring()

void rl::hal::SchmersalLss300::setMonitoring

(

const Monitoring &

monitoring

)

start()

void rl::hal::SchmersalLss300::start ( )

virtual

Precondition

open()

Implements rl::hal::Device.

step()

void rl::hal::SchmersalLss300::step ( )

virtual

Precondition

start()

Implements rl::hal::CyclicDevice.

stop()

void rl::hal::SchmersalLss300::stop ( )

virtual

Precondition

open()

Implements rl::hal::Device.

waitAck()

bool rl::hal::SchmersalLss300::waitAck ( )

private

Member Data Documentation

baudRate

BaudRate rl::hal::SchmersalLss300::baudRate

private

data

::std::array< ::std::uint8_t, 1013> rl::hal::SchmersalLss300::data

private

desired

BaudRate rl::hal::SchmersalLss300::desired

private

monitoring

Monitoring rl::hal::SchmersalLss300::monitoring

private

password

::std::string rl::hal::SchmersalLss300::password

private

serial

Serial rl::hal::SchmersalLss300::serial

private

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

• rl/hal/SchmersalLss300.h
• rl/hal/SchmersalLss300.cpp