Class nebula::drivers::RobosenseHwInterface

ClassList > nebula > drivers > RobosenseHwInterface

Hardware interface of Robosense driver.

• #include <robosense_hw_interface.hpp>

Public Functions

Type	Name
	RobosenseHwInterface () Constructor.
Status	info_interface_start () Starting the interface that handles UDP streams for DIFOP packets.
void	receive_info_packet_callback (std::vector< uint8_t > & buffer) Callback function to receive the Info Packet data from the UDP Driver.
void	receive_sensor_packet_callback (std::vector< uint8_t > & buffer) Callback function to receive the Cloud Packet data from the UDP Driver.
Status	register_info_callback (std::function< void(std::vector< uint8_t > &)> info_callback) Registering callback for RobosensePacket.
Status	register_scan_callback (std::function< void(std::vector< uint8_t > &)> scan_callback) Registering callback for RobosenseScan.
Status	sensor_interface_start () Starting the interface that handles UDP streams for MSOP packets.
void	set_logger (std::shared_ptr< rclcpp::Logger > logger) Setting rclcpp::Logger.
Status	set_sensor_configuration (std::shared_ptr< const RobosenseSensorConfiguration > sensor_configuration) Setting sensor configuration.

Public Functions Documentation

function RobosenseHwInterface

Constructor.

nebula::drivers::RobosenseHwInterface::RobosenseHwInterface () 

---

function info_interface_start

Starting the interface that handles UDP streams for DIFOP packets.

Status nebula::drivers::RobosenseHwInterface::info_interface_start () 

Returns:

Resulting status

---

function receive_info_packet_callback

Callback function to receive the Info Packet data from the UDP Driver.

void nebula::drivers::RobosenseHwInterface::receive_info_packet_callback (
    std::vector< uint8_t > & buffer
) 

Parameters:

• buffer Buffer containing the data received from the UDP socket

---

function receive_sensor_packet_callback

Callback function to receive the Cloud Packet data from the UDP Driver.

void nebula::drivers::RobosenseHwInterface::receive_sensor_packet_callback (
    std::vector< uint8_t > & buffer
) 

Parameters:

• buffer Buffer containing the data received from the UDP socket

---

function register_info_callback

Registering callback for RobosensePacket.

Status nebula::drivers::RobosenseHwInterface::register_info_callback (
    std::function< void(std::vector< uint8_t > &)> info_callback
) 

Parameters:

• scan_callback Callback function

Returns:

Resulting status

---

function register_scan_callback

Registering callback for RobosenseScan.

Status nebula::drivers::RobosenseHwInterface::register_scan_callback (
    std::function< void(std::vector< uint8_t > &)> scan_callback
) 

Parameters:

• scan_callback Callback function

Returns:

Resulting status

---

function sensor_interface_start

Starting the interface that handles UDP streams for MSOP packets.

Status nebula::drivers::RobosenseHwInterface::sensor_interface_start () 

Returns:

Resulting status

---

function set_logger

Setting rclcpp::Logger.

void nebula::drivers::RobosenseHwInterface::set_logger (
    std::shared_ptr< rclcpp::Logger > logger
) 

Parameters:

• node Logger

---

function set_sensor_configuration

Setting sensor configuration.

Status nebula::drivers::RobosenseHwInterface::set_sensor_configuration (
    std::shared_ptr< const RobosenseSensorConfiguration > sensor_configuration
) 

Parameters:

• sensor_configuration SensorConfiguration for this interface

Returns:

Resulting status

---

---

The documentation for this class was generated from the following file nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_robosense/robosense_hw_interface.hpp