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Class nebula::drivers::VelodyneHwInterface

ClassList > nebula > drivers > VelodyneHwInterface

Hardware interface of velodyne driver.

  • #include <velodyne_hw_interface.hpp>

Public Functions

Type Name
VelodyneHwInterface ()
Constructor.
Status get_calibration_configuration (CalibrationConfigurationBase & calibration_configuration)
Printing calibration configuration.
std::string get_diag ()
Getting diagnostic information from the sensor (sync)
Status get_sensor_configuration (SensorConfigurationBase & sensor_configuration)
Printing sensor configuration.
std::string get_snapshot ()
Getting current sensor configuration and status data (sync)
std::string get_status ()
Getting the current operational state and parameters of the sensor (sync)
VelodyneStatus init_http_client ()
Initializing HTTP client (sync)
Status initialize_sensor_configuration (std::shared_ptr< const VelodyneSensorConfiguration > sensor_configuration)
Initializing sensor configuration.
VelodyneStatus laser_off ()
Turn laser state off (sync)
VelodyneStatus laser_on ()
Turn laser state on (sync)
VelodyneStatus laser_on_off (bool on)
Turn laser state on/off (sync)
boost::property_tree::ptree parse_json (const std::string & str)
Parsing JSON string to property_tree.
void receive_sensor_packet_callback (std::vector< uint8_t > & buffer)
Callback function to receive the Cloud Packet data from the UDP Driver.
Status register_scan_callback (std::function< void(std::vector< uint8_t > &packet)> scan_callback)
Registering callback for PandarScan.
VelodyneStatus reset_system ()
Resets the sensor (sync)
VelodyneStatus save_config ()
Save Configuration to the LiDAR memory (sync)
Status sensor_interface_start ()
Starting the interface that handles UDP streams.
Status sensor_interface_stop ()
Function for stopping the interface that handles UDP streams.
VelodyneStatus set_fov_end (uint16_t fov_end)
Setting Field of View End (sync)
VelodyneStatus set_fov_start (uint16_t fov_start)
Setting Field of View Start (sync)
VelodyneStatus set_host_addr (std::string addr)
Setting host (destination) IP address (sync)
VelodyneStatus set_host_dport (uint16_t dport)
Setting host (destination) data port (sync)
VelodyneStatus set_host_tport (uint16_t tport)
Setting host (destination) telemetry port (sync)
void set_logger (std::shared_ptr< rclcpp::Logger > node)
Setting rclcpp::Logger.
VelodyneStatus set_net_addr (std::string addr)
Setting network (sensor) IP address (sync)
VelodyneStatus set_net_dhcp (bool use_dhcp)
This determines if the sensor is to rely on a DHCP server for its IP address (sync)
VelodyneStatus set_net_gateway (std::string gateway)
Setting the gateway address of the sensor (sync)
VelodyneStatus set_net_mask (std::string mask)
Setting the network mask of the sensor (sync)
VelodyneStatus set_return_type (ReturnMode return_mode)
Setting Return Type (sync)
VelodyneStatus set_rpm (uint16_t rpm)
Setting Motor RPM (sync)
Status set_sensor_configuration (std::shared_ptr< const VelodyneSensorConfiguration > sensor_configuration)
Setting sensor configuration with InitializeSensorConfiguration & CheckAndSetConfigBySnapshotAsync.

Public Functions Documentation

function VelodyneHwInterface

nebula::drivers::VelodyneHwInterface::VelodyneHwInterface ()

function get_calibration_configuration

Printing calibration configuration. 

Status nebula::drivers::VelodyneHwInterface::get_calibration_configuration (
    CalibrationConfigurationBase & calibration_configuration
)

Parameters:

  • calibration_configuration CalibrationConfiguration for the checking

Returns:

Resulting status

function get_diag

Getting diagnostic information from the sensor (sync) 

std::string nebula::drivers::VelodyneHwInterface::get_diag ()

Returns:

Resulting JSON string

function get_sensor_configuration

Printing sensor configuration. 

Status nebula::drivers::VelodyneHwInterface::get_sensor_configuration (
    SensorConfigurationBase & sensor_configuration
)

Parameters:

  • sensor_configuration SensorConfiguration for this interface

Returns:

Resulting status

function get_snapshot

Getting current sensor configuration and status data (sync) 

std::string nebula::drivers::VelodyneHwInterface::get_snapshot ()

Returns:

Resulting JSON string

function get_status

Getting the current operational state and parameters of the sensor (sync) 

std::string nebula::drivers::VelodyneHwInterface::get_status ()

Returns:

Resulting JSON string

function init_http_client

Initializing HTTP client (sync) 

VelodyneStatus nebula::drivers::VelodyneHwInterface::init_http_client ()

Returns:

Resulting status

function initialize_sensor_configuration

Initializing sensor configuration. 

Status nebula::drivers::VelodyneHwInterface::initialize_sensor_configuration (
    std::shared_ptr< const VelodyneSensorConfiguration > sensor_configuration
)

Parameters:

  • sensor_configuration SensorConfiguration for this interface

Returns:

Resulting status

function laser_off

Turn laser state off (sync) 

VelodyneStatus nebula::drivers::VelodyneHwInterface::laser_off ()

Returns:

Resulting status

function laser_on

Turn laser state on (sync) 

VelodyneStatus nebula::drivers::VelodyneHwInterface::laser_on ()

Returns:

Resulting status

function laser_on_off

Turn laser state on/off (sync) 

VelodyneStatus nebula::drivers::VelodyneHwInterface::laser_on_off (
    bool on
)

Parameters:

  • on is ON

Returns:

Resulting status

function parse_json

Parsing JSON string to property_tree. 

boost::property_tree::ptree nebula::drivers::VelodyneHwInterface::parse_json (
    const std::string & str
)

Parameters:

  • str JSON string

Returns:

property_tree

function receive_sensor_packet_callback

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

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

Parameters:

  • buffer Buffer containing the data received from the UDP socket

function register_scan_callback

Registering callback for PandarScan. 

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

Parameters:

  • scan_callback Callback function

Returns:

Resulting status

function reset_system

Resets the sensor (sync) 

VelodyneStatus nebula::drivers::VelodyneHwInterface::reset_system ()

Returns:

Resulting status

function save_config

Save Configuration to the LiDAR memory (sync) 

VelodyneStatus nebula::drivers::VelodyneHwInterface::save_config ()

Returns:

Resulting status

function sensor_interface_start

Starting the interface that handles UDP streams. 

Status nebula::drivers::VelodyneHwInterface::sensor_interface_start ()

Returns:

Resulting status

function sensor_interface_stop

Function for stopping the interface that handles UDP streams. 

Status nebula::drivers::VelodyneHwInterface::sensor_interface_stop ()

Returns:

Resulting status

function set_fov_end

Setting Field of View End (sync) 

VelodyneStatus nebula::drivers::VelodyneHwInterface::set_fov_end (
    uint16_t fov_end
)

Parameters:

  • fov_end FOV end

Returns:

Resulting status

function set_fov_start

Setting Field of View Start (sync) 

VelodyneStatus nebula::drivers::VelodyneHwInterface::set_fov_start (
    uint16_t fov_start
)

Parameters:

  • fov_start FOV start

Returns:

Resulting status

function set_host_addr

Setting host (destination) IP address (sync) 

VelodyneStatus nebula::drivers::VelodyneHwInterface::set_host_addr (
    std::string addr
)

Parameters:

  • addr destination IP address

Returns:

Resulting status

function set_host_dport

Setting host (destination) data port (sync) 

VelodyneStatus nebula::drivers::VelodyneHwInterface::set_host_dport (
    uint16_t dport
)

Parameters:

  • dport destination data port

Returns:

Resulting status

function set_host_tport

Setting host (destination) telemetry port (sync) 

VelodyneStatus nebula::drivers::VelodyneHwInterface::set_host_tport (
    uint16_t tport
)

Parameters:

  • tport destination telemetry port

Returns:

Resulting status

function set_logger

Setting rclcpp::Logger. 

void nebula::drivers::VelodyneHwInterface::set_logger (
    std::shared_ptr< rclcpp::Logger > node
)

Parameters:

  • node Logger

function set_net_addr

Setting network (sensor) IP address (sync) 

VelodyneStatus nebula::drivers::VelodyneHwInterface::set_net_addr (
    std::string addr
)

Parameters:

  • addr sensor IP address

Returns:

Resulting status

function set_net_dhcp

This determines if the sensor is to rely on a DHCP server for its IP address (sync) 

VelodyneStatus nebula::drivers::VelodyneHwInterface::set_net_dhcp (
    bool use_dhcp
)

Parameters:

  • use_dhcp DHCP on

Returns:

Resulting status

function set_net_gateway

Setting the gateway address of the sensor (sync) 

VelodyneStatus nebula::drivers::VelodyneHwInterface::set_net_gateway (
    std::string gateway
)

Parameters:

  • gateway Gateway address

Returns:

Resulting status

function set_net_mask

Setting the network mask of the sensor (sync) 

VelodyneStatus nebula::drivers::VelodyneHwInterface::set_net_mask (
    std::string mask
)

Parameters:

  • mask Network mask

Returns:

Resulting status

function set_return_type

Setting Return Type (sync) 

VelodyneStatus nebula::drivers::VelodyneHwInterface::set_return_type (
    ReturnMode return_mode
)

Parameters:

  • return_mode ReturnMode

Returns:

Resulting status

function set_rpm

Setting Motor RPM (sync) 

VelodyneStatus nebula::drivers::VelodyneHwInterface::set_rpm (
    uint16_t rpm
)

Parameters:

  • rpm the RPM of the motor

Returns:

Resulting status

function set_sensor_configuration

Setting sensor configuration with InitializeSensorConfiguration & CheckAndSetConfigBySnapshotAsync. 

Status nebula::drivers::VelodyneHwInterface::set_sensor_configuration (
    std::shared_ptr< const VelodyneSensorConfiguration > 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_velodyne/velodyne_hw_interface.hpp