Class nebula::drivers::VelodyneHwInterface

ClassList > nebula > drivers > VelodyneHwInterface

Hardware interface of velodyne driver.

• #include <velodyne_hw_interface.hpp>

Public Functions

Type	Name
Status	GetCalibrationConfiguration (CalibrationConfigurationBase & calibration_configuration) Printing calibration configuration.
std::string	GetDiag () Getting diagnostic information from the sensor (sync)
Status	GetSensorConfiguration (SensorConfigurationBase & sensor_configuration) Printing sensor configuration.
std::string	GetSnapshot () Getting current sensor configuration and status data (sync)
std::string	GetStatus () Getting the current operational state and parameters of the sensor (sync)
VelodyneStatus	InitHttpClient () Initializing HTTP client (sync)
Status	InitializeSensorConfiguration (std::shared_ptr< const VelodyneSensorConfiguration > sensor_configuration) Initializing sensor configuration.
VelodyneStatus	LaserOff () Turn laser state off (sync)
VelodyneStatus	LaserOn () Turn laser state on (sync)
VelodyneStatus	LaserOnOff (bool on) Turn laser state on/off (sync)
boost::property_tree::ptree	ParseJson (const std::string & str) Parsing JSON string to property_tree.
void	ReceiveSensorPacketCallback (std::vector< uint8_t > & buffer) Callback function to receive the Cloud Packet data from the UDP Driver.
Status	RegisterScanCallback (std::function< void(std::vector< uint8_t > &packet)> scan_callback) Registering callback for PandarScan.
VelodyneStatus	ResetSystem () Resets the sensor (sync)
VelodyneStatus	SaveConfig () Save Configuration to the LiDAR memory (sync)
Status	SensorInterfaceStart () Starting the interface that handles UDP streams.
Status	SensorInterfaceStop () Function for stopping the interface that handles UDP streams.
VelodyneStatus	SetFovEnd (uint16_t fov_end) Setting Field of View End (sync)
VelodyneStatus	SetFovStart (uint16_t fov_start) Setting Field of View Start (sync)
VelodyneStatus	SetHostAddr (std::string addr) Setting host (destination) IP address (sync)
VelodyneStatus	SetHostDport (uint16_t dport) Setting host (destination) data port (sync)
VelodyneStatus	SetHostTport (uint16_t tport) Setting host (destination) telemetry port (sync)
void	SetLogger (std::shared_ptr< rclcpp::Logger > node) Setting rclcpp::Logger.
VelodyneStatus	SetNetAddr (std::string addr) Setting network (sensor) IP address (sync)
VelodyneStatus	SetNetDhcp (bool use_dhcp) This determines if the sensor is to rely on a DHCP server for its IP address (sync)
VelodyneStatus	SetNetGateway (std::string gateway) Setting the gateway address of the sensor (sync)
VelodyneStatus	SetNetMask (std::string mask) Setting the network mask of the sensor (sync)
VelodyneStatus	SetReturnType (ReturnMode return_mode) Setting Return Type (sync)
VelodyneStatus	SetRpm (uint16_t rpm) Setting Motor RPM (sync)
Status	SetSensorConfiguration (std::shared_ptr< const VelodyneSensorConfiguration > sensor_configuration) Setting sensor configuration with InitializeSensorConfiguration & CheckAndSetConfigBySnapshotAsync.
	VelodyneHwInterface () Constructor.

Public Functions Documentation

function GetCalibrationConfiguration

Printing calibration configuration.

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

Parameters:

• calibration_configuration CalibrationConfiguration for the checking

Returns:

Resulting status

---

function GetDiag

Getting diagnostic information from the sensor (sync)

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

Returns:

Resulting JSON string

---

function GetSensorConfiguration

Printing sensor configuration.

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

Parameters:

• sensor_configuration SensorConfiguration for this interface

Returns:

Resulting status

---

function GetSnapshot

Getting current sensor configuration and status data (sync)

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

Returns:

Resulting JSON string

---

function GetStatus

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

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

Returns:

Resulting JSON string

---

function InitHttpClient

Initializing HTTP client (sync)

VelodyneStatus nebula::drivers::VelodyneHwInterface::InitHttpClient () 

Returns:

Resulting status

---

function InitializeSensorConfiguration

Initializing sensor configuration.

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

Parameters:

• sensor_configuration SensorConfiguration for this interface

Returns:

Resulting status

---

function LaserOff

Turn laser state off (sync)

VelodyneStatus nebula::drivers::VelodyneHwInterface::LaserOff () 

Returns:

Resulting status

---

function LaserOn

Turn laser state on (sync)

VelodyneStatus nebula::drivers::VelodyneHwInterface::LaserOn () 

Returns:

Resulting status

---

function LaserOnOff

Turn laser state on/off (sync)

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

Parameters:

• on is ON

Returns:

Resulting status

---

function ParseJson

Parsing JSON string to property_tree.

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

Parameters:

• str JSON string

Returns:

property_tree

---

function ReceiveSensorPacketCallback

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

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

Parameters:

• buffer Buffer containing the data received from the UDP socket

---

function RegisterScanCallback

Registering callback for PandarScan.

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

Parameters:

• scan_callback Callback function

Returns:

Resulting status

---

function ResetSystem

Resets the sensor (sync)

VelodyneStatus nebula::drivers::VelodyneHwInterface::ResetSystem () 

Returns:

Resulting status

---

function SaveConfig

Save Configuration to the LiDAR memory (sync)

VelodyneStatus nebula::drivers::VelodyneHwInterface::SaveConfig () 

Returns:

Resulting status

---

function SensorInterfaceStart

Starting the interface that handles UDP streams.

Status nebula::drivers::VelodyneHwInterface::SensorInterfaceStart () 

Returns:

Resulting status

---

function SensorInterfaceStop

Function for stopping the interface that handles UDP streams.

Status nebula::drivers::VelodyneHwInterface::SensorInterfaceStop () 

Returns:

Resulting status

---

function SetFovEnd

Setting Field of View End (sync)

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

Parameters:

• fov_end FOV end

Returns:

Resulting status

---

function SetFovStart

Setting Field of View Start (sync)

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

Parameters:

• fov_start FOV start

Returns:

Resulting status

---

function SetHostAddr

Setting host (destination) IP address (sync)

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

Parameters:

• addr destination IP address

Returns:

Resulting status

---

function SetHostDport

Setting host (destination) data port (sync)

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

Parameters:

• dport destination data port

Returns:

Resulting status

---

function SetHostTport

Setting host (destination) telemetry port (sync)

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

Parameters:

• tport destination telemetry port

Returns:

Resulting status

---

function SetLogger

Setting rclcpp::Logger.

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

Parameters:

• node Logger

---

function SetNetAddr

Setting network (sensor) IP address (sync)

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

Parameters:

• addr sensor IP address

Returns:

Resulting status

---

function SetNetDhcp

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

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

Parameters:

• use_dhcp DHCP on

Returns:

Resulting status

---

function SetNetGateway

Setting the gateway address of the sensor (sync)

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

Parameters:

• gateway Gateway address

Returns:

Resulting status

---

function SetNetMask

Setting the network mask of the sensor (sync)

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

Parameters:

• mask Network mask

Returns:

Resulting status

---

function SetReturnType

Setting Return Type (sync)

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

Parameters:

• return_mode ReturnMode

Returns:

Resulting status

---

function SetRpm

Setting Motor RPM (sync)

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

Parameters:

• rpm the RPM of the motor

Returns:

Resulting status

---

function SetSensorConfiguration

Setting sensor configuration with InitializeSensorConfiguration & CheckAndSetConfigBySnapshotAsync.

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

Parameters:

• sensor_configuration SensorConfiguration for this interface

Returns:

Resulting status

---

function VelodyneHwInterface

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

---

---

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