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Namespace nebula::drivers

Namespace List > nebula > drivers

Namespaces

Type Name
namespace continental_ars548
namespace continental_srr520

Classes

Type Name
class HesaiHwInterface
Hardware interface of hesai driver.
class NebulaHwInterfaceBase
Base class for hardware interface of each LiDAR.
class RobosenseHwInterface
Hardware interface of Robosense driver.
class VelodyneHwInterface
Hardware interface of velodyne driver.

Public Attributes

Type Name
constexpr uint16_t BPEARL_INFO_PACKET_SIZE = = 1248
constexpr uint16_t BPEARL_PACKET_SIZE = = 1248
constexpr uint16_t HELIOS_INFO_PACKET_SIZE = = 1248
constexpr uint16_t HELIOS_PACKET_SIZE = = 1248
const int HESAI_LIDAR_GPS_CLOCK_SOURCE = = 0
const int HESAI_LIDAR_PTP_CLOCK_SOURCE = = 1
const uint16_t MTU_SIZE = = 1500
const uint16_t PANDAR128_E4X_EXTENDED_PACKET_SIZE = = 1117
const uint16_t PANDAR128_E4X_PACKET_SIZE = = 861
const uint16_t PANDAR40P_EXTENDED_PACKET_SIZE = = 1266
const uint16_t PANDAR40_PACKET_SIZE = = 1262
const uint16_t PANDAR64_EXTENDED_PACKET_SIZE = = 1198
const uint16_t PANDAR64_PACKET_SIZE = = 1194
const uint16_t PANDARAT128_PACKET_SIZE = = 1118
const uint16_t PANDARQT128_PACKET_SIZE = = 1127
const uint16_t PANDARQT64_PACKET_SIZE = = 1072
const uint16_t PANDARXT32M_PACKET_SIZE = = 820
const uint16_t PANDARXT32_PACKET_SIZE = = 1080
const uint8_t PTC_COMMAND_DUMMY_BYTE = = 0x00
const uint8_t PTC_COMMAND_GET_CONFIG_INFO = = 0x08
const uint8_t PTC_COMMAND_GET_INVENTORY_INFO = = 0x07
const uint8_t PTC_COMMAND_GET_LIDAR_CALIBRATION = = 0x05
const uint8_t PTC_COMMAND_GET_LIDAR_RANGE = = 0x23
const uint8_t PTC_COMMAND_GET_LIDAR_STATUS = = 0x09
const uint8_t PTC_COMMAND_GET_PTP_CONFIG = = 0x26
const uint8_t PTC_COMMAND_HEADER_HIGH = = 0x47
const uint8_t PTC_COMMAND_HEADER_LOW = = 0x74
const uint8_t PTC_COMMAND_LIDAR_MONITOR = = 0x27
const uint8_t PTC_COMMAND_PTP_DIAGNOSTICS = = 0x06
const uint8_t PTC_COMMAND_PTP_GRANDMASTER_SETTINGS_NP = = 0x04
const uint8_t PTC_COMMAND_PTP_PORT_DATA_SET = = 0x02
const uint8_t PTC_COMMAND_PTP_STATUS = = 0x01
const uint8_t PTC_COMMAND_PTP_TIME_STATUS_NP = = 0x03
const uint8_t PTC_COMMAND_RESET = = 0x25
const uint8_t PTC_COMMAND_SET_CLOCK_SOURCE = = 0x1f
const uint8_t PTC_COMMAND_SET_CONTROL_PORT = = 0x21
const uint8_t PTC_COMMAND_SET_DESTINATION_IP = = 0x20
const uint8_t PTC_COMMAND_SET_LIDAR_RANGE = = 0x22
const uint8_t PTC_COMMAND_SET_PTP_CONFIG = = 0x24
const uint8_t PTC_COMMAND_SET_RETURN_MODE = = 0x1e
const uint8_t PTC_COMMAND_SET_ROTATE_DIRECTION = = 0x2a
const uint8_t PTC_COMMAND_SET_SPIN_RATE = = 0x17
const uint8_t PTC_COMMAND_SET_STANDBY_MODE = = 0x1c
const uint8_t PTC_COMMAND_SET_SYNC_ANGLE = = 0x18
const uint8_t PTC_COMMAND_SET_TRIGGER_METHOD = = 0x1b
const uint8_t PTC_ERROR_CODE_FPGA_COMM_FAILED = = 0x06
const uint8_t PTC_ERROR_CODE_INVALID_DATA = = 0x03
const uint8_t PTC_ERROR_CODE_INVALID_INPUT_PARAM = = 0x01
const uint8_t PTC_ERROR_CODE_NO_ERROR = = 0x00
const uint8_t PTC_ERROR_CODE_OTHER = = 0x07
const uint8_t PTC_ERROR_CODE_OUT_OF_MEMORY = = 0x04
const uint8_t PTC_ERROR_CODE_SERVER_CONN_FAILED = = 0x02
const uint8_t PTC_ERROR_CODE_UNSUPPORTED_CMD = = 0x05
const int PTP_LOG_ANNOUNCE_INTERVAL = = 1
const int PTP_LOG_MIN_DELAY_INTERVAL = = 0
const int PTP_SYNC_INTERVAL = = 1
const int PandarTcpCommandPort = = 9347
const uint8_t TCP_ERROR_INCOMPLETE_RESPONSE = = 8
const uint8_t TCP_ERROR_TIMEOUT = = 4
const uint8_t TCP_ERROR_UNEXPECTED_PAYLOAD = = 2
const uint8_t TCP_ERROR_UNRELATED_RESPONSE = = 1
const size_t UDP_SOCKET_BUFFER_SIZE = = MTU_SIZE * 3600
The kernel buffer size in bytes to use for receiving UDP packets. If the buffer is too small to bridge scheduling and processing delays, packets will be dropped. This corresponds to the net.core.rmem_default setting in Linux. The current value is hardcoded to accommodate one pointcloud worth of OT128 packets (currently the highest data rate sensor supported).

Public Attributes Documentation

variable BPEARL_INFO_PACKET_SIZE

constexpr uint16_t nebula::drivers::BPEARL_INFO_PACKET_SIZE;

variable BPEARL_PACKET_SIZE

constexpr uint16_t nebula::drivers::BPEARL_PACKET_SIZE;

variable HELIOS_INFO_PACKET_SIZE

constexpr uint16_t nebula::drivers::HELIOS_INFO_PACKET_SIZE;

variable HELIOS_PACKET_SIZE

constexpr uint16_t nebula::drivers::HELIOS_PACKET_SIZE;

variable HESAI_LIDAR_GPS_CLOCK_SOURCE

const int nebula::drivers::HESAI_LIDAR_GPS_CLOCK_SOURCE;

variable HESAI_LIDAR_PTP_CLOCK_SOURCE

const int nebula::drivers::HESAI_LIDAR_PTP_CLOCK_SOURCE;

variable MTU_SIZE

constexpr uint16_t nebula::drivers::MTU_SIZE;

variable PANDAR128_E4X_EXTENDED_PACKET_SIZE

const uint16_t nebula::drivers::PANDAR128_E4X_EXTENDED_PACKET_SIZE;

variable PANDAR128_E4X_PACKET_SIZE

const uint16_t nebula::drivers::PANDAR128_E4X_PACKET_SIZE;

variable PANDAR40P_EXTENDED_PACKET_SIZE

const uint16_t nebula::drivers::PANDAR40P_EXTENDED_PACKET_SIZE;

variable PANDAR40_PACKET_SIZE

const uint16_t nebula::drivers::PANDAR40_PACKET_SIZE;

variable PANDAR64_EXTENDED_PACKET_SIZE

const uint16_t nebula::drivers::PANDAR64_EXTENDED_PACKET_SIZE;

variable PANDAR64_PACKET_SIZE

const uint16_t nebula::drivers::PANDAR64_PACKET_SIZE;

variable PANDARAT128_PACKET_SIZE

const uint16_t nebula::drivers::PANDARAT128_PACKET_SIZE;

variable PANDARQT128_PACKET_SIZE

const uint16_t nebula::drivers::PANDARQT128_PACKET_SIZE;

variable PANDARQT64_PACKET_SIZE

const uint16_t nebula::drivers::PANDARQT64_PACKET_SIZE;

variable PANDARXT32M_PACKET_SIZE

const uint16_t nebula::drivers::PANDARXT32M_PACKET_SIZE;

variable PANDARXT32_PACKET_SIZE

const uint16_t nebula::drivers::PANDARXT32_PACKET_SIZE;

variable PTC_COMMAND_DUMMY_BYTE

const uint8_t nebula::drivers::PTC_COMMAND_DUMMY_BYTE;

variable PTC_COMMAND_GET_CONFIG_INFO

const uint8_t nebula::drivers::PTC_COMMAND_GET_CONFIG_INFO;

variable PTC_COMMAND_GET_INVENTORY_INFO

const uint8_t nebula::drivers::PTC_COMMAND_GET_INVENTORY_INFO;

variable PTC_COMMAND_GET_LIDAR_CALIBRATION

const uint8_t nebula::drivers::PTC_COMMAND_GET_LIDAR_CALIBRATION;

variable PTC_COMMAND_GET_LIDAR_RANGE

const uint8_t nebula::drivers::PTC_COMMAND_GET_LIDAR_RANGE;

variable PTC_COMMAND_GET_LIDAR_STATUS

const uint8_t nebula::drivers::PTC_COMMAND_GET_LIDAR_STATUS;

variable PTC_COMMAND_GET_PTP_CONFIG

const uint8_t nebula::drivers::PTC_COMMAND_GET_PTP_CONFIG;

variable PTC_COMMAND_HEADER_HIGH

const uint8_t nebula::drivers::PTC_COMMAND_HEADER_HIGH;

variable PTC_COMMAND_HEADER_LOW

const uint8_t nebula::drivers::PTC_COMMAND_HEADER_LOW;

variable PTC_COMMAND_LIDAR_MONITOR

const uint8_t nebula::drivers::PTC_COMMAND_LIDAR_MONITOR;

variable PTC_COMMAND_PTP_DIAGNOSTICS

const uint8_t nebula::drivers::PTC_COMMAND_PTP_DIAGNOSTICS;

variable PTC_COMMAND_PTP_GRANDMASTER_SETTINGS_NP

const uint8_t nebula::drivers::PTC_COMMAND_PTP_GRANDMASTER_SETTINGS_NP;

variable PTC_COMMAND_PTP_PORT_DATA_SET

const uint8_t nebula::drivers::PTC_COMMAND_PTP_PORT_DATA_SET;

variable PTC_COMMAND_PTP_STATUS

const uint8_t nebula::drivers::PTC_COMMAND_PTP_STATUS;

variable PTC_COMMAND_PTP_TIME_STATUS_NP

const uint8_t nebula::drivers::PTC_COMMAND_PTP_TIME_STATUS_NP;

variable PTC_COMMAND_RESET

const uint8_t nebula::drivers::PTC_COMMAND_RESET;

variable PTC_COMMAND_SET_CLOCK_SOURCE

const uint8_t nebula::drivers::PTC_COMMAND_SET_CLOCK_SOURCE;

variable PTC_COMMAND_SET_CONTROL_PORT

const uint8_t nebula::drivers::PTC_COMMAND_SET_CONTROL_PORT;

variable PTC_COMMAND_SET_DESTINATION_IP

const uint8_t nebula::drivers::PTC_COMMAND_SET_DESTINATION_IP;

variable PTC_COMMAND_SET_LIDAR_RANGE

const uint8_t nebula::drivers::PTC_COMMAND_SET_LIDAR_RANGE;

variable PTC_COMMAND_SET_PTP_CONFIG

const uint8_t nebula::drivers::PTC_COMMAND_SET_PTP_CONFIG;

variable PTC_COMMAND_SET_RETURN_MODE

const uint8_t nebula::drivers::PTC_COMMAND_SET_RETURN_MODE;

variable PTC_COMMAND_SET_ROTATE_DIRECTION

const uint8_t nebula::drivers::PTC_COMMAND_SET_ROTATE_DIRECTION;

variable PTC_COMMAND_SET_SPIN_RATE

const uint8_t nebula::drivers::PTC_COMMAND_SET_SPIN_RATE;

variable PTC_COMMAND_SET_STANDBY_MODE

const uint8_t nebula::drivers::PTC_COMMAND_SET_STANDBY_MODE;

variable PTC_COMMAND_SET_SYNC_ANGLE

const uint8_t nebula::drivers::PTC_COMMAND_SET_SYNC_ANGLE;

variable PTC_COMMAND_SET_TRIGGER_METHOD

const uint8_t nebula::drivers::PTC_COMMAND_SET_TRIGGER_METHOD;

variable PTC_ERROR_CODE_FPGA_COMM_FAILED

const uint8_t nebula::drivers::PTC_ERROR_CODE_FPGA_COMM_FAILED;

variable PTC_ERROR_CODE_INVALID_DATA

const uint8_t nebula::drivers::PTC_ERROR_CODE_INVALID_DATA;

variable PTC_ERROR_CODE_INVALID_INPUT_PARAM

const uint8_t nebula::drivers::PTC_ERROR_CODE_INVALID_INPUT_PARAM;

variable PTC_ERROR_CODE_NO_ERROR

const uint8_t nebula::drivers::PTC_ERROR_CODE_NO_ERROR;

variable PTC_ERROR_CODE_OTHER

const uint8_t nebula::drivers::PTC_ERROR_CODE_OTHER;

variable PTC_ERROR_CODE_OUT_OF_MEMORY

const uint8_t nebula::drivers::PTC_ERROR_CODE_OUT_OF_MEMORY;

variable PTC_ERROR_CODE_SERVER_CONN_FAILED

const uint8_t nebula::drivers::PTC_ERROR_CODE_SERVER_CONN_FAILED;

variable PTC_ERROR_CODE_UNSUPPORTED_CMD

const uint8_t nebula::drivers::PTC_ERROR_CODE_UNSUPPORTED_CMD;

variable PTP_LOG_ANNOUNCE_INTERVAL

const int nebula::drivers::PTP_LOG_ANNOUNCE_INTERVAL;

variable PTP_LOG_MIN_DELAY_INTERVAL

const int nebula::drivers::PTP_LOG_MIN_DELAY_INTERVAL;

variable PTP_SYNC_INTERVAL

const int nebula::drivers::PTP_SYNC_INTERVAL;

variable PandarTcpCommandPort

const int nebula::drivers::PandarTcpCommandPort;

variable TCP_ERROR_INCOMPLETE_RESPONSE

const uint8_t nebula::drivers::TCP_ERROR_INCOMPLETE_RESPONSE;

variable TCP_ERROR_TIMEOUT

const uint8_t nebula::drivers::TCP_ERROR_TIMEOUT;

variable TCP_ERROR_UNEXPECTED_PAYLOAD

const uint8_t nebula::drivers::TCP_ERROR_UNEXPECTED_PAYLOAD;

variable TCP_ERROR_UNRELATED_RESPONSE

const uint8_t nebula::drivers::TCP_ERROR_UNRELATED_RESPONSE;

variable UDP_SOCKET_BUFFER_SIZE

const size_t nebula::drivers::UDP_SOCKET_BUFFER_SIZE;

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