Base class for the HFL110DCU cameras. More...

#include <base_hfl110dcu.h>

Inheritance diagram for hfl::BaseHFL110DCU:

Collaboration diagram for hfl::BaseHFL110DCU:

Public Member Functions
bool	setFrameRate (double rate) override

double	getFrameRate (bool reg_format=false) const

bool	setGlobalRangeOffset (double offset)

bool	setChannelRangeOffset (uint8_t ch, double offset)

virtual bool	setIntensityRangeOffset (uint8_t band, double offset)

Public Member Functions inherited from hfl::HflInterface
std::string	getModel () const

std::string	getVersion () const

virtual bool	parseFrame (int start_byte, const std::vector< uint8_t > &packet)=0

virtual bool	processFrameData (const std::vector< uint8_t > &data)=0

std::shared_ptr< Frame >	frame ()

Protected Types
enum	HFL110DCU_memory_types { mem_ri = 0 , types_size }
	HFL110DCU camera memory_types. More...

Protected Member Functions
bool	getConfiguration (std::string model, std::string version)

virtual bool	parseObjects (int start_byte, const std::vector< uint8_t > &packet)=0

virtual bool	processObjectData (const std::vector< uint8_t > &data)=0

Protected Attributes
double	range_magic_number_
	Range Magic Number. More...

Attribs_map	mode_parameters
	Current mode parameters. More...

std::function< void(const std::vector< uint8_t > &)>	udp_send_function_
	UDP sender function. More...

Protected Attributes inherited from hfl::HflInterface
std::string	model_
	Current camera model. More...

std::string	version_
	Current camera model. More...

std::string	ip_address_
	Camera's IP address. More...

uint16_t	frame_data_port_
	Camera's UDP frame data port. More...

bool	publish_tf_
	Current publish tf state. More...

std::string	parent_frame_
	current static tf values More...

double	x_

double	y_

double	z_

double	roll_

double	pitch_

double	yaw_

double	time_offset_
	time offset More...

double	global_offset_
	global range offset More...

double	ch1_offset_
	channel range offset More...

double	ch2_offset_

double	ch3_offset_

double	ch4_offset_

double	int500_offset_
	intensity range offset More...

double	int1000_offset_

double	int1500_offset_

double	int2000_offset_

double	int2500_offset_

double	int3000_offset_

double	int3500_offset_

double	int4096_offset_

std::shared_ptr< hfl::Frame >	frame_
	Camera's frame configurations. More...

Detailed Description

Base class for the HFL110DCU cameras.

Member Enumeration Documentation

◆ HFL110DCU_memory_types

enum hfl::BaseHFL110DCU::HFL110DCU_memory_types

protected

HFL110DCU camera memory_types.

Enumerator
mem_ri
types_size

Member Function Documentation

◆ getConfiguration()

bool hfl::BaseHFL110DCU::getConfiguration	(	std::string	model,
		std::string	version
	)

protected

Gets the available memory modes, its params and register offset addresses.

Parameters

model	The model of the current lidar
version	The HFL110DCU SW version

Returns: Available memory modes

◆ getFrameRate()

double hfl::BaseHFL110DCU::getFrameRate ( bool reg_format = false ) const

inlinevirtual

Returns the current frame rate.

Returns: current frame rate

Implements hfl::HflInterface.

◆ parseObjects()

virtual bool hfl::BaseHFL110DCU::parseObjects	(	int	start_byte,
		const std::vector< uint8_t > &	packet
	)

protectedpure virtual

Parse packet into objects

Parameters

[in] start_byte starting byte, packet packet data to parse

Returns: bool true if successfully parsed object data

Implements hfl::HflInterface.

Implemented in hfl::HFL110DCU.

◆ processObjectData()

virtual bool hfl::BaseHFL110DCU::processObjectData ( const std::vector< uint8_t > & data )

protectedpure virtual

Process the object data from udp packets

Parameters

[in] data object data

Returns: bool

Implements hfl::HflInterface.

Implemented in hfl::HFL110DCU.

◆ setChannelRangeOffset()

bool hfl::BaseHFL110DCU::setChannelRangeOffset	(	uint8_t	ch,
		double	offset
	)

virtual

Sets channel range offset

Parameters

[in]	ch	channel number
[in]	offset	channel range offset to set

Returns: bool true if given channel range offset is set

Implements hfl::HflInterface.

◆ setFrameRate()

bool hfl::BaseHFL110DCU::setFrameRate ( double rate )

inlineoverridevirtual

Sets the specified frame rate.

Parameters

[in] rate Frame rate to be set

Returns: bool true if given frame rate set

Implements hfl::HflInterface.

◆ setGlobalRangeOffset()

bool hfl::BaseHFL110DCU::setGlobalRangeOffset ( double offset )

virtual

Sets global range offset

Parameters

[in] offset global range offset to set

Returns: bool true if given global range offset is set

Implements hfl::HflInterface.

◆ setIntensityRangeOffset()

bool hfl::BaseHFL110DCU::setIntensityRangeOffset	(	uint8_t	band,
		double	offset
	)

virtual

Sets intensity range offset

Parameters

[in]	band	intensity range number
[in]	offset	channel range offset to set

Returns: bool true if given intensity band range offset is set

Implements hfl::HflInterface.

Member Data Documentation

◆ mode_parameters

Attribs_map hfl::BaseHFL110DCU::mode_parameters

protected

Current mode parameters.

◆ range_magic_number_

double hfl::BaseHFL110DCU::range_magic_number_

protected

Range Magic Number.

◆ udp_send_function_

std::function<void(const std::vector<uint8_t>&)> hfl::BaseHFL110DCU::udp_send_function_

protected

UDP sender function.

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

hfl_utilities/include/base_hfl110dcu.h
hfl_utilities/src/base_hfl110dcu.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ HFL110DCU_memory_types

Member Function Documentation

◆ getConfiguration()

◆ getFrameRate()

◆ parseObjects()

◆ processObjectData()

◆ setChannelRangeOffset()

◆ setFrameRate()

◆ setGlobalRangeOffset()

◆ setIntensityRangeOffset()

Member Data Documentation

◆ mode_parameters

◆ range_magic_number_

◆ udp_send_function_