regilo::HokuyoController< ProtocolController > Class Template Reference

The HokuyoController class is used to communicate with the Hokuyo scanner. More...

#include <hokuyocontroller.hpp>

Inheritance diagram for regilo::HokuyoController< ProtocolController >:

Public Member Functions
	HokuyoController ()
	Default constructor.
	HokuyoController (const std::string &logPath)
	Constructor with a log file specified by a path. More...
	HokuyoController (std::iostream &logStream)
	Constructor with a log specified by a stream. More...
virtual	~HokuyoController ()=default
	Default destructor.
virtual std::map< std::string, std::string >	getVersionInfo () override
	Return information about the scanner version. More...
void	setScanParameters (std::size_t fromStep, std::size_t toStep, std::size_t clusterCount)
	Set parameters for the scan command. More...
Public Member Functions inherited from regilo::IHokuyoController
virtual	~IHokuyoController ()=default
	Default destructor.
Public Member Functions inherited from regilo::IScanController
virtual	~IScanController ()=default
	Default destructor.
Public Member Functions inherited from regilo::IController
virtual	~IController ()=default
	Default destructor.
virtual void	connect (const std::string &endpoint)=0
	Connect the controller to a device. More...
virtual bool	isConnected () const =0
	Test if the controller is connected. More...
virtual std::string	getEndpoint () const =0
	Get the endpoint of device. More...
virtual std::shared_ptr< ILog >	getLog ()=0
	Get the current Log. More...
virtual std::shared_ptr< const ILog >	getLog () const =0
	Get the current Log (a const variant). More...
virtual void	setLog (std::shared_ptr< ILog > log)=0
	Set a Log (it can be shared between more controllers). More...
virtual std::string	sendCommand (const std::string &command)=0
	Send a command to the device. More...
Public Member Functions inherited from regilo::ScanController< ProtocolController >
virtual	~ScanController ()=default
	Default destructor.
virtual ScanData	getScan (bool fromDevice=true) override final
	Get a scan from the device. More...

Static Public Attributes
static std::string	CMD_GET_VERSION = "V"
	A command for getting the scanner version.
static std::string	CMD_GET_SCAN = "G%03d%03d%02d"
	A command for getting a scan.

Protected Member Functions
virtual std::string	getScanCommand () const override
	Get a string that can be used for getting a scan. More...
virtual bool	parseScanData (std::istream &in, ScanData &data) override
	Parse the raw scan data. More...

Additional Inherited Members
Protected Attributes inherited from regilo::ScanController< ProtocolController >
std::size_t	lastScanId = 0
	A scan id (starting from zero) that is used for new scans.

Detailed Description

template<typename ProtocolController>
class regilo::HokuyoController< ProtocolController >

The HokuyoController class is used to communicate with the Hokuyo scanner.

Constructor & Destructor Documentation

template<typename ProtocolController >

regilo::HokuyoController< ProtocolController >::HokuyoController

(

const std::string &

logPath

)

Constructor with a log file specified by a path.

Parameters

logPath

Path to the log file.

template<typename ProtocolController >

regilo::HokuyoController< ProtocolController >::HokuyoController

(

std::iostream &

logStream

)

Constructor with a log specified by a stream.

Parameters

logStream

The log stream.

Member Function Documentation

template<typename ProtocolController >

virtual std::string regilo::HokuyoController< ProtocolController >::getScanCommand ( ) const

inlineoverrideprotectedvirtual

Get a string that can be used for getting a scan.

Returns

A command for getting a scan.

Implements regilo::ScanController< ProtocolController >.

template<typename ProtocolController >

std::map< std::string, std::string > regilo::HokuyoController< ProtocolController >::getVersionInfo ( )

overridevirtual

Return information about the scanner version.

Returns

Key-value pairs with the information.

Implements regilo::IHokuyoController.

template<typename ProtocolController >

bool regilo::HokuyoController< ProtocolController >::parseScanData ( std::istream &  in, ScanData &  data  )

overrideprotectedvirtual

Parse the raw scan data.

Parameters

in	The input stream that stores the raw scan data.
data	Output for the scanned data.

Returns

True if the parsing ends without an error.

Implements regilo::ScanController< ProtocolController >.

template<typename ProtocolController >

void regilo::HokuyoController< ProtocolController >::setScanParameters	(	std::size_t	fromStep,
		std::size_t	toStep,
		std::size_t	clusterCount
	)

Set parameters for the scan command.

Parameters

fromStep	The starting step [0; maxStep].
toStep	The ending steop [0; maxStep].
clusterCount	The cluster count [0; 99].

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

• include/regilo/hokuyocontroller.hpp