public class Lidar extends Service implements SerialDataListener
Modifier and Type | Field and Description |
---|---|
java.io.ByteArrayOutputStream |
buffer |
int |
dataMessageSize |
static org.slf4j.Logger |
log |
static java.lang.String |
MODEL_SICK_LMS200 |
Serial |
serial |
java.lang.String |
serialName |
static java.lang.String |
STATE_INITIALIZATION_STAGE_1 |
static java.lang.String |
STATE_INITIALIZATION_STAGE_2 |
static java.lang.String |
STATE_INITIALIZATION_STAGE_3 |
static java.lang.String |
STATE_INITIALIZATION_STAGE_4 |
static java.lang.String |
STATE_MODE_CHANGE |
static java.lang.String |
STATE_NOMINAL |
static java.lang.String |
STATE_PRE_INITIALIZATION |
static java.lang.String |
STATE_SINGLE_SCAN |
cfgDir, dnaPool, MESSAGE_RECORDING_FORMAT_BINARY, MESSAGE_RECORDING_FORMAT_XML
Constructor and Description |
---|
Lidar(java.lang.String n) |
Modifier and Type | Method and Description |
---|---|
void |
connect(java.lang.String port) |
boolean |
connect(java.lang.String port,
int baud) |
boolean |
disconnect() |
static ServiceType |
getMetaData()
This static method returns all the details of the class without it having
to be constructed.
|
Serial |
getSerial() |
static void |
main(java.lang.String[] args) |
java.lang.Integer |
onByte(java.lang.Integer b) |
void |
onConnect(java.lang.String portName) |
void |
onDisconnect(java.lang.String portName) |
int[] |
publishLidarData() |
boolean |
reconnectSerial() |
void |
setBaud(int baudRate) |
void |
setModel(java.lang.String m) |
void |
setScanMode(int spread,
float angularResolution) |
boolean |
setToCM() |
boolean |
setToMM() |
void |
singleScan() |
void |
startService() |
void |
write(byte[] command) |
addListener, addListener, addTask, addTask, addTask, addTaskOneShot, allowDisplay, allowDisplay, attach, attach, broadcastState, buildDna, buildDna, buildDnaKeys, buildDnaNames, clearLastError, close, containsTask, copyShallowFrom, createPeer, createPeer, createRootReserved, detach, detach, detach, echoHeartbeat, error, error, error, getAttached, getCfgDir, getComm, getDeclaredMethodNames, getDeclaredMethods, getDescription, getDna, getDnaString, getHostName, getInbox, getInstanceId, getIntanceName, getInterfaceSet, getLastError, getMessageSet, getMetaData, getMethodMap, getMethodNames, getMethods, getMethodToolTip, getMsg, getName, getNotifyList, getNotifyListKeySet, getOutbox, getPeerKey, getPeerName, getServiceResourceFile, getSimpleName, getTasks, getThisThread, getType, hasError, hasPeers, help, help, in, info, info, invoke, invoke, invoke, invokeOn, isAttached, isAttached, isLocal, isReady, isRunning, isRuntime, isVirtual, load, load, logTimeEnable, mergeDna, mergeDna, mergePeerDna, movePeerDna, out, out, preProcessHook, preRoutingHook, publishError, publishQueueStats, publishState, publishStats, publishStatus, purgeTask, purgeTasks, releasePeers, releaseService, removeAllListeners, removeListener, requiresSecurity, reserve, reserve, reserveRoot, reserveRoot, reserveRootAs, run, save, save, save, send, send, send, send, sendBlocking, sendBlocking, sendBlocking, sendBlocking, sendPeer, setInstanceId, setName, setPeer, setSecurityProvider, setState, setThisThread, setVirtual, sleep, stackToString, startHeartbeat, startPeer, startPeer, startRecording, stopHeartbeat, stopMsgRecording, stopService, subscribe, subscribe, subscribe, toString, unsubscribe, unsubscribe, unsubscribe, updateStats, warn, warn
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
publishStats, updateStats
getName
public static final org.slf4j.Logger log
public static final java.lang.String MODEL_SICK_LMS200
public java.lang.String serialName
public transient Serial serial
public transient java.io.ByteArrayOutputStream buffer
public static final java.lang.String STATE_PRE_INITIALIZATION
public static final java.lang.String STATE_INITIALIZATION_STAGE_1
public static final java.lang.String STATE_INITIALIZATION_STAGE_2
public static final java.lang.String STATE_INITIALIZATION_STAGE_3
public static final java.lang.String STATE_INITIALIZATION_STAGE_4
public static final java.lang.String STATE_SINGLE_SCAN
public static final java.lang.String STATE_MODE_CHANGE
public static final java.lang.String STATE_NOMINAL
public int dataMessageSize
public static void main(java.lang.String[] args)
public java.lang.Integer onByte(java.lang.Integer b) throws java.io.IOException
onByte
in interface SerialDataListener
java.io.IOException
public void connect(java.lang.String port) throws java.io.IOException
java.io.IOException
public boolean connect(java.lang.String port, int baud) throws java.io.IOException
java.io.IOException
public boolean disconnect()
public Serial getSerial()
public int[] publishLidarData()
public boolean reconnectSerial() throws java.io.IOException
java.io.IOException
public void setBaud(int baudRate) throws java.lang.Exception
java.lang.Exception
public void setModel(java.lang.String m)
public void setScanMode(int spread, float angularResolution) throws java.lang.Exception
java.lang.Exception
public boolean setToCM()
public boolean setToMM()
public void singleScan() throws java.lang.Exception
java.lang.Exception
public void startService()
startService
in interface ServiceInterface
startService
in class Service
public void write(byte[] command) throws java.lang.Exception
java.lang.Exception
public void onConnect(java.lang.String portName)
onConnect
in interface PortListener
public void onDisconnect(java.lang.String portName)
onDisconnect
in interface PortListener
public static ServiceType getMetaData()