expand configuration script for setting IP

Conflicts:
	launch/LMS1xx_configuration.launch
	src/LMS1xx_configuration.cpp

Author: Karsten1987

CMakeLists.txt

@@ -7,11 +7,17 @@ include_directories(include ${console_bridge_INCLUDE_DIRS})
 add_library(LMS1xx src/LMS1xx.cpp)
 target_link_libraries(LMS1xx ${console_bridge_LIBRARIES})
 
+
 # Regular catkin package follows.
 find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs)
-catkin_package(CATKIN_DEPENDS roscpp)
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES LMS1xx
+  CATKIN_DEPENDS roscpp
+)
 
 include_directories(include ${catkin_INCLUDE_DIRS})
+
 add_executable(LMS1xx_node src/LMS1xx_node.cpp)
 target_link_libraries(LMS1xx_node LMS1xx ${catkin_LIBRARIES})
 

include/LMS1xx/LMS1xx.h

@@ -27,6 +27,30 @@
 #include <string>
 #include <stdint.h>
 
+
+typedef struct _ipCfg {
+
+	/*!
+	 * @brief first octet ip address.
+	 */
+  int oct_0;
+
+	/*!
+	 * @brief second octet ip address.
+	 */
+  int oct_1;
+
+	/*!
+	 * @brief third octet ip address.
+	 */
+  int oct_2;
+
+	/*!
+	 * @brief fourth octet ip address.
+	 */
+  int oct_3;
+} ipCfg;
+
 /*!
 * @class scanCfg
 * @brief Structure containing scan configuration.
@@ -241,6 +265,16 @@ class LMS1xx {
 	bool isConnected();
 
 	/*!
+	* @brief Reboots device.
+	*/
+	void reboot();
+
+	/*!
+	* @brief Set IP address.
+	*/
+	void setIP(const ipCfg& cfg);
+
+  /*!
 	* @brief Start measurements.
 	* After receiving this command LMS1xx unit starts spinning laser and measuring.
 	*/

src/LMS1xx.cpp

@@ -71,6 +71,32 @@ bool LMS1xx::isConnected() {
 	return connected;
 }
 
+void LMS1xx::reboot() {
+	char buf[100];
+	sprintf(buf, "%c%s%c",
+      0x02, "sMN mSCreboot", 0x03);
+
+	write(sockDesc, buf, strlen(buf));
+
+	int len = read(sockDesc, buf, 100);
+	buf[len] = 0;
+  logWarn("Reboot RX: %s", buf);
+}
+
+void LMS1xx::setIP(const ipCfg& cfg) {
+	char buf[100];
+	sprintf(buf, "%c%s %X %X %X %X%c",
+      0x02, "sWN EIIpAddr",
+			cfg.oct_0, cfg.oct_1, cfg.oct_2, cfg.oct_3,
+			0x03);
+
+	write(sockDesc, buf, strlen(buf));
+
+	int len = read(sockDesc, buf, 100);
+	buf[len] = 0;
+  logWarn("Set IP RX: %s", buf);
+}
+
 void LMS1xx::startMeas() {
 	char buf[100];
 	sprintf(buf, "%c%s%c", 0x02, "sMN LMCstartmeas", 0x03);