Set iq (output) parameters

pepperl_fuchs_r2000/include/pepperl_fuchs_r2000/http_command_interface.h

@@ -36,6 +36,12 @@ class HttpCommandInterface
     //! @returns True on success, false otherwise
     bool setParameter(const std::string name, const std::string value);
 
+    //! Set iq (io) parameter
+    //! @param name Name
+    //! @param value Value
+    //! @returns True on success, false otherwise
+    bool setIQParameter(const std::string name, const std::string value);
+
     //! Get sensor parameter
     //! @param name Parameter name
     //! @returns Optional string value with value of given parameter name

pepperl_fuchs_r2000/include/pepperl_fuchs_r2000/r2000_driver.h

@@ -122,6 +122,41 @@ class R2000Driver
     //! @returns True on success, False otherwise
     bool setSamplesPerScan( unsigned int samples );
 
+    //! Enable I/Q operations on device
+    //! @param enabled I/Q global enable switch for all channels. true = on. false = off
+    //! @returns True on success, False otherwise
+    bool setIQGlobalEnable(bool enabled);
+
+    //! Set the IQ mode of the given port
+    //! @param port 1 or 2
+    //! @param mode I/Q channel operation mode. Options are: disabled, input_high_z, output_push_pull, output_n_switching, output_p_switching
+    //! @returns True on success, False otherwise
+    bool setIQMode(uint8_t iq_port, std::string mode);
+
+    //! Set the IQ polarity of the given port
+    //! @param port 1 or 2
+    //! @param polarity I/Q channel polarity. Options are: active_high, active_low
+    //! @returns True on success, False otherwise
+    bool setIQPolarity(uint8_t iq_port, std::string polarity);
+
+    //! Set the IQ off delay param of the given port
+    //! @param port 1 or 2
+    //! @param off_delay I/Q channel pulse extension (ms)
+    //! @returns True on success, False otherwise
+    bool setIQOffDelay(uint8_t iq_port, unsigned int off_delay);
+
+    //! Set the IQ source of the given port
+    //! @param port 1 or 2 (timesync is only on port 2)
+    //! @param source Options are: iq_output, timesync
+    //! @returns True on success, False otherwise
+    bool setIQSource(uint8_t iq_port, std::string source);
+
+    //! Set the IQ timesync interval
+    //! @param port 1 or 2 (timesync is only on port 2)
+    //! @param interval Interval for generating a timesync pulse (ms). Intervals MUST be defined in increments of 1000ms. Default = 4000
+    //! @returns True on success, False otherwise
+    bool setIQTimesyncInterval(unsigned int interval);
+
     //! Reboot Laserscanner (Takes ~60s)
     //! @returns True if command was successfully received, False otherwise
     bool rebootDevice();

pepperl_fuchs_r2000/src/driver/http_command_interface.cpp

@@ -168,6 +168,12 @@ bool HttpCommandInterface::setParameter(const std::string name, const std::strin
     return sendHttpCommand("set_parameter",name,value) && checkErrorCode();
 }
 
+//-----------------------------------------------------------------------------
+bool HttpCommandInterface::setIQParameter(const std::string name, const std::string value)
+{
+    return sendHttpCommand("set_iq_parameter",name,value) && checkErrorCode();
+}
+
 //-----------------------------------------------------------------------------
 boost::optional< std::string > HttpCommandInterface::getParameter(const std::string name)
 {

pepperl_fuchs_r2000/src/driver/r2000_driver.cpp

@@ -226,6 +226,53 @@ const std::map< std::string, std::string >& R2000Driver::getParameters()
     return parameters_;
 }
 
+//-----------------------------------------------------------------------------
+bool R2000Driver::setIQGlobalEnable(bool enabled)
+{
+    return command_interface_->setIQParameter("iq_global_enable", enabled ? "on" : "off");
+}
+
+//-----------------------------------------------------------------------------
+bool R2000Driver::setIQMode(uint8_t iq_port, std::string mode)
+{
+    std::stringstream ss;
+    ss << "iq"<<(int16_t)iq_port<<"_mode";
+    return command_interface_->setIQParameter(ss.str(), mode);
+}
+
+//-----------------------------------------------------------------------------
+bool R2000Driver::setIQPolarity(uint8_t iq_port, std::string polarity)
+{
+    std::stringstream ss;
+    ss << "iq"<<(int16_t)iq_port<<"_polarity";
+    return command_interface_->setIQParameter(ss.str(), polarity);
+}
+
+//-----------------------------------------------------------------------------
+bool R2000Driver::setIQOffDelay(uint8_t iq_port, unsigned int off_delay)
+{
+    std::stringstream ss;
+    ss << "iq"<<(int16_t)iq_port<<"_off_delay";
+    return command_interface_->setIQParameter(ss.str(), std::to_string(off_delay));
+}
+
+//-----------------------------------------------------------------------------
+bool R2000Driver::setIQSource(uint8_t iq_port, std::string source)
+{
+    std::stringstream ss;
+    ss << "iq"<<(int16_t)iq_port<<"_source";
+    return command_interface_->setIQParameter(ss.str(), source);
+}
+
+//-----------------------------------------------------------------------------
+bool R2000Driver::setIQTimesyncInterval(unsigned int interval)
+{
+    if (interval % 1000 != 0){
+        std::cerr << "WARNING: Cannot set iq_timesync_interval to " << interval << "(ms). value must be a multiple of 1000 (ms)" << std::endl;
+    }
+    return command_interface_->setIQParameter("iq_timesync_interval", std::to_string(interval));
+}
+
 //-----------------------------------------------------------------------------
 bool R2000Driver::setScanFrequency(unsigned int frequency)
 {