Support setting start angle and direction

pepperl_fuchs_r2000/include/pepperl_fuchs_r2000/http_command_interface.h

@@ -56,15 +56,17 @@ class HttpCommandInterface
 
     //! Request TCP handle
     //! @param start_angle Set start angle for scans in the range [0,3600000] (1/10000°)
+    //! @param max_points Set maximum points per scan (receive partial scans to reduce data rate)
     //! @returns A valid HandleInfo on success, an empty boost::optional<HandleInfo> container otherwise
-    boost::optional<HandleInfo> requestHandleTCP(int start_angle=-1800000);
+    boost::optional<HandleInfo> requestHandleTCP(int start_angle=-1800000, int max_points=0);
 
     //! Request UDP handle
     //! @param port Set UDP port where scanner data should be sent to
     //! @param hostname Optional: Set hostname/IP where scanner data should be sent to, local IP is determined automatically if not specified
     //! @param start_angle Optional: Set start angle for scans in the range [0,3600000] (1/10000°), defaults to -1800000
+    //! @param max_points Optional: Set maximum points per scan (receive partial scans to reduce data rate)
     //! @returns A valid HandleInfo on success, an empty boost::optional<HandleInfo> container otherwise
-    boost::optional<HandleInfo> requestHandleUDP(int port, std::string hostname = std::string(""), int start_angle=-1800000);
+    boost::optional<HandleInfo> requestHandleUDP(int port, std::string hostname = std::string(""), int start_angle=-1800000, int max_points=0);
 
     //! Release handle
     bool releaseHandle( const std::string& handle );

pepperl_fuchs_r2000/include/pepperl_fuchs_r2000/r2000_driver.h

@@ -66,11 +66,11 @@ class R2000Driver
 
     //! Start capturing laserdata: Requests a handle and begin retrieving data from the scanner
     //! @returns True in case of success, False otherwise
-    bool startCapturingTCP();
+    bool startCapturingTCP(int start_angle=-1800000, int max_points=0);
 
     //! Start capturing laserdata: Requests a handle and begin retrieving data from the scanner
     //! @returns True in case of success, False otherwise
-    bool startCapturingUDP();
+    bool startCapturingUDP(int start_angle=-1800000, int max_points=0);
 
     //! Stop capturing laserdata: Release handle and stop retrieving data from the scanner
     //! @returns True in case of success, False otherwise

pepperl_fuchs_r2000/src/driver/http_command_interface.cpp

@@ -275,12 +275,14 @@ std::vector< std::string > HttpCommandInterface::getParameterList()
 }
 
 //-----------------------------------------------------------------------------
-boost::optional<HandleInfo> HttpCommandInterface::requestHandleTCP(int start_angle)
+boost::optional<HandleInfo> HttpCommandInterface::requestHandleTCP(int start_angle, int max_points)
 {
     // Prepare HTTP request
     std::map< std::string, std::string > params;
     params["packet_type"] = "C";
     params["start_angle"] = std::to_string(start_angle);
+    if( max_points > 0 )
+        params["max_num_points_scan"] = std::to_string(max_points);
 
     // Request handle via HTTP/JSON request/response
     if( !sendHttpCommand("request_handle_tcp", params) || !checkErrorCode() )
@@ -306,7 +308,7 @@ boost::optional<HandleInfo> HttpCommandInterface::requestHandleTCP(int start_ang
 }
 
 //-----------------------------------------------------------------------------
-boost::optional<HandleInfo> HttpCommandInterface::requestHandleUDP(int port, std::string hostname, int start_angle)
+boost::optional<HandleInfo> HttpCommandInterface::requestHandleUDP(int port, std::string hostname, int start_angle, int max_points)
 {
     // Prepare HTTP request
     if( hostname == "" )
@@ -316,6 +318,8 @@ boost::optional<HandleInfo> HttpCommandInterface::requestHandleUDP(int port, std
     params["start_angle"] = std::to_string(start_angle);
     params["port"] = std::to_string(port);
     params["address"] = hostname;
+    if( max_points > 0 )
+        params["max_num_points_scan"] = std::to_string(max_points);
 
     // Request handle via HTTP/JSON request/response
     if( !sendHttpCommand("request_handle_udp", params) || !checkErrorCode() )

pepperl_fuchs_r2000/src/driver/r2000_driver.cpp

@@ -75,12 +75,12 @@ R2000Driver::~R2000Driver()
 }
 
 //-----------------------------------------------------------------------------
-bool R2000Driver::startCapturingTCP()
+bool R2000Driver::startCapturingTCP(int start_angle, int max_points)
 {
     if( !checkConnection() )
         return false;
 
-    handle_info_ = command_interface_->requestHandleTCP();
+    handle_info_ = command_interface_->requestHandleTCP(start_angle, max_points);
     if( !handle_info_ )
         return false;
 
@@ -94,7 +94,7 @@ bool R2000Driver::startCapturingTCP()
 }
 
 //-----------------------------------------------------------------------------
-bool R2000Driver::startCapturingUDP()
+bool R2000Driver::startCapturingUDP(int start_angle, int max_points)
 {
     if( !checkConnection() )
         return false;
@@ -104,7 +104,7 @@ bool R2000Driver::startCapturingUDP()
         return false;
     int udp_port = data_receiver_->getUDPPort();
 
-    handle_info_ = command_interface_->requestHandleUDP(udp_port);
+    handle_info_ = command_interface_->requestHandleUDP(udp_port, "", start_angle, max_points);
     if( !handle_info_ || !command_interface_->startScanOutput((*handle_info_).handle) )
         return false;