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<h1>gbxsickacfr/driver.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics</span>
<a name="l00003"></a>00003 <span class="comment"> * http://gearbox.sf.net/</span>
<a name="l00004"></a>00004 <span class="comment"> * Copyright (c) 2004-2008 Alex Brooks</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * This distribution is licensed to you under the terms described in</span>
<a name="l00007"></a>00007 <span class="comment"> * the LICENSE file included in this distribution.</span>
<a name="l00008"></a>00008 <span class="comment"> *</span>
<a name="l00009"></a>00009 <span class="comment"> */</span>
<a name="l00010"></a>00010
<a name="l00011"></a>00011 <span class="preprocessor">#ifndef GBX_SICK_ACFR_H</span>
<a name="l00012"></a>00012 <span class="preprocessor"></span><span class="preprocessor">#define GBX_SICK_ACFR_H</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span>
<a name="l00014"></a>00014 <span class="preprocessor">#include <gbxsickacfr/serialhandler.h></span>
<a name="l00015"></a>00015 <span class="preprocessor">#include <gbxutilacfr/tracer.h></span>
<a name="l00016"></a>00016 <span class="preprocessor">#include <gbxutilacfr/status.h></span>
<a name="l00017"></a>00017 <span class="preprocessor">#include <memory></span>
<a name="l00018"></a>00018
<a name="l00019"></a>00019 <span class="keyword">namespace </span>gbxsickacfr {
<a name="l00020"></a>00020
<a name="l00022"></a><a class="code" href="classgbxsickacfr_1_1Config.html">00022</a> <span class="keyword">class </span><a class="code" href="classgbxsickacfr_1_1Config.html" title="Configuration structure.">Config</a>
<a name="l00023"></a>00023 {
<a name="l00024"></a>00024 <span class="keyword">public</span>:
<a name="l00025"></a>00025 <a class="code" href="classgbxsickacfr_1_1Config.html" title="Configuration structure.">Config</a>();
<a name="l00026"></a>00026 <span class="keywordtype">bool</span> isValid() <span class="keyword">const</span>;
<a name="l00027"></a>00027 std::string toString() <span class="keyword">const</span>;
<a name="l00028"></a>00028 <span class="keywordtype">bool</span> operator==( <span class="keyword">const</span> <a class="code" href="classgbxsickacfr_1_1Config.html" title="Configuration structure.">Config</a> & other );
<a name="l00029"></a>00029 <span class="keywordtype">bool</span> operator!=( <span class="keyword">const</span> <a class="code" href="classgbxsickacfr_1_1Config.html" title="Configuration structure.">Config</a> & other );
<a name="l00030"></a>00030
<a name="l00032"></a><a class="code" href="classgbxsickacfr_1_1Config.html#aeb914e240e36d2d53a14b6ea56cc458b">00032</a> std::string <a class="code" href="classgbxsickacfr_1_1Config.html#aeb914e240e36d2d53a14b6ea56cc458b" title="Serial device. e.g. &quot;/dev/ttyS0&quot;.">device</a>;
<a name="l00034"></a><a class="code" href="classgbxsickacfr_1_1Config.html#a56d702ba0c2be101469437f6a688255e">00034</a> <span class="keywordtype">int</span> <a class="code" href="classgbxsickacfr_1_1Config.html#a56d702ba0c2be101469437f6a688255e" title="Baud rate.">baudRate</a>;
<a name="l00036"></a><a class="code" href="classgbxsickacfr_1_1Config.html#a21ebc692a13f3a1883a35ffd811e4613">00036</a> <span class="keywordtype">double</span> <a class="code" href="classgbxsickacfr_1_1Config.html#a21ebc692a13f3a1883a35ffd811e4613" title="minimum range [m]">minRange</a>;
<a name="l00038"></a><a class="code" href="classgbxsickacfr_1_1Config.html#a087bac092cc0360a118b75ca8eb79ed5">00038</a> <span class="keywordtype">double</span> <a class="code" href="classgbxsickacfr_1_1Config.html#a087bac092cc0360a118b75ca8eb79ed5" title="maximum range [m]">maxRange</a>;
<a name="l00040"></a><a class="code" href="classgbxsickacfr_1_1Config.html#ad53c9d5bd44765c8d3ee372cbe852e23">00040</a> <span class="keywordtype">double</span> <a class="code" href="classgbxsickacfr_1_1Config.html#ad53c9d5bd44765c8d3ee372cbe852e23" title="field of viewe [rad]">fieldOfView</a>;
<a name="l00042"></a><a class="code" href="classgbxsickacfr_1_1Config.html#a8f27f816dd6bc3204abf50b2a3d6b8d4">00042</a> <span class="keywordtype">double</span> <a class="code" href="classgbxsickacfr_1_1Config.html#a8f27f816dd6bc3204abf50b2a3d6b8d4" title="starting angle [rad]">startAngle</a>;
<a name="l00044"></a><a class="code" href="classgbxsickacfr_1_1Config.html#a678e02360efbde1989e891a307c26be0">00044</a> <span class="keywordtype">int</span> <a class="code" href="classgbxsickacfr_1_1Config.html#a678e02360efbde1989e891a307c26be0" title="number of samples in a scan">numberOfSamples</a>;
<a name="l00045"></a>00045 };
<a name="l00046"></a>00046
<a name="l00048"></a><a class="code" href="classgbxsickacfr_1_1Data.html">00048</a> <span class="keyword">class </span><a class="code" href="classgbxsickacfr_1_1Data.html" title="Data structure returned by read().">Data</a>
<a name="l00049"></a>00049 {
<a name="l00050"></a>00050 <span class="keyword">public</span>:
<a name="l00051"></a>00051 <a class="code" href="classgbxsickacfr_1_1Data.html" title="Data structure returned by read().">Data</a>()
<a name="l00052"></a>00052 : haveWarnings(<span class="keyword">false</span>)
<a name="l00053"></a>00053 {}
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="keywordtype">float</span> *ranges;
<a name="l00056"></a>00056 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *intensities;
<a name="l00057"></a>00057 <span class="keywordtype">int</span> timeStampSec;
<a name="l00058"></a>00058 <span class="keywordtype">int</span> timeStampUsec;
<a name="l00059"></a>00059 <span class="keywordtype">bool</span> haveWarnings;
<a name="l00061"></a><a class="code" href="classgbxsickacfr_1_1Data.html#abf6d708fd91b701552b87a413950de67">00061</a> std::string <a class="code" href="classgbxsickacfr_1_1Data.html#abf6d708fd91b701552b87a413950de67" title="if &#39;haveWarnings&#39; is set, &#39;warnings&#39; will contain diagnostic information...">warnings</a>;
<a name="l00062"></a>00062 };
<a name="l00063"></a>00063
<a name="l00065"></a><a class="code" href="classgbxsickacfr_1_1Driver.html">00065</a> <span class="keyword">class </span><a class="code" href="classgbxsickacfr_1_1Driver.html" title="SICK driver.">Driver</a>
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="keyword">public</span>:
<a name="l00069"></a>00069
<a name="l00075"></a>00075 <a class="code" href="classgbxsickacfr_1_1Driver.html#a030b0d8c4dddef8e0ad546c187a7fb6f">Driver</a>( <span class="keyword">const</span> <a class="code" href="classgbxsickacfr_1_1Config.html" title="Configuration structure.">Config</a> &config,
<a name="l00076"></a>00076 <a class="code" href="classgbxutilacfr_1_1Tracer.html" title="Local and remote tracing.">gbxutilacfr::Tracer</a> &tracer,
<a name="l00077"></a>00077 <a class="code" href="classgbxutilacfr_1_1Status.html" title="Local interface to component status.">gbxutilacfr::Status</a> &status );
<a name="l00078"></a>00078
<a name="l00086"></a>00086 <span class="keywordtype">void</span> <a class="code" href="classgbxsickacfr_1_1Driver.html#a20ac4152fb833afa1a559dd719a4a299">read</a>( <a class="code" href="classgbxsickacfr_1_1Data.html" title="Data structure returned by read().">Data</a> &data );
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="keyword">private</span>:
<a name="l00089"></a>00089
<a name="l00090"></a>00090 <span class="comment">// Waits up to maxWaitMs for a response of a particular type.</span>
<a name="l00091"></a>00091 <span class="comment">// Returns true iff it got the response it wanted.</span>
<a name="l00092"></a>00092 <span class="keywordtype">bool</span> waitForResponseType( uChar type, TimedLmsResponse &response, <span class="keywordtype">int</span> maxWaitMs );
<a name="l00093"></a>00093 <span class="comment">// Returns: true if ack or nack received.</span>
<a name="l00094"></a>00094 <span class="comment">// (and sets receivedAck: true = ACK, false=NACK)</span>
<a name="l00095"></a>00095 <span class="keywordtype">bool</span> waitForAckOrNack( <span class="keywordtype">bool</span> &receivedAck );
<a name="l00096"></a>00096
<a name="l00097"></a>00097 LmsResponse askLaserForStatusData();
<a name="l00098"></a>00098 LmsResponse askLaserForConfigData();
<a name="l00099"></a>00099
<a name="l00100"></a>00100 LmsConfigurationData desiredConfiguration();
<a name="l00101"></a>00101 <span class="keywordtype">bool</span> isAsDesired( <span class="keyword">const</span> LmsConfigurationData &lmsConfig );
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="keywordtype">int</span> guessLaserBaudRate();
<a name="l00104"></a>00104
<a name="l00105"></a>00105 <span class="comment">// Connects to the laser, sets params, and starts continuous mode.</span>
<a name="l00106"></a>00106 <span class="keywordtype">void</span> initLaser();
<a name="l00107"></a>00107
<a name="l00108"></a>00108 TimedLmsResponse sendAndExpectResponse( <span class="keyword">const</span> std::vector<uChar> &commandAndData,
<a name="l00109"></a>00109 <span class="keywordtype">bool</span> ignoreErrorConditions=<span class="keyword">false</span> );
<a name="l00110"></a>00110
<a name="l00111"></a>00111 std::string errorConditions();
<a name="l00112"></a>00112
<a name="l00113"></a>00113 uChar desiredMeasuredValueUnit();
<a name="l00114"></a>00114 uint16_t desiredAngularResolution();
<a name="l00115"></a>00115
<a name="l00116"></a>00116 <span class="keywordtype">void</span> setBaudRate( <span class="keywordtype">int</span> baudRate );
<a name="l00117"></a>00117
<a name="l00118"></a>00118 <a class="code" href="classgbxsickacfr_1_1Config.html" title="Configuration structure.">Config</a> config_;
<a name="l00119"></a>00119
<a name="l00120"></a>00120 std::auto_ptr<SerialHandler> serialHandler_;
<a name="l00121"></a>00121
<a name="l00122"></a>00122 std::vector<uChar> commandAndData_;
<a name="l00123"></a>00123 std::vector<uChar> telegramBuffer_;
<a name="l00124"></a>00124
<a name="l00125"></a>00125 <a class="code" href="classgbxutilacfr_1_1Tracer.html" title="Local and remote tracing.">gbxutilacfr::Tracer</a>& tracer_;
<a name="l00126"></a>00126 <a class="code" href="classgbxutilacfr_1_1Status.html" title="Local interface to component status.">gbxutilacfr::Status</a>& status_;
<a name="l00127"></a>00127 };
<a name="l00128"></a>00128
<a name="l00129"></a>00129 } <span class="comment">// namespace</span>
<a name="l00130"></a>00130
<a name="l00131"></a>00131 <span class="preprocessor">#endif</span>
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