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<h1>messages.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 SICK_ACFR_DRIVER_MESSAGES_H</span>
<a name="l00012"></a>00012 <span class="preprocessor"></span><span class="preprocessor">#define SICK_ACFR_DRIVER_MESSAGES_H</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span>
<a name="l00014"></a>00014 <span class="preprocessor">#include <string></span>
<a name="l00015"></a>00015 <span class="preprocessor">#include <vector></span>
<a name="l00016"></a>00016 <span class="preprocessor">#include <gbxsickacfr/sickdefines.h></span>
<a name="l00017"></a>00017 <span class="preprocessor">#include <gbxsickacfr/gbxserialdeviceacfr/gbxserialdeviceacfr.h></span>
<a name="l00018"></a>00018
<a name="l00019"></a>00019 <span class="keyword">namespace </span>gbxsickacfr {
<a name="l00020"></a>00020
<a name="l00021"></a>00021 std::string toHexString( <span class="keyword">const</span> uChar *buf, <span class="keywordtype">int</span> bufLen );
<a name="l00022"></a>00022 <span class="keyword">inline</span> std::string toHexString( <span class="keyword">const</span> std::vector<uChar> &buf )
<a name="l00023"></a>00023 {<span class="keywordflow">return</span> toHexString( &(buf[0]), buf.size() );}
<a name="l00024"></a>00024
<a name="l00026"></a>00026 <span class="comment">// Generic LMS Response classes:</span>
<a name="l00027"></a>00027 <span class="comment">// </span>
<a name="l00028"></a>00028 <span class="comment">// - The SICK replies to commands with responses.</span>
<a name="l00029"></a>00029 <span class="comment">// - Responses are of a standard format, but some responses contain</span>
<a name="l00030"></a>00030 <span class="comment">// extra response-type-specific data.</span>
<a name="l00031"></a>00031 <span class="comment">// - This is handled with the abstract class 'LmsResponseData':</span>
<a name="l00032"></a>00032 <span class="comment">// - The LmsResponse has a pointer to LmsResponseData, which should</span>
<a name="l00033"></a>00033 <span class="comment">// be cast to the appropriate type depending on the response type.</span>
<a name="l00034"></a>00034 <span class="comment">//</span>
<a name="l00035"></a>00035 <span class="comment">// (Note that in continuous mode, the measurements continuously</span>
<a name="l00036"></a>00036 <span class="comment">// sent out by the SICK are 'responses', even though there's no command).</span>
<a name="l00037"></a>00037 <span class="comment">// </span>
<a name="l00039"></a>00039 <span class="comment"></span>
<a name="l00040"></a>00040 <span class="comment">// Abstract class for representing response-type-specific data.</span>
<a name="l00041"></a>00041 <span class="keyword">class </span>LmsResponseData {
<a name="l00042"></a>00042 <span class="keyword">public</span>:
<a name="l00043"></a>00043 <span class="keyword">virtual</span> ~LmsResponseData() {}
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="comment">// human-readable string</span>
<a name="l00046"></a>00046 <span class="keyword">virtual</span> std::string toString() <span class="keyword">const</span>=0;
<a name="l00047"></a>00047
<a name="l00048"></a>00048 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isError()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">false</span>; }
<a name="l00049"></a>00049 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isWarn()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">false</span>; }
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="comment">// Returns a freshly allocated object of the same type</span>
<a name="l00052"></a>00052 <span class="keyword">virtual</span> LmsResponseData *clone() <span class="keyword">const</span>=0;
<a name="l00053"></a>00053 };
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="comment">// This class represents responses which the SICK uses to reply to commands.</span>
<a name="l00056"></a>00056 <span class="comment">// All response types have the information in this class.</span>
<a name="l00057"></a>00057 <span class="comment">// Some responses also have extra data, which is stored in the 'data' member.</span>
<a name="l00058"></a>00058 <span class="keyword">class </span>LmsResponse : <span class="keyword">public</span> gbxserialdeviceacfr::IResponse {
<a name="l00059"></a>00059 <span class="keyword">public</span>:
<a name="l00060"></a>00060 LmsResponse()
<a name="l00061"></a>00061 : status(0),
<a name="l00062"></a>00062 data(NULL)
<a name="l00063"></a>00063 {}
<a name="l00064"></a>00064 LmsResponse( <span class="keyword">const</span> LmsResponse &other );
<a name="l00065"></a>00065 LmsResponse &operator=( <span class="keyword">const</span> LmsResponse &other );
<a name="l00066"></a>00066 ~LmsResponse()
<a name="l00067"></a>00067 { <span class="keywordflow">if</span> (data) <span class="keyword">delete</span> data; }
<a name="l00068"></a>00068
<a name="l00069"></a>00069 uChar type;
<a name="l00070"></a>00070 uChar status;
<a name="l00071"></a>00071 LmsResponseData *data;
<a name="l00072"></a>00072
<a name="l00073"></a>00073 <span class="keywordtype">bool</span> isError() <span class="keyword">const</span>;
<a name="l00074"></a>00074 <span class="keywordtype">bool</span> isWarn() <span class="keyword">const</span>;
<a name="l00075"></a>00075
<a name="l00076"></a>00076 std::string toString() <span class="keyword">const</span>;
<a name="l00077"></a>00077 };
<a name="l00078"></a>00078 std::string toString( <span class="keyword">const</span> LmsResponse &r );
<a name="l00079"></a>00079
<a name="l00081"></a>00081 <span class="comment">// Response-specific data classes</span>
<a name="l00082"></a>00082 <span class="comment">//</span>
<a name="l00083"></a>00083 <span class="comment">// - The set of classes below all inherit from the abstract</span>
<a name="l00084"></a>00084 <span class="comment">// 'LmsResponseData' class. They represent the data contained</span>
<a name="l00085"></a>00085 <span class="comment">// in specific response types.</span>
<a name="l00086"></a>00086 <span class="comment">// - See 'parseResponse' in the .cpp file for details of which </span>
<a name="l00087"></a>00087 <span class="comment">// classes go with which response codes.</span>
<a name="l00088"></a>00088 <span class="comment">// </span>
<a name="l00090"></a>00090 <span class="comment"></span>
<a name="l00091"></a>00091 <span class="keyword">class </span>LmsInitResponseData : <span class="keyword">public</span> LmsResponseData {
<a name="l00092"></a>00092 <span class="keyword">public</span>:
<a name="l00093"></a>00093 std::string description;
<a name="l00094"></a>00094
<a name="l00095"></a>00095 std::string toString()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> description; }
<a name="l00096"></a>00096 LmsResponseData *clone()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">new</span> LmsInitResponseData(*<span class="keyword">this</span>); }
<a name="l00097"></a>00097 };
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="keyword">class </span>LmsStatusResponseData : <span class="keyword">public</span> LmsResponseData {
<a name="l00100"></a>00100 <span class="keyword">public</span>:
<a name="l00101"></a>00101 std::string version;
<a name="l00102"></a>00102 uChar operatingMode;
<a name="l00103"></a>00103 uChar status;
<a name="l00104"></a>00104 std::string manufacturer;
<a name="l00105"></a>00105 uChar variantType;
<a name="l00106"></a>00106 uint16_t pollution[POLLUTION_LENGTH];
<a name="l00107"></a>00107 uint16_t refPollution[REF_POLLUTION_LENGTH];
<a name="l00108"></a>00108 uint16_t calibPollution[CALIB_POLLUTION_LENGTH];
<a name="l00109"></a>00109 uint16_t calibRefPollution[CALIB_REF_POLLUTION_LENGTH];
<a name="l00110"></a>00110 uint16_t numMotorRevolutions;
<a name="l00111"></a>00111 uint16_t refScale1Dark100Pct;
<a name="l00112"></a>00112 uint16_t refScale2Dark100Pct;
<a name="l00113"></a>00113 uint16_t refScale1Dark66Pct;
<a name="l00114"></a>00114 uint16_t refScale2Dark66Pct;
<a name="l00115"></a>00115 uint16_t signalAmplitudePct;
<a name="l00116"></a>00116 uint16_t currentAngle;
<a name="l00117"></a>00117 uint16_t peakThreshold;
<a name="l00118"></a>00118 uint16_t angleOfMeasurement;
<a name="l00119"></a>00119 uint16_t calibSignalAmplitude;
<a name="l00120"></a>00120 uint16_t targetStopThreshold;
<a name="l00121"></a>00121 uint16_t targetPeakThreshold;
<a name="l00122"></a>00122 uint16_t actualStopThreshold;
<a name="l00123"></a>00123 uint16_t actualPeakThreshold;
<a name="l00124"></a>00124 uChar measuringMode;
<a name="l00125"></a>00125 uint16_t refSingleMeasuredValues;
<a name="l00126"></a>00126 uint16_t refMeanMeasuredValues;
<a name="l00127"></a>00127 uint16_t scanningAngle;
<a name="l00128"></a>00128 uint16_t angularResolution;
<a name="l00129"></a>00129 uChar restartMode;
<a name="l00130"></a>00130 uChar restartTime;
<a name="l00131"></a>00131 uint16_t baudRate;
<a name="l00132"></a>00132 uChar evaluationNumber;
<a name="l00133"></a>00133 uChar permanentBaudRate;
<a name="l00134"></a>00134 uChar lmsAddress;
<a name="l00135"></a>00135 uChar fieldSetNumber;
<a name="l00136"></a>00136 uChar currentMeasuredValueUnit;
<a name="l00137"></a>00137 uChar laserSwitchOff;
<a name="l00138"></a>00138 std::string softwareVersion;
<a name="l00139"></a>00139
<a name="l00140"></a>00140 std::string toString() <span class="keyword">const</span>;
<a name="l00141"></a>00141 LmsResponseData *clone()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">new</span> LmsStatusResponseData(*<span class="keyword">this</span>); }
<a name="l00142"></a>00142 };
<a name="l00143"></a>00143
<a name="l00144"></a>00144 <span class="keyword">class </span>LmsSwitchOperatingModeResponseData : <span class="keyword">public</span> LmsResponseData {
<a name="l00145"></a>00145 <span class="keyword">public</span>:
<a name="l00146"></a>00146 uChar success;
<a name="l00147"></a>00147
<a name="l00148"></a>00148 <span class="keywordtype">bool</span> isError()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> success != OPERATING_MODE_RESPONSE_SUCCESS; }
<a name="l00149"></a>00149 std::string toString()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> modeSwitchSuccessToString(success); }
<a name="l00150"></a>00150 LmsResponseData *clone()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">new</span> LmsSwitchOperatingModeResponseData(*<span class="keyword">this</span>); }
<a name="l00151"></a>00151 };
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="keyword">class </span>LmsConfigurationData : <span class="keyword">public</span> LmsResponseData {
<a name="l00154"></a>00154 <span class="keyword">public</span>:
<a name="l00155"></a>00155
<a name="l00156"></a>00156 <span class="comment">// Default values for all these fuckers</span>
<a name="l00157"></a>00157 LmsConfigurationData();
<a name="l00158"></a>00158 <span class="keywordtype">bool</span> operator==( <span class="keyword">const</span> LmsConfigurationData &o ) <span class="keyword">const</span>;
<a name="l00159"></a>00159 <span class="keywordtype">bool</span> operator!=( <span class="keyword">const</span> LmsConfigurationData &o )<span class="keyword"> const</span>
<a name="l00160"></a>00160 <span class="keyword"> </span>{ <span class="keywordflow">return</span> !(operator==(o)); }
<a name="l00161"></a>00161
<a name="l00162"></a>00162 uint16_t blanking;
<a name="l00163"></a>00163 uChar sensitivity;
<a name="l00164"></a>00164 uChar availability;
<a name="l00165"></a>00165 uChar measuringMode;
<a name="l00166"></a>00166 uChar measuredValueUnit;
<a name="l00167"></a>00167 uChar transientFieldSet;
<a name="l00168"></a>00168 uChar subtractiveFields; <span class="comment">// 14</span>
<a name="l00169"></a>00169 uChar multipleEvaluation;
<a name="l00170"></a>00170 uChar restart;
<a name="l00171"></a>00171 uChar restartTime;
<a name="l00172"></a>00172 uChar multipleEvaluationForSuppressed;
<a name="l00173"></a>00173 uChar contourARef;
<a name="l00174"></a>00174 uChar contourAPosToleranceBand; <span class="comment">// 20</span>
<a name="l00175"></a>00175 uChar contourANegToleranceBand;
<a name="l00176"></a>00176 uChar contourAStartAngle;
<a name="l00177"></a>00177 uChar contourAStopAngle;
<a name="l00178"></a>00178 uChar contourBRef;
<a name="l00179"></a>00179 uChar contourBPosToleranceBand;
<a name="l00180"></a>00180 uChar contourBNegToleranceBand;
<a name="l00181"></a>00181 uChar contourBStartAngle;
<a name="l00182"></a>00182 uChar contourBStopAngle;
<a name="l00183"></a>00183 uChar contourARef2;
<a name="l00184"></a>00184 uChar contourAPosToleranceBand2; <span class="comment">// 30</span>
<a name="l00185"></a>00185 uChar contourCNegToleranceBand;
<a name="l00186"></a>00186 uChar contourCStartAngle;
<a name="l00187"></a>00187 uChar contourCStopAngle;
<a name="l00188"></a>00188 uChar pixelOrientedEvaluation;
<a name="l00189"></a>00189 uChar singleMeasuredValueEvaluation;
<a name="l00190"></a>00190 uint16_t restartTimeFields;
<a name="l00191"></a>00191 uint16_t multipleEvaluationForDazzle;
<a name="l00192"></a>00192
<a name="l00193"></a>00193 std::string toString() <span class="keyword">const</span>;
<a name="l00194"></a>00194 LmsResponseData *clone()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">new</span> LmsConfigurationData(*<span class="keyword">this</span>); }
<a name="l00195"></a>00195 };
<a name="l00196"></a>00196
<a name="l00197"></a>00197 <span class="keyword">class </span>LmsConfigurationResponseData : <span class="keyword">public</span> LmsResponseData {
<a name="l00198"></a>00198 <span class="keyword">public</span>:
<a name="l00199"></a>00199 LmsConfigurationData config;
<a name="l00200"></a>00200 uChar configSuccess;
<a name="l00201"></a>00201
<a name="l00202"></a>00202 std::string toString() <span class="keyword">const</span>;
<a name="l00203"></a>00203 LmsResponseData *clone()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">new</span> LmsConfigurationResponseData(*<span class="keyword">this</span>); }
<a name="l00204"></a>00204 <span class="keywordtype">bool</span> isError()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> configSuccess != CONFIGURATION_SUCCESS; }
<a name="l00205"></a>00205 };
<a name="l00206"></a>00206
<a name="l00207"></a>00207 <span class="keyword">class </span>LmsSwitchVariantResponseData : <span class="keyword">public</span> LmsResponseData {
<a name="l00208"></a>00208 <span class="keyword">public</span>:
<a name="l00209"></a>00209 uChar success;
<a name="l00210"></a>00210 uint16_t scanningAngle;
<a name="l00211"></a>00211 uint16_t angularResolution;
<a name="l00212"></a>00212
<a name="l00213"></a>00213 std::string toString() <span class="keyword">const</span>;
<a name="l00214"></a>00214 LmsResponseData *clone()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">new</span> LmsSwitchVariantResponseData(*<span class="keyword">this</span>); }
<a name="l00215"></a>00215 <span class="keywordtype">bool</span> isError()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> success != SWITCH_VARIANT_SUCCESS; }
<a name="l00216"></a>00216 };
<a name="l00217"></a>00217
<a name="l00218"></a>00218 <span class="keyword">class </span>LmsMeasurementData : <span class="keyword">public</span> LmsResponseData {
<a name="l00219"></a>00219 <span class="keyword">public</span>:
<a name="l00220"></a>00220
<a name="l00221"></a>00221 <span class="comment">// ranges in metres</span>
<a name="l00222"></a>00222 std::vector<float> ranges;
<a name="l00223"></a>00223 std::vector<uChar> intensities;
<a name="l00224"></a>00224
<a name="l00225"></a>00225 std::string toString() <span class="keyword">const</span>;
<a name="l00226"></a>00226 LmsResponseData *clone()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">new</span> LmsMeasurementData(*<span class="keyword">this</span>); }
<a name="l00227"></a>00227 };
<a name="l00228"></a>00228
<a name="l00229"></a>00229 <span class="keyword">class </span>LmsErrorResponseData : <span class="keyword">public</span> LmsResponseData {
<a name="l00230"></a>00230 <span class="keyword">public</span>:
<a name="l00231"></a>00231
<a name="l00232"></a>00232 std::vector<uChar> errorTypes;
<a name="l00233"></a>00233 std::vector<uChar> errorCodes;
<a name="l00234"></a>00234
<a name="l00235"></a>00235 std::string toString() <span class="keyword">const</span>;
<a name="l00236"></a>00236 LmsResponseData *clone()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">new</span> LmsErrorResponseData(*<span class="keyword">this</span>); }
<a name="l00237"></a>00237 <span class="keywordtype">bool</span> isError() <span class="keyword">const</span>;
<a name="l00238"></a>00238 <span class="keywordtype">bool</span> isWarn() <span class="keyword">const</span>;
<a name="l00239"></a>00239 };
<a name="l00240"></a>00240
<a name="l00241"></a>00241 <span class="keyword">class </span>LmsOperatingDataCounterData : <span class="keyword">public</span> LmsResponseData {
<a name="l00242"></a>00242 <span class="keyword">public</span>:
<a name="l00243"></a>00243
<a name="l00244"></a>00244 <span class="keywordtype">int</span> hoursOfOperation;
<a name="l00245"></a>00245 <span class="keywordtype">int</span> numSwitchOns;
<a name="l00246"></a>00246
<a name="l00247"></a>00247 std::string toString() <span class="keyword">const</span>;
<a name="l00248"></a>00248 LmsResponseData *clone()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">new</span> LmsOperatingDataCounterData(*<span class="keyword">this</span>); }
<a name="l00249"></a>00249 };
<a name="l00250"></a>00250
<a name="l00252"></a>00252
<a name="l00253"></a>00253 <span class="comment">// If a complete telegram was found, returns true and allocates memory in 'response'.</span>
<a name="l00254"></a>00254 <span class="keywordtype">bool</span> parseBufferForResponses( <span class="keyword">const</span> uChar *buffer,
<a name="l00255"></a>00255 <span class="keywordtype">int</span> bufferLength,
<a name="l00256"></a>00256 LmsResponse *&response,
<a name="l00257"></a>00257 <span class="keywordtype">int</span> &bytesParsed );
<a name="l00258"></a>00258
<a name="l00259"></a>00259 <span class="keywordtype">void</span> constructTelegram( std::vector<uChar> &buffer,
<a name="l00260"></a>00260 <span class="keyword">const</span> std::vector<uChar> &commandAndData );
<a name="l00261"></a>00261
<a name="l00262"></a>00262 <span class="comment">// SICK parameters can be changed in installation mode.</span>
<a name="l00263"></a>00263 <span class="keywordtype">void</span> constructRequestInstallationMode( std::vector<uChar> &commandAndData );
<a name="l00264"></a>00264
<a name="l00265"></a>00265 <span class="keywordtype">void</span> constructRequestContinuousMode( std::vector<uChar> &commandAndData );
<a name="l00266"></a>00266 <span class="keywordtype">void</span> constructRequestMeasuredOnRequestMode( std::vector<uChar> &commandAndData );
<a name="l00267"></a>00267
<a name="l00268"></a>00268 <span class="keywordtype">void</span> constructInitAndReset( std::vector<uChar> &commandAndData );
<a name="l00269"></a>00269
<a name="l00270"></a>00270 <span class="keywordtype">void</span> constructStatusRequest( std::vector<uChar> &commandAndData );
<a name="l00271"></a>00271
<a name="l00272"></a>00272 <span class="keywordtype">void</span> constructConfigurationRequest( std::vector<uChar> &commandAndData );
<a name="l00273"></a>00273
<a name="l00274"></a>00274 <span class="keywordtype">void</span> constructConfigurationCommand( <span class="keyword">const</span> LmsConfigurationData &c,
<a name="l00275"></a>00275 std::vector<uChar> &commandAndData );
<a name="l00276"></a>00276
<a name="l00277"></a>00277 <span class="keywordtype">void</span> constructRequestErrorMessage( std::vector<uChar> &commandAndData );
<a name="l00278"></a>00278
<a name="l00279"></a>00279 <span class="keywordtype">void</span> constructSwitchVariant( uint16_t scanningAngle,
<a name="l00280"></a>00280 uint16_t angularResolution,
<a name="l00281"></a>00281 std::vector<uChar> &commandAndData );
<a name="l00282"></a>00282
<a name="l00283"></a>00283 <span class="keywordtype">void</span> constructRequestOperatingDataCounter( std::vector<uChar> &commandAndData );
<a name="l00284"></a>00284
<a name="l00285"></a>00285 <span class="keywordtype">void</span> constructRequestBaudRate( std::vector<uChar> &commandAndData, <span class="keywordtype">int</span> baudRate );
<a name="l00286"></a>00286 }
<a name="l00287"></a>00287
<a name="l00288"></a>00288 <span class="preprocessor">#endif</span>
</pre></div></div>
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