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<div class="navpath"><a class="el" href="dir_b8ba9ebcb71a95a44c4fd60b7d348fe1.html">src</a> » <a class="el" href="dir_e6faee39d20d45fac309cc35f2ddb285.html">gbxsickacfr</a>
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<h1>sickdefines.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 <span class="preprocessor">#ifndef SICK_ACFR_DRIVER_SICKDEFINES_H</span>
<a name="l00011"></a>00011 <span class="preprocessor"></span><span class="preprocessor">#define SICK_ACFR_DRIVER_SICKDEFINES_H</span>
<a name="l00012"></a>00012 <span class="preprocessor"></span>
<a name="l00013"></a>00013 <span class="preprocessor">#include <string></span>
<a name="l00014"></a>00014 <span class="preprocessor">#include <stdint.h></span>
<a name="l00015"></a>00015
<a name="l00016"></a>00016 <span class="keyword">namespace </span>gbxsickacfr {
<a name="l00017"></a>00017
<a name="l00018"></a>00018 <span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> uChar;
<a name="l00019"></a>00019
<a name="l00021"></a>00021 <span class="comment">//</span>
<a name="l00022"></a>00022 <span class="comment">// Random SICK crap</span>
<a name="l00023"></a>00023 <span class="comment">//</span>
<a name="l00024"></a>00024 <span class="keyword">const</span> uChar STX = 0x02; <span class="comment">// Start of Text</span>
<a name="l00025"></a>00025 <span class="keyword">const</span> uChar ACK = 0x06;
<a name="l00026"></a>00026 <span class="keyword">const</span> uChar NACK = 0x15;
<a name="l00027"></a>00027 <span class="keyword">const</span> uChar ADDRESS = 0x00;
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="keyword">const</span> <span class="keywordtype">int</span> MAX_SICK_TELEGRAM_LENGTH = 812; <span class="comment">// bytes</span>
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="keyword">const</span> <span class="keywordtype">int</span> MAX_RESPONSE_TIME_MS = 60;
<a name="l00032"></a>00032
<a name="l00034"></a>00034 <span class="comment">//</span>
<a name="l00035"></a>00035 <span class="comment">// Command Types</span>
<a name="l00036"></a>00036 <span class="comment">//</span>
<a name="l00037"></a>00037 <span class="keyword">const</span> uChar CMD_INIT_AND_RESET = 0x10;
<a name="l00038"></a>00038 <span class="keyword">const</span> uChar CMD_SWITCH_OPERATING_MODE = 0x20;
<a name="l00039"></a>00039 <span class="keyword">const</span> uChar CMD_REQUEST_MEASURED_VALUES = 0x30;
<a name="l00040"></a>00040 <span class="keyword">const</span> uChar CMD_REQUEST_LMS_STATUS = 0x31;
<a name="l00041"></a>00041 <span class="keyword">const</span> uChar CMD_REQUEST_ERROR_OR_TEST_MESSAGE = 0x32;
<a name="l00042"></a>00042 <span class="keyword">const</span> uChar CMD_REQUEST_OPERATING_DATA_COUNTER = 0x35;
<a name="l00043"></a>00043 <span class="keyword">const</span> uChar CMD_REQUEST_MEAN_MEASURED_VALUES = 0x36;
<a name="l00044"></a>00044 <span class="keyword">const</span> uChar CMD_REQUEST_MEASURED_VALUE_SUBRANGE = 0x37;
<a name="l00045"></a>00045 <span class="keyword">const</span> uChar CMD_REQUEST_LMS_TYPE = 0x3A;
<a name="l00046"></a>00046 <span class="keyword">const</span> uChar CMD_SWITCH_VARIANT = 0x3B;
<a name="l00047"></a>00047 <span class="keyword">const</span> uChar CMD_REQUEST_MEASURED_VALUE_WITH_FIELD_VALUES = 0x3E;
<a name="l00048"></a>00048 <span class="keyword">const</span> uChar CMD_REQUEST_MEAN_MEASURED_VALUE_SUBRANGE = 0x3F;
<a name="l00049"></a>00049 <span class="keyword">const</span> uChar CMD_CONFIGURE_FIELDS = 0x40;
<a name="l00050"></a>00050 <span class="keyword">const</span> uChar CMD_SWITCH_ACTIVE_FIELD_SET = 0x41;
<a name="l00051"></a>00051 <span class="keyword">const</span> uChar CMD_CHANGE_PASSWORD = 0x42;
<a name="l00052"></a>00052 <span class="keyword">const</span> uChar CMD_REQUEST_MEASURED_VALUES_AND_REFLECTIVITY_VALUE_SUBRANGE = 0x44;
<a name="l00053"></a>00053 <span class="keyword">const</span> uChar CMD_REQUEST_CONFIGURED_FIELDS = 0x45;
<a name="l00054"></a>00054 <span class="keyword">const</span> uChar CMD_START_TEACH_MODE_FOR_FIELD_CONFIGURATION = 0x46;
<a name="l00055"></a>00055 <span class="keyword">const</span> uChar CMD_REQUEST_STATUS_OF_FIELD_OUTPUTS = 0x4A;
<a name="l00056"></a>00056 <span class="keyword">const</span> uChar CMD_DEFINE_PERMANENT_BAUD_RATE_OR_LMS_TYPE = 0x66;
<a name="l00057"></a>00057 <span class="keyword">const</span> uChar CMD_DEFINE_ANGULAR_RANGE_FOR_POSITIONING_AID = 0x69;
<a name="l00058"></a>00058 <span class="keyword">const</span> uChar CMD_REQUEST_LMS_CONFIGURATION = 0x74;
<a name="l00059"></a>00059 <span class="keyword">const</span> uChar CMD_REQUEST_MEASURED_VALUE_WITH_REFLECTIVITY_DATA = 0x75;
<a name="l00060"></a>00060 <span class="keyword">const</span> uChar CMD_REQUEST_MEASURED_VALUES_IN_CARTESIAN_COORDINATES = 0x76;
<a name="l00061"></a>00061 <span class="keyword">const</span> uChar CMD_CONFIGURE_LMS = 0x77;
<a name="l00062"></a>00062 <span class="keyword">const</span> uChar CMD_CONFIGURE_LMS_CONTINUED = 0x7C;
<a name="l00064"></a>00064
<a name="l00066"></a>00066 <span class="comment">//</span>
<a name="l00067"></a>00067 <span class="comment">// Acknowledgement types</span>
<a name="l00068"></a>00068 <span class="comment">//</span>
<a name="l00069"></a>00069 <span class="keyword">inline</span> uChar ack( uChar command ) { <span class="keywordflow">return</span> (uChar)(command + 0x80); }
<a name="l00070"></a>00070
<a name="l00071"></a>00071 <span class="comment">// Need to do this so they can be used in constant expressions (eg in switch stmts)</span>
<a name="l00072"></a>00072 <span class="keyword">const</span> uChar ACK_INIT_AND_RESET = CMD_INIT_AND_RESET + 0x80;
<a name="l00073"></a>00073 <span class="keyword">const</span> uChar ACK_SWITCH_OPERATING_MODE = CMD_SWITCH_OPERATING_MODE + 0x80;
<a name="l00074"></a>00074 <span class="keyword">const</span> uChar ACK_REQUEST_MEASURED_VALUES = CMD_REQUEST_MEASURED_VALUES + 0x80;
<a name="l00075"></a>00075 <span class="keyword">const</span> uChar ACK_REQUEST_LMS_STATUS = CMD_REQUEST_LMS_STATUS + 0x80;
<a name="l00076"></a>00076 <span class="keyword">const</span> uChar ACK_REQUEST_ERROR_OR_TEST_MESSAGE = CMD_REQUEST_ERROR_OR_TEST_MESSAGE + 0x80;
<a name="l00077"></a>00077 <span class="keyword">const</span> uChar ACK_REQUEST_OPERATING_DATA_COUNTER = CMD_REQUEST_OPERATING_DATA_COUNTER + 0x80;
<a name="l00078"></a>00078 <span class="keyword">const</span> uChar ACK_REQUEST_MEAN_MEASURED_VALUES = CMD_REQUEST_MEAN_MEASURED_VALUES + 0x80;
<a name="l00079"></a>00079 <span class="keyword">const</span> uChar ACK_REQUEST_MEASURED_VALUE_SUBRANGE = CMD_REQUEST_MEASURED_VALUE_SUBRANGE + 0x80;
<a name="l00080"></a>00080 <span class="keyword">const</span> uChar ACK_REQUEST_LMS_TYPE = CMD_REQUEST_LMS_TYPE + 0x80;
<a name="l00081"></a>00081 <span class="keyword">const</span> uChar ACK_SWITCH_VARIANT = CMD_SWITCH_VARIANT + 0x80;
<a name="l00082"></a>00082 <span class="keyword">const</span> uChar ACK_REQUEST_MEASURED_VALUE_WITH_FIELD_VALUES =
<a name="l00083"></a>00083 CMD_REQUEST_MEASURED_VALUE_WITH_FIELD_VALUES + 0x80;
<a name="l00084"></a>00084 <span class="keyword">const</span> uChar ACK_REQUEST_MEAN_MEASURED_VALUE_SUBRANGE =
<a name="l00085"></a>00085 CMD_REQUEST_MEAN_MEASURED_VALUE_SUBRANGE + 0x80;
<a name="l00086"></a>00086 <span class="keyword">const</span> uChar ACK_CONFIGURE_FIELDS = CMD_CONFIGURE_FIELDS + 0x80;
<a name="l00087"></a>00087 <span class="keyword">const</span> uChar ACK_SWITCH_ACTIVE_FIELD_SET = CMD_SWITCH_ACTIVE_FIELD_SET + 0x80;
<a name="l00088"></a>00088 <span class="keyword">const</span> uChar ACK_CHANGE_PASSWORD = CMD_CHANGE_PASSWORD + 0x80;
<a name="l00089"></a>00089 <span class="keyword">const</span> uChar ACK_REQUEST_MEASURED_VALUES_AND_REFLECTIVITY_VALUE_SUBRANGE =
<a name="l00090"></a>00090 CMD_REQUEST_MEASURED_VALUES_AND_REFLECTIVITY_VALUE_SUBRANGE + 0x80;
<a name="l00091"></a>00091 <span class="keyword">const</span> uChar ACK_REQUEST_CONFIGURED_FIELDS = CMD_REQUEST_CONFIGURED_FIELDS + 0x80;
<a name="l00092"></a>00092 <span class="keyword">const</span> uChar ACK_START_TEACH_MODE_FOR_FIELD_CONFIGURATION =
<a name="l00093"></a>00093 CMD_START_TEACH_MODE_FOR_FIELD_CONFIGURATION + 0x80;
<a name="l00094"></a>00094 <span class="keyword">const</span> uChar ACK_REQUEST_STATUS_OF_FIELD_OUTPUTS = CMD_REQUEST_STATUS_OF_FIELD_OUTPUTS + 0x80;
<a name="l00095"></a>00095 <span class="keyword">const</span> uChar ACK_DEFINE_PERMANENT_BAUD_RATE_OR_LMS_TYPE =
<a name="l00096"></a>00096 CMD_DEFINE_PERMANENT_BAUD_RATE_OR_LMS_TYPE + 0x80;
<a name="l00097"></a>00097 <span class="keyword">const</span> uChar ACK_DEFINE_ANGULAR_RANGE_FOR_POSITIONING_AID =
<a name="l00098"></a>00098 CMD_DEFINE_ANGULAR_RANGE_FOR_POSITIONING_AID + 0x80;
<a name="l00099"></a>00099 <span class="keyword">const</span> uChar ACK_REQUEST_LMS_CONFIGURATION = CMD_REQUEST_LMS_CONFIGURATION + 0x80;
<a name="l00100"></a>00100 <span class="keyword">const</span> uChar ACK_REQUEST_MEASURED_VALUE_WITH_REFLECTIVITY_DATA =
<a name="l00101"></a>00101 CMD_REQUEST_MEASURED_VALUE_WITH_REFLECTIVITY_DATA + 0x80;
<a name="l00102"></a>00102 <span class="keyword">const</span> uChar ACK_REQUEST_MEASURED_VALUES_IN_CARTESIAN_COORDINATES =
<a name="l00103"></a>00103 CMD_REQUEST_MEASURED_VALUES_IN_CARTESIAN_COORDINATES + 0x80;
<a name="l00104"></a>00104 <span class="keyword">const</span> uChar ACK_CONFIGURE_LMS = CMD_CONFIGURE_LMS + 0x80;
<a name="l00105"></a>00105 <span class="keyword">const</span> uChar ACK_CONFIGURE_LMS_CONTINUED = CMD_CONFIGURE_LMS_CONTINUED + 0x80;
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="comment">// Response Types (in addition to acknowledgement types)</span>
<a name="l00108"></a>00108 <span class="keyword">const</span> uChar RESP_SOFTWARE_RESET_CONFIRM = 0x91;
<a name="l00109"></a>00109 <span class="keyword">const</span> uChar RESP_INCORRECT_COMMAND = 0x92;
<a name="l00110"></a>00110
<a name="l00111"></a>00111 std::string cmdToString( uChar command );
<a name="l00112"></a>00112
<a name="l00113"></a>00113
<a name="l00115"></a>00115 <span class="comment">//</span>
<a name="l00116"></a>00116 <span class="comment">// Operating Modes</span>
<a name="l00117"></a>00117 <span class="comment">//</span>
<a name="l00118"></a>00118 <span class="keyword">const</span> uChar OPERATING_MODE_INSTALLATION = 0x00;
<a name="l00119"></a>00119
<a name="l00120"></a>00120 <span class="keyword">const</span> uChar OPERATING_MODE_DIAGNOSIS = 0x10;
<a name="l00121"></a>00121
<a name="l00122"></a>00122 <span class="keyword">const</span> uChar OPERATING_MODE_MIN_MEASURED_CONTINUOUS = 0x20;
<a name="l00123"></a>00123 <span class="keyword">const</span> uChar OPERATING_MODE_MIN_MEASURED_IN_FIELD = 0x21;
<a name="l00124"></a>00124 <span class="keyword">const</span> uChar OPERATING_MODE_MIN_VERTICAL_DISTANCE_CONTINUOUS = 0x22;
<a name="l00125"></a>00125 <span class="keyword">const</span> uChar OPERATING_MODE_MIN_VERTICAL_DISTANCE_IN_FIELD = 0x23;
<a name="l00126"></a>00126 <span class="keyword">const</span> uChar OPERATING_MODE_ALL_MEASURED_CONTINUOUS = 0x24;
<a name="l00127"></a>00127 <span class="keyword">const</span> uChar OPERATING_MODE_MEASURED_ON_REQUEST = 0x25; <span class="comment">// (this is the default setting)</span>
<a name="l00128"></a>00128 <span class="keyword">const</span> uChar OPERATING_MODE_MEAN_MEASURED_CONTINUOUS = 0x26;
<a name="l00129"></a>00129 <span class="keyword">const</span> uChar OPERATING_MODE_MEASURED_SUBRANGE_CONTINUOUS = 0x27;
<a name="l00130"></a>00130 <span class="keyword">const</span> uChar OPERATING_MODE_MEAN_MEASURED_SUBRANGE_CONTINUOUS = 0x28;
<a name="l00131"></a>00131 <span class="keyword">const</span> uChar OPERATING_MODE_MEASURED_WITH_FIELD_VALUES_CONTINUOUS = 0x29;
<a name="l00132"></a>00132 <span class="keyword">const</span> uChar OPERATING_MODE_MEASURED_PARTIAL_CONTINUOUS = 0x2A;
<a name="l00133"></a>00133 <span class="keyword">const</span> uChar OPERATING_MODE_MEASURED_N_PARTIAL_CONTINUOUS = 0x2B;
<a name="l00134"></a>00134 <span class="keyword">const</span> uChar OPERATING_MODE_MEASURED_PER_SEGMENT_CONTINUOUS = 0x2C;
<a name="l00135"></a>00135 <span class="keyword">const</span> uChar OPERATING_MODE_NAV_DATA_RECORDS = 0x2E;
<a name="l00136"></a>00136 <span class="keyword">const</span> uChar OPERATING_MODE_ALL_MEASURED_PLUS_REFLECTIVITY_SUBRANGE_CONTINUOUS = 0x50;
<a name="l00137"></a>00137
<a name="l00138"></a>00138 <span class="keyword">const</span> uChar OPERATING_MODE_TEST_PASSWORD = 0x30;
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="keyword">const</span> uChar OPERATING_MODE_SET_BAUDRATE_38400 = 0x40;
<a name="l00141"></a>00141 <span class="keyword">const</span> uChar OPERATING_MODE_SET_BAUDRATE_19200 = 0x41;
<a name="l00142"></a>00142 <span class="keyword">const</span> uChar OPERATING_MODE_SET_BAUDRATE_9600 = 0x42;
<a name="l00143"></a>00143 <span class="keyword">const</span> uChar OPERATING_MODE_SET_BAUDRATE_500000 = 0x48;
<a name="l00144"></a>00144
<a name="l00145"></a>00145 std::string operatingModeToString( uChar operatingMode );
<a name="l00146"></a>00146
<a name="l00148"></a>00148 <span class="comment">//</span>
<a name="l00149"></a>00149 <span class="comment">// Operating Mode Response Data</span>
<a name="l00150"></a>00150 <span class="comment">//</span>
<a name="l00151"></a>00151 <span class="keyword">const</span> uChar OPERATING_MODE_RESPONSE_SUCCESS = 0x00;
<a name="l00152"></a>00152 <span class="keyword">const</span> uChar OPERATING_MODE_RESPONSE_FAIL = 0x01;
<a name="l00153"></a>00153
<a name="l00155"></a>00155 <span class="comment">//</span>
<a name="l00156"></a>00156 <span class="comment">// Status Response Data Stuff</span>
<a name="l00157"></a>00157 <span class="comment">//</span>
<a name="l00158"></a>00158 <span class="keyword">const</span> <span class="keywordtype">int</span> VERSION_LENGTH = 6;
<a name="l00159"></a>00159 <span class="keyword">const</span> <span class="keywordtype">int</span> SOFTWARE_VERSION_LENGTH = 6;
<a name="l00160"></a>00160 <span class="keyword">const</span> <span class="keywordtype">int</span> MANUFACTURER_LENGTH = 8;
<a name="l00161"></a>00161 <span class="keyword">const</span> <span class="keywordtype">int</span> POLLUTION_LENGTH = 8;
<a name="l00162"></a>00162 <span class="keyword">const</span> <span class="keywordtype">int</span> REF_POLLUTION_LENGTH = 4;
<a name="l00163"></a>00163 <span class="keyword">const</span> <span class="keywordtype">int</span> CALIB_POLLUTION_LENGTH = 8;
<a name="l00164"></a>00164 <span class="keyword">const</span> <span class="keywordtype">int</span> CALIB_REF_POLLUTION_LENGTH = 4;
<a name="l00165"></a>00165
<a name="l00167"></a>00167 <span class="comment">//</span>
<a name="l00168"></a>00168 <span class="comment">// Measuring Modes</span>
<a name="l00169"></a>00169 <span class="comment">//</span>
<a name="l00170"></a>00170 <span class="keyword">const</span> uChar MEASURING_MODE_8m80m_FIELD_AB_DAZZLE = 0x00; <span class="comment">// (default value)</span>
<a name="l00171"></a>00171 <span class="keyword">const</span> uChar MEASURING_MODE_8m80m_REFLECTOR8LEVELS = 0x01;
<a name="l00172"></a>00172 <span class="keyword">const</span> uChar MEASURING_MODE_8m80m_FIELD_ABC = 0x02;
<a name="l00173"></a>00173 <span class="keyword">const</span> uChar MEASURING_MODE_16m_REFLECTOR4LEVELS = 0x03;
<a name="l00174"></a>00174 <span class="keyword">const</span> uChar MEASURING_MODE_16m_FIELD_AB = 0x04;
<a name="l00175"></a>00175 <span class="keyword">const</span> uChar MEASURING_MODE_32m_FIELD_AB = 0x05;
<a name="l00176"></a>00176 <span class="keyword">const</span> uChar MEASURING_MODE_32m_FIELD_A = 0x06;
<a name="l00177"></a>00177
<a name="l00178"></a>00178 std::string measuringModeToString( uChar mode );
<a name="l00179"></a>00179
<a name="l00181"></a>00181 <span class="comment">//</span>
<a name="l00182"></a>00182 <span class="comment">// Status Codes</span>
<a name="l00183"></a>00183 <span class="comment">//</span>
<a name="l00184"></a>00184
<a name="l00185"></a>00185 <span class="keyword">const</span> uChar STATUS_GENERAL_MASK = 0x07;
<a name="l00186"></a>00186 <span class="comment">// These apply to the lower 3 bits as masked by STATUS_GENERAL_MASK</span>
<a name="l00187"></a>00187 <span class="keyword">const</span> uChar STATUS_OK = 0x00;
<a name="l00188"></a>00188 <span class="keyword">const</span> uChar STATUS_INFO = 0x01;
<a name="l00189"></a>00189 <span class="keyword">const</span> uChar STATUS_WARNING = 0x02;
<a name="l00190"></a>00190 <span class="keyword">const</span> uChar STATUS_ERROR = 0x03;
<a name="l00191"></a>00191 <span class="keyword">const</span> uChar STATUS_FATAL_ERROR = 0x04;
<a name="l00192"></a>00192
<a name="l00193"></a>00193 <span class="comment">// one-bit masks</span>
<a name="l00194"></a>00194 <span class="keyword">const</span> uChar STATUS_RESTART_MASK = 0x20;
<a name="l00195"></a>00195 <span class="keyword">const</span> uChar STATUS_IMPLAUSIBLE_MEASURED_VALUES_MASK = 0x30;
<a name="l00196"></a>00196 <span class="keyword">const</span> uChar STATUS_POLLUTION_MASK = 0x80;
<a name="l00197"></a>00197
<a name="l00198"></a>00198 std::string statusToString( uChar status );
<a name="l00199"></a>00199 <span class="keywordtype">bool</span> generalStatusIsWarn( uChar generalStatus );
<a name="l00200"></a>00200 <span class="keywordtype">bool</span> generalStatusIsError( uChar generalStatus );
<a name="l00201"></a>00201
<a name="l00202"></a>00202
<a name="l00204"></a>00204 <span class="comment">//</span>
<a name="l00205"></a>00205 <span class="comment">// Status Codes</span>
<a name="l00206"></a>00206 <span class="comment">//</span>
<a name="l00207"></a>00207
<a name="l00208"></a>00208 <span class="keyword">const</span> uChar MODE_SWITCH_SUCCESS_OK = 0x00;
<a name="l00209"></a>00209 <span class="keyword">const</span> uChar MODE_SWITCH_FAIL_BAD_PASSWORD = 0x01;
<a name="l00210"></a>00210 <span class="keyword">const</span> uChar MODE_SWITCH_FAIL_LMS_FAULT = 0x02;
<a name="l00211"></a>00211
<a name="l00212"></a>00212 std::string modeSwitchSuccessToString( uChar success );
<a name="l00213"></a>00213
<a name="l00215"></a>00215 <span class="comment">//</span>
<a name="l00216"></a>00216 <span class="comment">// Measurement units</span>
<a name="l00217"></a>00217 <span class="comment">//</span>
<a name="l00218"></a>00218
<a name="l00219"></a>00219 <span class="keyword">const</span> uChar MEASURED_VALUE_UNIT_CM = 0x00;
<a name="l00220"></a>00220 <span class="keyword">const</span> uChar MEASURED_VALUE_UNIT_MM = 0x01;
<a name="l00221"></a>00221
<a name="l00222"></a>00222 std::string measuredValueUnitToString( uChar unit );
<a name="l00223"></a>00223
<a name="l00225"></a>00225 <span class="comment">//</span>
<a name="l00226"></a>00226 <span class="comment">// Angular Resolution and scanning angle</span>
<a name="l00227"></a>00227 <span class="comment">//</span>
<a name="l00228"></a>00228 <span class="keyword">const</span> uint16_t ANGULAR_RESOLUTION_1_0_DEG = 100;
<a name="l00229"></a>00229 <span class="keyword">const</span> uint16_t ANGULAR_RESOLUTION_0_5_DEG = 50;
<a name="l00230"></a>00230 <span class="keyword">const</span> uint16_t ANGULAR_RESOLUTION_0_25_DEG = 25;
<a name="l00231"></a>00231
<a name="l00232"></a>00232 <span class="keyword">inline</span> <span class="keywordtype">double</span> angularResolutionToDoubleInDegrees( uint16_t angularResolution )
<a name="l00233"></a>00233 { <span class="keywordflow">return</span> angularResolution/100.0; }
<a name="l00234"></a>00234
<a name="l00235"></a>00235 <span class="keyword">const</span> uint16_t SCANNING_ANGLE_180 = 180;
<a name="l00236"></a>00236 <span class="keyword">const</span> uint16_t SCANNING_ANGLE_100 = 100;
<a name="l00237"></a>00237
<a name="l00238"></a>00238 <span class="keyword">const</span> uChar SWITCH_VARIANT_SUCCESS = 0x01;
<a name="l00239"></a>00239 <span class="keyword">const</span> uChar SWITCH_VARIANT_FAIL = 0x00;
<a name="l00240"></a>00240
<a name="l00241"></a>00241 std::string switchVariantSuccessToString( uChar success );
<a name="l00242"></a>00242
<a name="l00244"></a>00244 <span class="comment">//</span>
<a name="l00245"></a>00245 <span class="comment">// Sensitivity</span>
<a name="l00246"></a>00246 <span class="comment">//</span>
<a name="l00247"></a>00247
<a name="l00248"></a>00248 <span class="keyword">const</span> uChar SENSITIVITY_STANDARD = 0x00; <span class="comment">// between medium and high</span>
<a name="l00249"></a>00249 <span class="keyword">const</span> uChar SENSITIVITY_MEDIUM = 0x01;
<a name="l00250"></a>00250 <span class="keyword">const</span> uChar SENSITIVITY_LOW = 0x02;
<a name="l00251"></a>00251 <span class="keyword">const</span> uChar SENSITIVITY_HIGH = 0x03;
<a name="l00252"></a>00252
<a name="l00253"></a>00253 std::string sensitivityToString( uChar sens );
<a name="l00254"></a>00254
<a name="l00256"></a>00256 <span class="comment">//</span>
<a name="l00257"></a>00257 <span class="comment">// Configuration success</span>
<a name="l00258"></a>00258 <span class="comment">//</span>
<a name="l00259"></a>00259
<a name="l00260"></a>00260 <span class="keyword">const</span> uChar CONFIGURATION_SUCCESS = 0x01;
<a name="l00261"></a>00261 <span class="keyword">const</span> uChar CONFIGURATION_FAIL = 0x00;
<a name="l00262"></a>00262
<a name="l00263"></a>00263 std::string configurationSuccessToString( uChar success );
<a name="l00264"></a>00264
<a name="l00266"></a>00266 <span class="comment">//</span>
<a name="l00267"></a>00267 <span class="comment">// Baud rates</span>
<a name="l00268"></a>00268 <span class="comment">//</span>
<a name="l00269"></a>00269
<a name="l00270"></a>00270 <span class="comment">// returns -1 on error</span>
<a name="l00271"></a>00271 <span class="keywordtype">int</span> baudRateToInt( uint16_t baudRate );
<a name="l00272"></a>00272 uChar baudRateIntToOperatingMode( <span class="keywordtype">int</span> baudRate );
<a name="l00273"></a>00273
<a name="l00274"></a>00274 std::string permanentBaudRateToString( uChar permanentBaudRate );
<a name="l00275"></a>00275
<a name="l00277"></a>00277 <span class="comment">//</span>
<a name="l00278"></a>00278 <span class="comment">// Error codes</span>
<a name="l00279"></a>00279 <span class="comment">//</span>
<a name="l00280"></a>00280
<a name="l00281"></a>00281 <span class="keyword">const</span> uChar ERROR_TYPE_NO_LONGER_RELEVANT_MASK = 0x80;
<a name="l00282"></a>00282
<a name="l00283"></a>00283 <span class="keyword">const</span> uChar ERROR_CODE_DAZZLE_TEST = 05;
<a name="l00284"></a>00284 <span class="keyword">const</span> uChar ERROR_CODE_PEAK_COMPARATOR_TEST = 06;
<a name="l00285"></a>00285 <span class="keyword">const</span> uChar ERROR_CODE_STOP_COMPARATOR_TEST = 07;
<a name="l00286"></a>00286 <span class="keyword">const</span> uChar ERROR_CODE_TDC_INIT_AND_GATE_FUNCTION_TEST = 15;
<a name="l00287"></a>00287 <span class="keyword">const</span> uChar ERROR_CODE_POLLUTION_EVALUATION_OIL_CHANNEL_1 = 17;
<a name="l00288"></a>00288 <span class="keyword">const</span> uChar ERROR_CODE_POLLUTION_EVALUATION_DIRT_CHANNEL_1 = 18;
<a name="l00289"></a>00289 <span class="keyword">const</span> uChar ERROR_CODE_POLLUTION_EVALUATION_DIRT_CHANNEL_2 = 19;
<a name="l00290"></a>00290 <span class="keyword">const</span> uChar ERROR_CODE_POLLUTION_EVALUATION_OIL_CHANNEL_2 = 20;
<a name="l00291"></a>00291 <span class="keyword">const</span> uChar ERROR_CODE_POLLUTION_EVALUATION_REF_CHANNEL_0 = 21;
<a name="l00292"></a>00292 <span class="keyword">const</span> uChar ERROR_CODE_POLLUTION_EVALUATION_REF_CHANNEL_1 = 22;
<a name="l00293"></a>00293 <span class="keyword">const</span> uChar ERROR_CODE_OUTPUT_A_DEFECTIVE = 27;
<a name="l00294"></a>00294 <span class="keyword">const</span> uChar ERROR_CODE_OUTPUT_B_DEFECTIVE = 28;
<a name="l00295"></a>00295 <span class="keyword">const</span> uChar ERROR_CODE_NUM_MOTOR_REVOLUTIONS = 29;
<a name="l00296"></a>00296 <span class="keyword">const</span> uChar ERROR_CODE_CALIBRATION_POLLUTION = 37;
<a name="l00297"></a>00297 <span class="keyword">const</span> uChar ERROR_CODE_TIMEOUT_ON_TDC_CALIBRATION = 39;
<a name="l00298"></a>00298 <span class="keyword">const</span> uChar ERROR_CODE_1_MEASUREMENT_VALUE_MISSING = 45;
<a name="l00299"></a>00299 <span class="keyword">const</span> uChar ERROR_CODE_1_SCAN_MISSING_SCAN_LASTS_TOO_LONG = 46;
<a name="l00300"></a>00300 <span class="keyword">const</span> uChar ERROR_CODE_REFERENCE_TARGET_LOAD_PULSE_WIDTH_IMPLAUSIBLE = 47;
<a name="l00301"></a>00301 <span class="keyword">const</span> uChar ERROR_CODE_CALIBRATION_OF_LASER_POWER = 48;
<a name="l00302"></a>00302 <span class="keyword">const</span> uChar ERROR_CODE_LASER_POWER_OUTSIDE_50_PCT_140_PCT = 49;
<a name="l00303"></a>00303 <span class="keyword">const</span> uChar ERROR_CODE_INITIALISATION_TDC_MO_CHANNEL_0_AND_1 = 50;
<a name="l00304"></a>00304 <span class="keyword">const</span> uChar ERROR_CODE_DA_AD_TEST_STOP_BRANCH = 51;
<a name="l00305"></a>00305 <span class="keyword">const</span> uChar ERROR_CODE_DA_AD_TEST_PEAK_BRANCH = 52;
<a name="l00306"></a>00306 <span class="keyword">const</span> uChar ERROR_CODE_FLASH_WRITTEN = 53;
<a name="l00307"></a>00307 <span class="keyword">const</span> uChar ERROR_CODE_POLLUTION_CHANNEL_MEASUREMENT_WITHOUT_ACTIVE_TRANSMITTER = 54;
<a name="l00308"></a>00308 <span class="keyword">const</span> uChar ERROR_CODE_NO_TWO_DIFFERENT_ANGLES_DETECTED_ON_LASER_POWER_CALIBRATION = 55;
<a name="l00309"></a>00309 <span class="keyword">const</span> uChar ERROR_CODE_HARDWARE_WATCHDOG_DEFECTIVE = 56;
<a name="l00310"></a>00310 <span class="keyword">const</span> uChar ERROR_CODE_NO_ZERO_INDEX_SIGNAL_AVAILABLE = 57;
<a name="l00311"></a>00311 <span class="keyword">const</span> uChar ERROR_CODE_SLAVE_CANNOT_SYNC_DURING_INIT = 58;
<a name="l00312"></a>00312 <span class="keyword">const</span> uChar ERROR_CODE_SYNC_LOST_IN_OPERATING_STATE = 59;
<a name="l00313"></a>00313 <span class="keyword">const</span> uChar ERROR_CODE_SYNC_CYCLE_FROM_MASTER_MISSING = 60;
<a name="l00314"></a>00314 <span class="keyword">const</span> uChar ERROR_CODE_HARDWARE_UNSUITABLE_FOR_SYNC_IN_SLAVE_OPERATING_MODE = 61;
<a name="l00315"></a>00315 <span class="keyword">const</span> uChar ERROR_CODE_WRONG_DIP_SWITCH_POSITION = 62;
<a name="l00316"></a>00316 <span class="keyword">const</span> uChar ERROR_CODE_REF_TARGET_SMALLEST_PULSE_WIDTH_TOO_SMALL = 86;
<a name="l00317"></a>00317 <span class="keyword">const</span> uChar ERROR_CODE_REF_TARGET_LARGEST_PULSE_WIDTH_TOO_LARGE = 87;
<a name="l00318"></a>00318 <span class="keyword">const</span> uChar ERROR_CODE_REF_TARGET_PULSE_WIDTH_SPECTRUM_TOO_LARGE = 88;
<a name="l00319"></a>00319 <span class="keyword">const</span> uChar ERROR_CODE_REF_TARGET_REF_TABLE_LESS_THAN_2_CYCLES_UPDATE = 89;
<a name="l00320"></a>00320 <span class="keyword">const</span> uChar ERROR_CODE_REF_TARGET_REFLECTIVITY_MEASUREMENT_CANNOT_BE_CALIBRATED = 91;
<a name="l00321"></a>00321 <span class="keyword">const</span> uChar ERROR_CODE_REF_TARGET_TEACH_IN_MODE_IS_NOT_COMPLETED = 92;
<a name="l00322"></a>00322 <span class="keyword">const</span> uChar ERROR_CODE_OUT_OF_MEMORY_IN_MEASUREMENT_ROUTINE = 124;
<a name="l00323"></a>00323 <span class="keyword">const</span> uChar ERROR_CODE_OUT_OF_MEMORY_IN_REFERENCE_TARGET_ROUTINE = 125;
<a name="l00324"></a>00324 <span class="keyword">const</span> uChar ERROR_CODE_OUT_OF_MEMORY_IN_REFERENCE_TARGET_ANGULAR_TABLE = 126;
<a name="l00325"></a>00325
<a name="l00326"></a>00326 std::string errorTypeToString( uChar errorType );
<a name="l00327"></a>00327 <span class="keywordtype">bool</span> errorTypeIsWarn( uChar errorType );
<a name="l00328"></a>00328 <span class="keywordtype">bool</span> errorTypeIsError( uChar errorType );
<a name="l00329"></a>00329 std::string errorCodeToString( uChar errorCode );
<a name="l00330"></a>00330 }
<a name="l00331"></a>00331
<a name="l00332"></a>00332 <span class="preprocessor">#endif</span>
</pre></div></div>
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