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<h1>lms400_cola.h</h1> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Player - One Hell of a Robot Server</span>
<a name="l00003"></a>00003 <span class="comment"> * Copyright (C) 2007</span>
<a name="l00004"></a>00004 <span class="comment"> * Nico Blodow and Radu Bogdan Rusu</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> *</span>
<a name="l00007"></a>00007 <span class="comment"> * This library is free software; you can redistribute it and/or</span>
<a name="l00008"></a>00008 <span class="comment"> * modify it under the terms of the GNU Lesser General Public</span>
<a name="l00009"></a>00009 <span class="comment"> * License as published by the Free Software Foundation; either</span>
<a name="l00010"></a>00010 <span class="comment"> * version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00011"></a>00011 <span class="comment"> *</span>
<a name="l00012"></a>00012 <span class="comment"> * This library is distributed in the hope that it will be useful,</span>
<a name="l00013"></a>00013 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00014"></a>00014 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00015"></a>00015 <span class="comment"> * Lesser General Public License for more details.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * You should have received a copy of the GNU Lesser General Public</span>
<a name="l00018"></a>00018 <span class="comment"> * License along with this library; if not, write to the Free Software</span>
<a name="l00019"></a>00019 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00020"></a>00020 <span class="comment"> */</span>
<a name="l00021"></a>00021
<a name="l00022"></a>00022 <span class="comment">/*</span>
<a name="l00023"></a>00023 <span class="comment"> Desc: Driver for the SICK LMS400 unit</span>
<a name="l00024"></a>00024 <span class="comment"> Author: Nico Blodow and Radu Bogdan Rusu</span>
<a name="l00025"></a>00025 <span class="comment"> Date: 7 Feb 2007</span>
<a name="l00026"></a>00026 <span class="comment"> CVS: $Id: lms400_cola.h 8135 2009-07-25 08:19:31Z thjc $</span>
<a name="l00027"></a>00027 <span class="comment">*/</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#include "config.h"</span>
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="preprocessor">#include <netdb.h></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <sys/types.h></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <vector></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <netinet/in.h></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <libplayerinterface/player.h></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <iostream></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="preprocessor">#define BUF_SIZE 1024</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00041"></a><a class="code" href="structMeasurementQueueElement__t.html">00041</a> <span class="keyword">typedef</span> <span class="keyword">struct</span>
<a name="l00042"></a>00042 {
<a name="l00043"></a>00043 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* string;
<a name="l00044"></a>00044 <span class="keywordtype">int</span> length;
<a name="l00045"></a>00045 } <a class="code" href="structMeasurementQueueElement__t.html">MeasurementQueueElement_t</a>;
<a name="l00046"></a>00046
<a name="l00048"></a><a class="code" href="structMeasurementHeader__t.html">00048</a> <span class="keyword">typedef</span> <span class="keyword">struct</span>
<a name="l00049"></a>00049 {
<a name="l00050"></a>00050 uint16_t Format;
<a name="l00051"></a>00051 uint16_t DistanceScaling;
<a name="l00052"></a>00052 int32_t StartingAngle;
<a name="l00053"></a>00053 uint16_t AngularStepWidth;
<a name="l00054"></a>00054 uint16_t NumberMeasuredValues;
<a name="l00055"></a>00055 uint16_t ScanningFrequency;
<a name="l00056"></a>00056 uint16_t RemissionScaling;
<a name="l00057"></a>00057 uint16_t RemissionStartValue;
<a name="l00058"></a>00058 uint16_t RemissionEndValue;
<a name="l00059"></a>00059 } <a class="code" href="structMeasurementHeader__t.html">MeasurementHeader_t</a>;
<a name="l00060"></a>00060
<a name="l00061"></a>00061
<a name="l00063"></a><a class="code" href="classlms400__cola.html">00063</a> <span class="keyword">class </span><a class="code" href="classlms400__cola.html">lms400_cola</a>
<a name="l00064"></a>00064 {
<a name="l00065"></a>00065 <span class="keyword">public</span>:
<a name="l00066"></a>00066 <a class="code" href="classlms400__cola.html">lms400_cola</a> (<span class="keyword">const</span> <span class="keywordtype">char</span>* host, <span class="keywordtype">int</span> port, <span class="keywordtype">int</span> debug_mode);
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="comment">// Creates socket, connects</span>
<a name="l00069"></a>00069 <span class="keywordtype">int</span> Connect ();
<a name="l00070"></a>00070 <span class="keywordtype">int</span> Disconnect ();
<a name="l00071"></a>00071
<a name="l00072"></a>00072 <span class="comment">// Configuration parameters</span>
<a name="l00073"></a>00073 <span class="keywordtype">int</span> SetAngularResolution (<span class="keyword">const</span> <span class="keywordtype">char</span>* password, <span class="keywordtype">float</span> ang_res, <span class="keywordtype">float</span> angle_start, <span class="keywordtype">float</span> angle_range);
<a name="l00074"></a>00074 <span class="keywordtype">int</span> SetScanningFrequency (<span class="keyword">const</span> <span class="keywordtype">char</span>* password, <span class="keywordtype">float</span> freq, <span class="keywordtype">float</span> angle_start, <span class="keywordtype">float</span> angle_range);
<a name="l00075"></a>00075 <span class="keywordtype">int</span> SetResolutionAndFrequency (<span class="keywordtype">float</span> freq, <span class="keywordtype">float</span> ang_res, <span class="keywordtype">float</span> angle_start, <span class="keywordtype">float</span> angle_range);
<a name="l00076"></a>00076
<a name="l00077"></a>00077 <span class="keywordtype">int</span> StartMeasurement (<span class="keywordtype">bool</span> intensity = <span class="keyword">true</span>);
<a name="l00078"></a>00078 <a class="code" href="structplayer__laser__data.html" title="Data: scan (PLAYER_LASER_DATA_SCAN).">player_laser_data</a> ReadMeasurement ();
<a name="l00079"></a>00079 <span class="keywordtype">int</span> StopMeasurement ();
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <span class="keywordtype">int</span> SetUserLevel (int8_t userlevel, <span class="keyword">const</span> <span class="keywordtype">char</span>* password);
<a name="l00082"></a>00082 <span class="keywordtype">int</span> GetMACAddress (<span class="keywordtype">char</span>** macadress);
<a name="l00083"></a>00083
<a name="l00084"></a>00084 <span class="keywordtype">int</span> SetIP (<span class="keywordtype">char</span>* ip);
<a name="l00085"></a>00085 <span class="keywordtype">int</span> SetGateway (<span class="keywordtype">char</span>* gw);
<a name="l00086"></a>00086 <span class="keywordtype">int</span> SetNetmask (<span class="keywordtype">char</span>* mask);
<a name="l00087"></a>00087 <span class="keywordtype">int</span> SetPort (uint16_t port);
<a name="l00088"></a>00088
<a name="l00089"></a>00089 <span class="keywordtype">int</span> ResetDevice ();
<a name="l00090"></a>00090 <span class="keywordtype">int</span> TerminateConfiguration ();
<a name="l00091"></a>00091
<a name="l00092"></a>00092 <span class="keywordtype">int</span> SendCommand (<span class="keyword">const</span> <span class="keywordtype">char</span>* cmd);
<a name="l00093"></a>00093 <span class="keywordtype">int</span> ReadResult ();
<a name="l00094"></a>00094 <span class="comment">// for "Variables", Commands that only reply with one Answer message</span>
<a name="l00095"></a>00095 <span class="keywordtype">int</span> ReadAnswer ();
<a name="l00096"></a>00096 <span class="comment">// for "Procedures", Commands that reply with a Confirmation message and an Answer message</span>
<a name="l00097"></a>00097 <span class="keywordtype">int</span> ReadConfirmationAndAnswer ();
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="keywordtype">int</span> EnableRIS (<span class="keywordtype">int</span> onoff);
<a name="l00100"></a>00100 <a class="code" href="structplayer__laser__config.html" title="Request/reply: Get/set scan properties.">player_laser_config</a> GetConfiguration ();
<a name="l00101"></a>00101 <span class="keywordtype">int</span> SetMeanFilterParameters (<span class="keywordtype">int</span> num_scans);
<a name="l00102"></a>00102 <span class="keywordtype">int</span> SetRangeFilterParameters (<span class="keywordtype">float</span> *ranges);
<a name="l00103"></a>00103 <span class="keywordtype">int</span> EnableFilters (<span class="keywordtype">int</span> filter_mask);
<a name="l00104"></a>00104
<a name="l00105"></a>00105 <span class="comment">// turns a string holding an ip address into long</span>
<a name="l00106"></a>00106 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* ParseIP (<span class="keywordtype">char</span>* ip);
<a name="l00107"></a>00107
<a name="l00108"></a>00108 <span class="keyword">private</span>:
<a name="l00109"></a>00109 <span class="comment">// assembles STX's, length field, message, checksum ready to be sent. Cool.</span>
<a name="l00110"></a>00110 <span class="keywordtype">int</span> assemblecommand (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* command, <span class="keywordtype">int</span> len);
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="keyword">const</span> <span class="keywordtype">char</span>* hostname;
<a name="l00113"></a>00113 <span class="keywordtype">int</span> sockfd, portno, n;
<a name="l00114"></a>00114 <span class="keyword">struct </span>sockaddr_in serv_addr;
<a name="l00115"></a>00115 <span class="preprocessor">#if HAVE_GETADDRINFO</span>
<a name="l00116"></a>00116 <span class="preprocessor"></span> <span class="keyword">struct </span>addrinfo *addr_ptr;
<a name="l00117"></a>00117 <span class="preprocessor">#else</span>
<a name="l00118"></a>00118 <span class="preprocessor"></span> <span class="keyword">struct </span>hostent *server;
<a name="l00119"></a>00119 <span class="preprocessor">#endif</span>
<a name="l00120"></a>00120 <span class="preprocessor"></span>
<a name="l00121"></a>00121 <span class="comment">// Internal Parameters:</span>
<a name="l00122"></a>00122 <span class="keywordtype">int</span> verbose;
<a name="l00123"></a>00123 <span class="keywordtype">int</span> ExtendedRIS;
<a name="l00124"></a>00124 <span class="keywordtype">int</span> MeanFilterNumScans;
<a name="l00125"></a>00125 <span class="keywordtype">float</span> RangeFilterTopLimit;
<a name="l00126"></a>00126 <span class="keywordtype">float</span> RangeFilterBottomLimit;
<a name="l00127"></a>00127 <span class="keywordtype">int</span> FilterMask;
<a name="l00128"></a>00128 <a class="code" href="structplayer__laser__config.html" title="Request/reply: Get/set scan properties.">player_laser_config</a> Configuration;
<a name="l00129"></a>00129
<a name="l00130"></a>00130 <span class="comment">// for reading:</span>
<a name="l00131"></a>00131 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> buffer[4096];
<a name="l00132"></a>00132 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> bufferlength;
<a name="l00133"></a>00133
<a name="l00134"></a>00134 <span class="comment">// for sending:</span>
<a name="l00135"></a>00135 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> command[BUF_SIZE];
<a name="l00136"></a>00136 <span class="keywordtype">int</span> commandlength;
<a name="l00137"></a>00137 std::vector<MeasurementQueueElement_t>* MeasurementQueue;
<a name="l00138"></a>00138 };
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