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<div class="title">CSickLaserUSB.h</div> </div>
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<a href="_c_sick_laser_u_s_b_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CSickLaserUSB_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CSickLaserUSB_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c2_d_range_finder_abstract_8h.html">mrpt/hwdrivers/C2DRangeFinderAbstract.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_interface_f_t_d_i_8h.html">mrpt/hwdrivers/CInterfaceFTDI.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="keyword">namespace </span>mrpt
<a name="l00035"></a>00035 {
<a name="l00036"></a>00036 <span class="keyword">namespace </span>hwdrivers
<a name="l00037"></a>00037 {<span class="comment"></span>
<a name="l00038"></a>00038 <span class="comment"> /** This "software driver" implements the communication protocol for interfacing a SICK LMS2XX laser scanners through a custom USB RS-422 interface board.</span>
<a name="l00039"></a>00039 <span class="comment"> *</span>
<a name="l00040"></a>00040 <span class="comment"> * NOTE that this class is for a custom hardware built at our lab (MAPIR, University of Malaga).</span>
<a name="l00041"></a>00041 <span class="comment"> * For a generic serial interface, see the class CSickLaserSerial.</span>
<a name="l00042"></a>00042 <span class="comment"> *</span>
<a name="l00043"></a>00043 <span class="comment"> * This class does not need to be bind, i.e. you do not need to call C2DRangeFinderAbstract::bindIO. However, calling it will have not effect.</span>
<a name="l00044"></a>00044 <span class="comment"> * In this class the "bind" is ignored since it is designed for USB connections only, thus it internally generate the required object for simplicity of use.</span>
<a name="l00045"></a>00045 <span class="comment"> * The serial number of the USB device is used to open it on the first call to "doProcess", thus you must call "loadConfig" before this, or manually</span>
<a name="l00046"></a>00046 <span class="comment"> * call "setDeviceSerialNumber". The default serial number is "LASER001"</span>
<a name="l00047"></a>00047 <span class="comment"> *</span>
<a name="l00048"></a>00048 <span class="comment"> * Warning: Avoid defining an object of this class in a global scope if you want to catch all potential</span>
<a name="l00049"></a>00049 <span class="comment"> * exceptions during the constructors (like USB interface DLL not found, etc...)</span>
<a name="l00050"></a>00050 <span class="comment"> *</span>
<a name="l00051"></a>00051 <span class="comment"> *</span>
<a name="l00052"></a>00052 <span class="comment"> * \code</span>
<a name="l00053"></a>00053 <span class="comment"> * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:</span>
<a name="l00054"></a>00054 <span class="comment"> * -------------------------------------------------------</span>
<a name="l00055"></a>00055 <span class="comment"> * [supplied_section_name]</span>
<a name="l00056"></a>00056 <span class="comment"> * SICKUSB_serialNumber=LASER001</span>
<a name="l00057"></a>00057 <span class="comment"> * pose_x=0.21 ; Laser range scaner 3D position in the robot (meters)</span>
<a name="l00058"></a>00058 <span class="comment"> * pose_y=0</span>
<a name="l00059"></a>00059 <span class="comment"> * pose_z=0.34</span>
<a name="l00060"></a>00060 <span class="comment"> * pose_yaw=0 ; Angles in degrees</span>
<a name="l00061"></a>00061 <span class="comment"> * pose_pitch=0</span>
<a name="l00062"></a>00062 <span class="comment"> * pose_roll=0</span>
<a name="l00063"></a>00063 <span class="comment"> * \endcode</span>
<a name="l00064"></a>00064 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00065"></a>00065 <span class="comment"> *</span>
<a name="l00066"></a>00066 <span class="comment"> */</span>
<a name="l00067"></a>00067 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> CSickLaserUSB : <span class="keyword">public</span> C2DRangeFinderAbstract
<a name="l00068"></a>00068 {
<a name="l00069"></a>00069 <a class="code" href="_c_generic_sensor_8h.html#ab8b72c811c520eb036fa4080d9cd9d1d" title="This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...">DEFINE_GENERIC_SENSOR</a>(CSickLaserUSB)
<a name="l00070"></a>00070
<a name="l00071"></a>00071 private:
<a name="l00072"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b.html#aebc4d4acd8db51026253e78a8a30ef00">00072</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html" title="A definition of a CStream actually representing a USB connection to a FTDI chip.">CInterfaceFTDI</a> *m_usbConnection;
<a name="l00073"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b.html#a22503c4f5011dda2dd2a7a8f40c35613">00073</a> std::<span class="keywordtype">string</span> m_serialNumber;
<a name="l00074"></a>00074
<a name="l00075"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b.html#ab1666a19358783c5c5b904980d6c744d">00075</a> uint32_t m_timeStartUI; <span class="comment">//!< Time of the first data packet, for synchronization purposes.</span>
<a name="l00076"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b.html#ac18fff2b160f69d8594cfd30799ae4d3">00076</a> <span class="comment"></span> mrpt::system::<a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">TTimeStamp</a> m_timeStartTT;
<a name="l00077"></a>00077 <span class="comment"></span>
<a name="l00078"></a>00078 <span class="comment"> /** The sensor 6D pose:</span>
<a name="l00079"></a>00079 <span class="comment"> */</span>
<a name="l00080"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b.html#a5a36dfda12732e0541dee9d7d6df6f98">00080</a> poses::<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> m_sensorPose;
<a name="l00081"></a>00081
<a name="l00082"></a>00082 <span class="keywordtype">bool</span> checkControllerIsConnected();
<a name="l00083"></a>00083 <span class="keywordtype">bool</span> waitContinuousSampleFrame( std::<a class="code" href="classstd_1_1vector.html" title="STL class.">vector</a><<span class="keywordtype">float</span>> &ranges, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> &LMS_status, uint32_t &out_board_timestamp, <span class="keywordtype">bool</span> &is_mm_mode );
<a name="l00084"></a>00084
<a name="l00085"></a>00085 protected:<span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"> /** Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)</span>
<a name="l00087"></a>00087 <span class="comment"> * See hwdrivers::CSickLaserUSB for the possible parameters</span>
<a name="l00088"></a>00088 <span class="comment"> */</span>
<a name="l00089"></a>00089 <span class="keywordtype">void</span> loadConfig_sensorSpecific(
<a name="l00090"></a>00090 const mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">CConfigFileBase</a> &configSource,
<a name="l00091"></a>00091 const std::<span class="keywordtype">string</span> &iniSection );
<a name="l00092"></a>00092
<a name="l00093"></a>00093 public:<span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment"> /** Constructor</span>
<a name="l00095"></a>00095 <span class="comment"> */</span>
<a name="l00096"></a>00096 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b.html" title="This "software driver" implements the communication protocol for interfacing a SICK LMS2XX laser scan...">CSickLaserUSB</a>();
<a name="l00097"></a>00097 <span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment"> /** Destructor</span>
<a name="l00099"></a>00099 <span class="comment"> */</span>
<a name="l00100"></a>00100 virtual ~CSickLaserUSB();
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"> /** Changes the serial number of the device to open (call prior to 'doProcess')</span>
<a name="l00103"></a>00103 <span class="comment"> */</span>
<a name="l00104"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_sick_laser_u_s_b.html#a633c2d058c932e61bed5c32b37fae936">00104</a> <span class="keywordtype">void</span> setDeviceSerialNumber(const std::<span class="keywordtype">string</span> &deviceSerialNumber)
<a name="l00105"></a>00105 {
<a name="l00106"></a>00106 m_serialNumber = deviceSerialNumber;
<a name="l00107"></a>00107 }
<a name="l00108"></a>00108 <span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"> /** Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.</span>
<a name="l00110"></a>00110 <span class="comment"> * This method will be typically called in a different thread than other methods, and will be called in a timely fashion.</span>
<a name="l00111"></a>00111 <span class="comment"> */</span>
<a name="l00112"></a>00112 <span class="keywordtype">void</span> doProcessSimple(
<a name="l00113"></a>00113 <span class="keywordtype">bool</span> &outThereIsObservation,
<a name="l00114"></a>00114 <a class="code" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html" title="A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...">mrpt::slam::CObservation2DRangeScan</a> &outObservation,
<a name="l00115"></a>00115 <span class="keywordtype">bool</span> &hardwareError );
<a name="l00116"></a>00116
<a name="l00117"></a>00117 <span class="comment"></span>
<a name="l00118"></a>00118 <span class="comment"> /** Enables the scanning mode (in this class this has no effect).</span>
<a name="l00119"></a>00119 <span class="comment"> * \return If everything works "true", or "false" if there is any error.</span>
<a name="l00120"></a>00120 <span class="comment"> */</span>
<a name="l00121"></a>00121 <span class="keywordtype">bool</span> turnOn();
<a name="l00122"></a>00122 <span class="comment"></span>
<a name="l00123"></a>00123 <span class="comment"> /** Disables the scanning mode (in this class this has no effect).</span>
<a name="l00124"></a>00124 <span class="comment"> * \return If everything works "true", or "false" if there is any error.</span>
<a name="l00125"></a>00125 <span class="comment"> */</span>
<a name="l00126"></a>00126 <span class="keywordtype">bool</span> turnOff();
<a name="l00127"></a>00127
<a name="l00128"></a>00128 }; <span class="comment">// End of class</span>
<a name="l00129"></a>00129
<a name="l00130"></a>00130 } <span class="comment">// End of namespace</span>
<a name="l00131"></a>00131 } <span class="comment">// End of namespace</span>
<a name="l00132"></a>00132
<a name="l00133"></a>00133 <span class="preprocessor">#endif</span>
</pre></div></div>
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