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00015 #ifndef SICK_LMS_HH
00016 #define SICK_LMS_HH
00017
00018
00019 #include "SickConfig.hh"
00020
00021
00022 #include <string>
00023 #include <iostream>
00024 #include <termios.h>
00025
00026 #include "SickConfig.hh"
00027 #include "SickLIDAR.hh"
00028 #include "SickLMSBufferMonitor.hh"
00029 #include "SickLMSMessage.hh"
00030 #include "SickException.hh"
00031
00032
00033 #ifndef HAVE_LINUX_SERIAL_H
00034 #define B500000 0010005
00035 #endif
00036
00037
00038 #define DEFAULT_SICK_LMS_SICK_BAUD (B9600)
00039 #define DEFAULT_SICK_LMS_HOST_ADDRESS (0x80)
00040 #define DEFAULT_SICK_LMS_SICK_ADDRESS (0x00)
00041 #define DEFAULT_SICK_LMS_SICK_PASSWORD "SICK_LMS"
00042 #define DEFAULT_SICK_LMS_SICK_MESSAGE_TIMEOUT (unsigned int)(1e6)
00043 #define DEFAULT_SICK_LMS_SICK_SWITCH_MODE_TIMEOUT (unsigned int)(3e6)
00044 #define DEFAULT_SICK_LMS_SICK_MEAN_VALUES_MESSAGE_TIMEOUT (unsigned int)(15e6)
00045 #define DEFAULT_SICK_LMS_SICK_CONFIG_MESSAGE_TIMEOUT (unsigned int)(15e6)
00046 #define DEFAULT_SICK_LMS_BYTE_INTERVAL (55)
00047 #define DEFAULT_SICK_LMS_NUM_TRIES (3)
00048
00049
00050 namespace SickToolbox {
00051
00052
00053
00054
00055
00056
00057
00058 class SickLMS : public SickLIDAR< SickLMSBufferMonitor, SickLMSMessage >
00059 {
00060
00061 public:
00062
00063
00064 static const uint16_t SICK_MAX_NUM_MEASUREMENTS = 721;
00065
00066
00067
00068
00069
00070
00071 enum sick_lms_type_t {
00072
00073
00074 SICK_LMS_TYPE_200_30106,
00075
00076
00077 SICK_LMS_TYPE_211_30106,
00078 SICK_LMS_TYPE_211_30206,
00079 SICK_LMS_TYPE_211_S07,
00080 SICK_LMS_TYPE_211_S14,
00081 SICK_LMS_TYPE_211_S15,
00082 SICK_LMS_TYPE_211_S19,
00083 SICK_LMS_TYPE_211_S20,
00084
00085
00086 SICK_LMS_TYPE_220_30106,
00087
00088
00089 SICK_LMS_TYPE_221_30106,
00090 SICK_LMS_TYPE_221_30206,
00091 SICK_LMS_TYPE_221_S07,
00092 SICK_LMS_TYPE_221_S14,
00093 SICK_LMS_TYPE_221_S15,
00094 SICK_LMS_TYPE_221_S16,
00095 SICK_LMS_TYPE_221_S19,
00096 SICK_LMS_TYPE_221_S20,
00097
00098
00099 SICK_LMS_TYPE_291_S05,
00100 SICK_LMS_TYPE_291_S14,
00101 SICK_LMS_TYPE_291_S15,
00102
00103
00104 SICK_LMS_TYPE_UNKNOWN = 0xFF
00105
00106 };
00107
00108
00109
00110
00111
00112 enum sick_lms_variant_t {
00113 SICK_LMS_VARIANT_2XX_TYPE_6 = 0x00,
00114 SICK_LMS_VARIANT_SPECIAL = 0x01,
00115 SICK_LMS_VARIANT_UNKNOWN = 0xFF
00116 };
00117
00118
00119
00120
00121
00122 enum sick_lms_scan_angle_t {
00123 SICK_SCAN_ANGLE_90 = 90,
00124 SICK_SCAN_ANGLE_100 = 100,
00125 SICK_SCAN_ANGLE_180 = 180,
00126 SICK_SCAN_ANGLE_UNKNOWN = 0xFF
00127 };
00128
00129
00130
00131
00132
00133 enum sick_lms_scan_resolution_t {
00134 SICK_SCAN_RESOLUTION_25 = 25,
00135 SICK_SCAN_RESOLUTION_50 = 50,
00136 SICK_SCAN_RESOLUTION_100 = 100,
00137 SICK_SCAN_RESOLUTION_UNKNOWN = 0xFF
00138 };
00139
00140
00141
00142
00143
00144 enum sick_lms_measuring_units_t {
00145 SICK_MEASURING_UNITS_CM = 0x00,
00146 SICK_MEASURING_UNITS_MM = 0x01,
00147 SICK_MEASURING_UNITS_UNKNOWN = 0xFF
00148 };
00149
00150
00151
00152
00153
00154 enum sick_lms_sensitivity_t {
00155 SICK_SENSITIVITY_STANDARD = 0x00,
00156 SICK_SENSITIVITY_MEDIUM = 0x01,
00157 SICK_SENSITIVITY_LOW = 0x02,
00158 SICK_SENSITIVITY_HIGH = 0x03,
00159 SICK_SENSITIVITY_UNKNOWN = 0xFF
00160 };
00161
00162
00163
00164
00165
00166 enum sick_lms_peak_threshold_t {
00167 SICK_PEAK_THRESHOLD_DETECTION_WITH_NO_BLACK_EXTENSION = 0x00,
00168 SICK_PEAK_THRESHOLD_DETECTION_WITH_BLACK_EXTENSION = 0x01,
00169 SICK_PEAK_THRESHOLD_NO_DETECTION_WITH_NO_BLACK_EXTENSION = 0x02,
00170 SICK_PEAK_THRESHOLD_NO_DETECTION_WITH_BLACK_EXTENSION = 0x03,
00171 SICK_PEAK_THRESHOLD_UNKNOWN = 0xFF
00172 };
00173
00174
00175
00176
00177
00178 enum sick_lms_status_t {
00179 SICK_STATUS_OK = 0x00,
00180 SICK_STATUS_ERROR = 0x01,
00181 SICK_STATUS_UNKNOWN = 0xFF
00182 };
00183
00184
00185
00186
00187
00188 enum sick_lms_measuring_mode_t {
00189 SICK_MS_MODE_8_OR_80_FA_FB_DAZZLE = 0x00,
00190 SICK_MS_MODE_8_OR_80_REFLECTOR = 0x01,
00191 SICK_MS_MODE_8_OR_80_FA_FB_FC = 0x02,
00192 SICK_MS_MODE_16_REFLECTOR = 0x03,
00193 SICK_MS_MODE_16_FA_FB = 0x04,
00194 SICK_MS_MODE_32_REFLECTOR = 0x05,
00195 SICK_MS_MODE_32_FA = 0x06,
00196 SICK_MS_MODE_32_IMMEDIATE = 0x0F,
00197 SICK_MS_MODE_REFLECTIVITY = 0x3F,
00198 SICK_MS_MODE_UNKNOWN = 0xFF
00199 };
00200
00201
00202
00203
00204
00205
00206 enum sick_lms_operating_mode_t {
00207 SICK_OP_MODE_INSTALLATION = 0x00,
00208 SICK_OP_MODE_DIAGNOSTIC = 0x10,
00209 SICK_OP_MODE_MONITOR_STREAM_MIN_VALUE_FOR_EACH_SEGMENT = 0x20,
00210 SICK_OP_MODE_MONITOR_TRIGGER_MIN_VALUE_ON_OBJECT = 0x21,
00211 SICK_OP_MODE_MONITOR_STREAM_MIN_VERT_DIST_TO_OBJECT = 0x22,
00212 SICK_OP_MODE_MONITOR_TRIGGER_MIN_VERT_DIST_TO_OBJECT = 0x23,
00213 SICK_OP_MODE_MONITOR_STREAM_VALUES = 0x24,
00214 SICK_OP_MODE_MONITOR_REQUEST_VALUES = 0x25,
00215 SICK_OP_MODE_MONITOR_STREAM_MEAN_VALUES = 0x26,
00216 SICK_OP_MODE_MONITOR_STREAM_VALUES_SUBRANGE = 0x27,
00217 SICK_OP_MODE_MONITOR_STREAM_MEAN_VALUES_SUBRANGE = 0x28,
00218 SICK_OP_MODE_MONITOR_STREAM_VALUES_WITH_FIELDS = 0x29,
00219 SICK_OP_MODE_MONITOR_STREAM_VALUES_FROM_PARTIAL_SCAN = 0x2A,
00220 SICK_OP_MODE_MONITOR_STREAM_RANGE_AND_REFLECT_FROM_PARTIAL_SCAN = 0x2B,
00221 SICK_OP_MODE_MONITOR_STREAM_MIN_VALUES_FOR_EACH_SEGMENT_SUBRANGE = 0x2C,
00222 SICK_OP_MODE_MONITOR_NAVIGATION = 0x2E,
00223 SICK_OP_MODE_MONITOR_STREAM_RANGE_AND_REFLECT = 0x50,
00224 SICK_OP_MODE_UNKNOWN = 0xFF
00225 };
00226
00227
00228
00229
00230
00231 enum sick_lms_baud_t {
00232 SICK_BAUD_9600 = 0x42,
00233 SICK_BAUD_19200 = 0x41,
00234 SICK_BAUD_38400 = 0x40,
00235 SICK_BAUD_500K = 0x48,
00236 SICK_BAUD_UNKNOWN = 0xFF
00237 };
00238
00239
00240 static const uint8_t SICK_FLAG_AVAILABILITY_DEFAULT = 0x00;
00241 static const uint8_t SICK_FLAG_AVAILABILITY_HIGH = 0x01;
00242 static const uint8_t SICK_FLAG_AVAILABILITY_REAL_TIME_INDICES = 0x02;
00243 static const uint8_t SICK_FLAG_AVAILABILITY_DAZZLE_NO_EFFECT = 0x04;
00244
00245
00246
00247
00248
00249
00250
00251
00252
00253
00254
00255 typedef struct sick_lms_operating_status_tag {
00256 uint16_t sick_scan_angle;
00257 uint16_t sick_scan_resolution;
00258 uint16_t sick_num_motor_revs;
00259 uint8_t sick_operating_mode;
00260 uint8_t sick_measuring_mode;
00261 uint8_t sick_laser_mode;
00262 uint8_t sick_device_status;
00263 uint8_t sick_measuring_units;
00264 uint8_t sick_address;
00265 uint8_t sick_variant;
00266 } sick_lms_operating_status_t;
00267
00268
00269
00270
00271
00272
00273
00274
00275
00276
00277
00278 typedef struct sick_lms_software_status_tag {
00279 uint8_t sick_system_software_version[8];
00280 uint8_t sick_prom_software_version[8];
00281 } sick_lms_software_status_t;
00282
00283
00284
00285
00286
00287
00288
00289 typedef struct sick_lms_restart_status_tag {
00290 uint16_t sick_restart_time;
00291 uint8_t sick_restart_mode;
00292 } sick_lms_restart_status_t;
00293
00294
00295
00296
00297
00298
00299
00300
00301
00302
00303
00304 typedef struct sick_lms_pollution_status_tag {
00305 uint16_t sick_pollution_vals[8];
00306 uint16_t sick_pollution_calibration_vals[8];
00307 uint16_t sick_reference_pollution_vals[4];
00308 uint16_t sick_reference_pollution_calibration_vals[4];
00309 } sick_lms_pollution_status_t;
00310
00311
00312
00313
00314
00315
00316
00317
00318
00319
00320
00321 typedef struct sick_lms_signal_status_tag {
00322 uint16_t sick_reference_scale_1_dark_100;
00323 uint16_t sick_reference_scale_2_dark_100;
00324 uint16_t sick_reference_scale_1_dark_66;
00325 uint16_t sick_reference_scale_2_dark_66;
00326 uint16_t sick_signal_amplitude;
00327 uint16_t sick_current_angle;
00328 uint16_t sick_peak_threshold;
00329 uint16_t sick_angle_of_measurement;
00330 uint16_t sick_signal_amplitude_calibration_val;
00331 uint16_t sick_stop_threshold_target_value;
00332 uint16_t sick_peak_threshold_target_value;
00333 uint16_t sick_stop_threshold_actual_value;
00334 uint16_t sick_peak_threshold_actual_value;
00335 uint16_t sick_reference_target_single_measured_vals;
00336 uint16_t sick_reference_target_mean_measured_vals;
00337 } sick_lms_signal_status_t;
00338
00339
00340
00341
00342
00343
00344
00345
00346
00347
00348
00349 typedef struct sick_lms_field_status_tag {
00350 uint8_t sick_field_evaluation_number;
00351 uint8_t sick_field_set_number;
00352 uint8_t sick_multiple_evaluation_offset_field_2;
00353 } sick_lms_field_status_t;
00354
00355
00356
00357
00358
00359
00360
00361
00362
00363
00364 typedef struct sick_lms_baud_status_tag {
00365 uint16_t sick_baud_rate;
00366 uint8_t sick_permanent_baud_rate;
00367 } sick_lms_baud_status_t;
00368
00369
00370
00371
00372
00373
00374
00375
00376
00377
00378 typedef struct sick_lms_device_config_tag {
00379 uint16_t sick_blanking;
00380 uint16_t sick_fields_b_c_restart_times;
00381 uint16_t sick_dazzling_multiple_evaluation;
00382 uint8_t sick_peak_threshold;
00383 uint8_t sick_stop_threshold;
00384 uint8_t sick_availability_level;
00385 uint8_t sick_measuring_mode;
00386 uint8_t sick_measuring_units;
00387 uint8_t sick_temporary_field;
00388 uint8_t sick_subtractive_fields;
00389 uint8_t sick_multiple_evaluation;
00390 uint8_t sick_restart;
00391 uint8_t sick_restart_time;
00392 uint8_t sick_multiple_evaluation_suppressed_objects;
00393 uint8_t sick_contour_a_reference;
00394 uint8_t sick_contour_a_positive_tolerance_band;
00395 uint8_t sick_contour_a_negative_tolerance_band;
00396 uint8_t sick_contour_a_start_angle;
00397 uint8_t sick_contour_a_stop_angle;
00398 uint8_t sick_contour_b_reference;
00399 uint8_t sick_contour_b_positive_tolerance_band;
00400 uint8_t sick_contour_b_negative_tolerance_band;
00401 uint8_t sick_contour_b_start_angle;
00402 uint8_t sick_contour_b_stop_angle;
00403 uint8_t sick_contour_c_reference;
00404 uint8_t sick_contour_c_positive_tolerance_band;
00405 uint8_t sick_contour_c_negative_tolerance_band;
00406 uint8_t sick_contour_c_start_angle;
00407 uint8_t sick_contour_c_stop_angle;
00408 uint8_t sick_pixel_oriented_evaluation;
00409 uint8_t sick_single_measured_value_evaluation_mode;
00410 } sick_lms_device_config_t;
00411
00412
00413
00414
00415
00416
00417
00418
00419
00420
00421
00422 typedef struct sick_lms_scan_profile_b0_tag {
00423 uint16_t sick_num_measurements;
00424 uint16_t sick_measurements[SICK_MAX_NUM_MEASUREMENTS];
00425 uint8_t sick_field_a_values[SICK_MAX_NUM_MEASUREMENTS];
00426 uint8_t sick_field_b_values[SICK_MAX_NUM_MEASUREMENTS];
00427 uint8_t sick_field_c_values[SICK_MAX_NUM_MEASUREMENTS];
00428 uint8_t sick_telegram_index;
00429 uint8_t sick_real_time_scan_index;
00430 uint8_t sick_partial_scan_index;
00431 } sick_lms_scan_profile_b0_t;
00432
00433
00434
00435
00436
00437
00438
00439
00440
00441
00442
00443 typedef struct sick_lms_scan_profile_b6_tag {
00444 uint16_t sick_num_measurements;
00445 uint16_t sick_measurements[SICK_MAX_NUM_MEASUREMENTS];
00446 uint8_t sick_sample_size;
00447 uint8_t sick_telegram_index;
00448 uint8_t sick_real_time_scan_index;
00449 } sick_lms_scan_profile_b6_t;
00450
00451
00452
00453
00454
00455
00456
00457
00458
00459
00460
00461 typedef struct sick_lms_scan_profile_b7_tag {
00462 uint16_t sick_subrange_start_index;
00463 uint16_t sick_subrange_stop_index;
00464 uint16_t sick_num_measurements;
00465 uint16_t sick_measurements[SICK_MAX_NUM_MEASUREMENTS];
00466 uint8_t sick_field_a_values[SICK_MAX_NUM_MEASUREMENTS];
00467 uint8_t sick_field_b_values[SICK_MAX_NUM_MEASUREMENTS];
00468 uint8_t sick_field_c_values[SICK_MAX_NUM_MEASUREMENTS];
00469 uint8_t sick_telegram_index;
00470 uint8_t sick_real_time_scan_index;
00471 uint8_t sick_partial_scan_index;
00472 } sick_lms_scan_profile_b7_t;
00473
00474
00475
00476
00477
00478
00479
00480
00481
00482
00483
00484 typedef struct sick_lms_scan_profile_bf_tag {
00485 uint16_t sick_subrange_start_index;
00486 uint16_t sick_subrange_stop_index;
00487 uint16_t sick_num_measurements;
00488 uint16_t sick_measurements[SICK_MAX_NUM_MEASUREMENTS];
00489 uint8_t sick_sample_size;
00490 uint8_t sick_telegram_index;
00491 uint8_t sick_real_time_scan_index;
00492 } sick_lms_scan_profile_bf_t;
00493
00494
00495
00496
00497
00498
00499
00500
00501
00502
00503
00504 typedef struct sick_lms_scan_profile_c4_tag {
00505 uint16_t sick_num_range_measurements;
00506 uint16_t sick_num_reflect_measurements;
00507 uint16_t sick_range_measurements[SICK_MAX_NUM_MEASUREMENTS];
00508 uint16_t sick_reflect_measurements[SICK_MAX_NUM_MEASUREMENTS];
00509 uint16_t sick_reflect_subrange_start_index;
00510 uint16_t sick_reflect_subrange_stop_index;
00511 uint8_t sick_field_a_values[SICK_MAX_NUM_MEASUREMENTS];
00512 uint8_t sick_field_b_values[SICK_MAX_NUM_MEASUREMENTS];
00513 uint8_t sick_field_c_values[SICK_MAX_NUM_MEASUREMENTS];
00514 uint8_t sick_telegram_index;
00515 uint8_t sick_real_time_scan_index;
00516 } sick_lms_scan_profile_c4_t;
00517
00518
00519 SickLMS( const std::string sick_device_path );
00520
00521
00522 ~SickLMS( );
00523
00524
00525 void Initialize( const sick_lms_baud_t desired_baud_rate )
00526 throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException);
00527
00528
00529 void Uninitialize( ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException );
00530
00531
00532 sick_lms_type_t GetSickType( ) const throw( SickConfigException );
00533
00534
00535 double GetSickScanAngle( ) const throw( SickConfigException );
00536
00537
00538 double GetSickScanResolution( ) const throw( SickConfigException );
00539
00540
00541 void SetSickMeasuringUnits( const sick_lms_measuring_units_t sick_units = SICK_MEASURING_UNITS_MM )
00542 throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException );
00543
00544
00545 SickLMS::sick_lms_measuring_units_t GetSickMeasuringUnits( ) const throw( SickConfigException );
00546
00547
00548 void SetSickSensitivity( const sick_lms_sensitivity_t sick_sensitivity = SICK_SENSITIVITY_STANDARD )
00549 throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException );
00550
00551
00552 sick_lms_sensitivity_t GetSickSensitivity( ) const throw( SickConfigException );
00553
00554
00555 void SetSickPeakThreshold( const sick_lms_peak_threshold_t sick_peak_threshold = SICK_PEAK_THRESHOLD_DETECTION_WITH_NO_BLACK_EXTENSION )
00556 throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException );
00557
00558
00559 sick_lms_peak_threshold_t GetSickPeakThreshold( ) const throw( SickConfigException );;
00560
00561
00562 void SetSickMeasuringMode( const sick_lms_measuring_mode_t sick_measuring_mode = SICK_MS_MODE_8_OR_80_FA_FB_DAZZLE )
00563 throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException );
00564
00565
00566 sick_lms_measuring_mode_t GetSickMeasuringMode( ) const throw( SickConfigException );
00567
00568
00569 sick_lms_operating_mode_t GetSickOperatingMode( ) const throw( SickConfigException );
00570
00571
00572 void SetSickAvailability( const uint8_t sick_availability_flags = SICK_FLAG_AVAILABILITY_DEFAULT )
00573 throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException );
00574
00575
00576 uint8_t GetSickAvailability( ) const throw( SickConfigException );
00577
00578
00579 void SetSickVariant( const sick_lms_scan_angle_t scan_angle, const sick_lms_scan_resolution_t scan_resolution )
00580 throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException);
00581
00582
00583 void GetSickScan( unsigned int * const measurement_values,
00584 unsigned int & num_measurement_values,
00585 unsigned int * const sick_field_a_values = NULL,
00586 unsigned int * const sick_field_b_values = NULL,
00587 unsigned int * const sick_field_c_values = NULL,
00588 unsigned int * const sick_telegram_index = NULL,
00589 unsigned int * const sick_real_time_scan_index = NULL ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException);
00590
00591
00592 void GetSickScan( unsigned int * const range_values,
00593 unsigned int * const reflect_values,
00594 unsigned int & num_range_measurements,
00595 unsigned int & num_reflect_measurements,
00596 unsigned int * const sick_field_a_values = NULL,
00597 unsigned int * const sick_field_b_values = NULL,
00598 unsigned int * const sick_field_c_values = NULL,
00599 unsigned int * const sick_telegram_index = NULL,
00600 unsigned int * const sick_real_time_scan_index = NULL ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException);
00601
00602
00603 void GetSickScanSubrange( const uint16_t sick_subrange_start_index,
00604 const uint16_t sick_subrange_stop_index,
00605 unsigned int * const measurement_values,
00606 unsigned int & num_measurement_values,
00607 unsigned int * const sick_field_a_values = NULL,
00608 unsigned int * const sick_field_b_values = NULL,
00609 unsigned int * const sick_field_c_values = NULL,
00610 unsigned int * const sick_telegram_index = NULL,
00611 unsigned int * const sick_real_time_scan_index = NULL ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException);
00612
00613
00614 void GetSickPartialScan( unsigned int * const measurement_values,
00615 unsigned int & num_measurement_values,
00616 unsigned int & partial_scan_index,
00617 unsigned int * const sick_field_a_values = NULL,
00618 unsigned int * const sick_field_b_values = NULL,
00619 unsigned int * const sick_field_c_values = NULL,
00620 unsigned int * const sick_telegram_index = NULL,
00621 unsigned int * const sick_real_time_scan_index = NULL ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException);
00622
00623
00624 void GetSickMeanValues( const uint8_t sick_sample_size,
00625 unsigned int * const measurement_values,
00626 unsigned int & num_measurement_values,
00627 unsigned int * const sick_telegram_index = NULL,
00628 unsigned int * const sick_real_time_index = NULL ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException );
00629
00630
00631 void GetSickMeanValuesSubrange( const uint8_t sick_sample_size,
00632 const uint16_t sick_subrange_start_index,
00633 const uint16_t sick_subrange_stop_index,
00634 unsigned int * const measurement_values,
00635 unsigned int & num_measurement_values,
00636 unsigned int * const sick_telegram_index = NULL,
00637 unsigned int * const sick_real_time_index = NULL ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException );
00638
00639
00640 sick_lms_status_t GetSickStatus( ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException );
00641
00642
00643 bool IsSickLMSFast( ) const throw( SickConfigException );
00644
00645
00646 void ResetSick( ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException );
00647
00648
00649 std::string GetSickStatusAsString( ) const;
00650
00651
00652 std::string GetSickSoftwareVersionAsString( ) const;
00653
00654
00655 std::string GetSickConfigAsString( ) const;
00656
00657
00658 void PrintSickStatus( ) const;
00659
00660
00661 void PrintSickSoftwareVersion( ) const;
00662
00663
00664 void PrintSickConfig( ) const;
00665
00666
00667
00668
00669
00670
00671
00672 static std::string SickTypeToString( const sick_lms_type_t sick_type );
00673
00674
00675 static sick_lms_scan_angle_t IntToSickScanAngle( const int scan_angle_int );
00676
00677
00678 static sick_lms_scan_resolution_t IntToSickScanResolution( const int scan_resolution_int );
00679
00680
00681 static sick_lms_scan_resolution_t DoubleToSickScanResolution( const double scan_resolution_double );
00682
00683
00684 static std::string SickBaudToString( const sick_lms_baud_t baud_rate );
00685
00686
00687 static sick_lms_baud_t IntToSickBaud( const int baud_int );
00688
00689
00690 static sick_lms_baud_t StringToSickBaud( const std::string baud_str );
00691
00692
00693 static std::string SickStatusToString( const sick_lms_status_t sick_status );
00694
00695
00696 static std::string SickMeasuringModeToString( const sick_lms_measuring_mode_t sick_measuring_mode );
00697
00698
00699 static std::string SickOperatingModeToString( const sick_lms_operating_mode_t sick_operating_mode );
00700
00701
00702 static std::string SickSensitivityToString( const sick_lms_sensitivity_t sick_sensitivity );
00703
00704
00705 static std::string SickPeakThresholdToString( const sick_lms_peak_threshold_t sick_peak_threshold );
00706
00707
00708 static std::string SickMeasuringUnitsToString( const sick_lms_measuring_units_t sick_units );
00709
00710 protected:
00711
00712
00713 std::string _sick_device_path;
00714
00715
00716 sick_lms_baud_t _curr_session_baud;
00717
00718
00719 sick_lms_baud_t _desired_session_baud;
00720
00721
00722 sick_lms_type_t _sick_type;
00723
00724
00725 sick_lms_operating_status_t _sick_operating_status;
00726
00727
00728 sick_lms_software_status_t _sick_software_status;
00729
00730
00731 sick_lms_restart_status_t _sick_restart_status;
00732
00733
00734 sick_lms_pollution_status_t _sick_pollution_status;
00735
00736
00737 sick_lms_signal_status_t _sick_signal_status;
00738
00739
00740 sick_lms_field_status_t _sick_field_status;
00741
00742
00743 sick_lms_baud_status_t _sick_baud_status;
00744
00745
00746 sick_lms_device_config_t _sick_device_config;
00747
00748
00749 uint8_t _sick_mean_value_sample_size;
00750
00751
00752 uint16_t _sick_values_subrange_start_index;
00753
00754
00755 uint16_t _sick_values_subrange_stop_index;
00756
00757
00758 struct termios _old_term;
00759
00760
00761 void _setupConnection( ) throw( SickIOException, SickThreadException );
00762
00763
00764 void _teardownConnection( ) throw( SickIOException );
00765
00766
00767 void _sendMessageAndGetReply( const SickLMSMessage &sick_send_message,
00768 SickLMSMessage &sick_recv_message,
00769 const unsigned int timeout_value,
00770 const unsigned int num_tries ) throw( SickIOException, SickThreadException, SickTimeoutException );
00771
00772
00773 void _sendMessageAndGetReply( const SickLMSMessage &sick_send_message,
00774 SickLMSMessage &sick_recv_message,
00775 const uint8_t reply_code,
00776 const unsigned int timeout_value,
00777 const unsigned int num_tries ) throw( SickIOException, SickThreadException, SickTimeoutException );
00778
00779
00780 void _flushTerminalBuffer( ) throw ( SickThreadException );
00781
00782
00783 void _setSessionBaud( const sick_lms_baud_t baud_rate ) throw( SickIOException, SickThreadException, SickTimeoutException );
00784
00785
00786 bool _testSickBaud( const sick_lms_baud_t baud_rate ) throw( SickIOException, SickThreadException );
00787
00788
00789 void _setTerminalBaud( const sick_lms_baud_t sick_baud ) throw( SickIOException, SickThreadException );
00790
00791
00792 void _getSickType( ) throw( SickTimeoutException, SickIOException, SickThreadException );
00793
00794
00795 void _getSickConfig( ) throw( SickTimeoutException, SickIOException, SickThreadException );
00796
00797
00798 void _setSickConfig( const sick_lms_device_config_t &sick_config ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException );
00799
00800
00801 void _getSickStatus( ) throw( SickTimeoutException, SickIOException, SickThreadException );
00802
00803
00804 void _getSickErrors( unsigned int * const num_sick_errors = NULL,
00805 uint8_t * const error_type_buffer = NULL,
00806 uint8_t * const error_num_buffer = NULL ) throw( SickTimeoutException, SickIOException, SickThreadException );
00807
00808
00809 void _setSickOpModeInstallation( )
00810 throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException);
00811
00812
00813 void _setSickOpModeDiagnostic( )
00814 throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException);
00815
00816
00817 void _setSickOpModeMonitorRequestValues( )
00818 throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException);
00819
00820
00821 void _setSickOpModeMonitorStreamValues( )
00822 throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException);
00823
00824
00825 void _setSickOpModeMonitorStreamRangeAndReflectivity( )
00826 throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException);
00827
00828
00829 void _setSickOpModeMonitorStreamValuesFromPartialScan( )
00830 throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException);
00831
00832
00833 void _setSickOpModeMonitorStreamMeanValues( const uint8_t sample_size )
00834 throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException);
00835
00836
00837 void _setSickOpModeMonitorStreamValuesSubrange( const uint16_t subrange_start_index, const uint16_t subrange_stop_index )
00838 throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException);
00839
00840
00841 void _setSickOpModeMonitorStreamMeanValuesSubrange( const uint16_t sample_size, const uint16_t subrange_start_index, const uint16_t subrange_stop_index )
00842 throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException);
00843
00844
00845 void _switchSickOperatingMode( const uint8_t sick_mode, const uint8_t * const mode_params = NULL )
00846 throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException);
00847
00848
00849 void _parseSickScanProfileB0( const uint8_t * const src_buffer, sick_lms_scan_profile_b0_t &sick_scan_profile ) const;
00850
00851
00852 void _parseSickScanProfileB6( const uint8_t * const src_buffer, sick_lms_scan_profile_b6_t &sick_scan_profile ) const;
00853
00854
00855 void _parseSickScanProfileB7( const uint8_t * const src_buffer, sick_lms_scan_profile_b7_t &sick_scan_profile ) const;
00856
00857
00858 void _parseSickScanProfileBF( const uint8_t * const src_buffer, sick_lms_scan_profile_bf_t &sick_scan_profile ) const;
00859
00860
00861 void _parseSickScanProfileC4( const uint8_t * const src_buffer, sick_lms_scan_profile_c4_t &sick_scan_profile ) const;
00862
00863
00864 void _parseSickConfigProfile( const uint8_t * const src_buffer, sick_lms_device_config_t &sick_device_config ) const;
00865
00866
00867 void _extractSickMeasurementValues( const uint8_t * const byte_sequence, const uint16_t num_measurements, uint16_t * const measured_values,
00868 uint8_t * const field_a_values = NULL, uint8_t * const field_b_values = NULL, uint8_t * const field_c_values = NULL ) const;
00869
00870
00871 bool _returningRealTimeIndices( ) const { return _sick_device_config.sick_availability_level & SICK_FLAG_AVAILABILITY_REAL_TIME_INDICES; }
00872
00873
00874 bool _validSickMeasuringUnits( const sick_lms_measuring_units_t sick_units ) const;
00875
00876
00877 bool _validSickScanAngle( const sick_lms_scan_angle_t sick_scan_angle ) const;
00878
00879
00880 bool _validSickScanResolution( const sick_lms_scan_resolution_t sick_scan_resolution ) const;
00881
00882
00883 bool _validSickSensitivity( const sick_lms_sensitivity_t sick_sensitivity ) const;
00884
00885
00886 bool _validSickPeakThreshold( const sick_lms_peak_threshold_t sick_peak_threshold ) const;
00887
00888
00889 bool _validSickMeasuringMode( const sick_lms_measuring_mode_t sick_measuring_mode ) const;
00890
00891
00892 bool _isSickLMS200( ) const;
00893
00894
00895 bool _isSickLMS211( ) const;
00896
00897
00898 bool _isSickLMS220( ) const;
00899
00900
00901 bool _isSickLMS221( ) const;
00902
00903
00904 bool _isSickLMS291( ) const;
00905
00906
00907 bool _isSickUnknown( ) const;
00908
00909
00910 sick_lms_baud_t _baudToSickBaud( const int baud_rate ) const;
00911
00912
00913 std::string _sickAvailabilityToString( const uint8_t availability_code ) const;
00914
00915
00916 std::string _sickRestartToString( const uint8_t restart_code ) const;
00917
00918
00919 std::string _sickTemporaryFieldToString( const uint8_t temp_field_code ) const;
00920
00921
00922 std::string _sickSubtractiveFieldsToString( const uint8_t subt_field_code ) const;
00923
00924
00925 std::string _sickContourFunctionToString( const uint8_t contour_function_code ) const;
00926
00927
00928 std::string _sickVariantToString( const unsigned int sick_variant ) const;
00929
00930 };
00931
00932
00933
00934
00935
00936 typedef SickLMS::sick_lms_type_t sick_lms_type_t;
00937
00938
00939
00940
00941
00942 typedef SickLMS::sick_lms_variant_t sick_lms_variant_t;
00943
00944
00945
00946
00947
00948 typedef SickLMS::sick_lms_scan_angle_t sick_lms_scan_angle_t;
00949
00950
00951
00952
00953
00954 typedef SickLMS::sick_lms_scan_resolution_t sick_lms_scan_resolution_t;
00955
00956
00957
00958
00959
00960 typedef SickLMS::sick_lms_measuring_units_t sick_lms_measuring_units_t;
00961
00962
00963
00964
00965
00966 typedef SickLMS::sick_lms_sensitivity_t sick_lms_sensitivity_t;
00967
00968
00969
00970
00971
00972 typedef SickLMS::sick_lms_peak_threshold_t sick_lms_peak_threshold_t;
00973
00974
00975
00976
00977
00978 typedef SickLMS::sick_lms_status_t sick_lms_status_t;
00979
00980
00981
00982
00983
00984 typedef SickLMS::sick_lms_measuring_mode_t sick_lms_measuring_mode_t;
00985
00986
00987
00988
00989
00990 typedef SickLMS::sick_lms_operating_mode_t sick_lms_operating_mode_t;
00991
00992
00993
00994
00995
00996 typedef SickLMS::sick_lms_baud_t sick_lms_baud_t;
00997
00998 }
00999
01000 #endif //SICK_LMS_HH