Robotics Library  0.6.0
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros
SickLms200.h
Go to the documentation of this file.
1 //
2 // Copyright (c) 2009, Markus Rickert
3 // All rights reserved.
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 //
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 // * Neither the name of the Technische Universitaet Muenchen nor the names of
14 // its contributors may be used to endorse or promote products derived from
15 // this software without specific prior written permission.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27 // POSSIBILITY OF SUCH DAMAGE.
28 //
29 
30 #ifndef _RL_HAL_SICKLMS200_H_
31 #define _RL_HAL_SICKLMS200_H_
32 
33 #include <rl/util/Timer.h>
34 
35 #include "Device.h"
36 #include "Lidar.h"
37 #include "types.h"
38 
39 namespace rl
40 {
41  namespace hal
42  {
43  class Serial;
44 
45  class SickLms200 : public Lidar
46  {
47  public:
48  enum BaudRate
49  {
55 #if defined(WIN32) || defined(__QNX__)
57 #else // defined(WIN32) || defined(__QNX__)
61 #endif // defined(WIN32) || defined(__QNX__)
62  };
63 
64  enum Measuring
65  {
72  };
73 
75  {
78  };
79 
80  enum Variant
81  {
92  };
93 
97  SickLms200(
98  const ::std::string& device = "/dev/ttyS0",
101  const Variant& variant = VARIANT_180_50,
103  const ::std::string& password = "SICK_LMS"
104  );
105 
106  virtual ~SickLms200();
107 
108  void close();
109 
110  void dumpConfiguration();
111 
112  void dumpStatus();
113 
114  BaudRate getBaudRate() const;
115 
116  void getDistances(::rl::math::Vector& distances) const;
117 
118  ::std::size_t getDistancesCount() const;
119 
120  ::rl::math::Real getDistancesMaximum(const ::std::size_t& i) const;
121 
122  ::rl::math::Real getDistancesMinimum(const ::std::size_t& i) const;
123 
124  Measuring getMeasuring() const;
125 
126  Monitoring getMonitoring() const;
127 
129 
131 
133 
134  ::std::string getType();
135 
136  Variant getVariant() const;
137 
138  void open();
139 
140  void reset();
141 
142  void setBaudRate(const BaudRate& baudRate);
143 
144  void setMeasuring(const Measuring& measuring);
145 
146  void setMonitoring(const Monitoring& monitoring);
147 
148  void setVariant(const Variant& variant);
149 
150  void start();
151 
152  void step();
153 
154  void stop();
155 
156  protected:
157 
158  private:
159  uint16_t crc(const uint8_t* buf, const ::std::size_t& len) const;
160 
161  ::std::size_t recv(uint8_t* buf, const ::std::size_t& len, const uint8_t& command);
162 
163  void send(uint8_t* buf, const ::std::size_t& len);
164 
165  bool waitAck();
166 
168 
169  uint8_t configuration;
170 
171  uint8_t data[812];
172 
174 
176 
178 
179  ::std::string password;
180 
182 
184 
186  };
187  }
188 }
189 
190 #endif // _RL_HAL_SICKLMS200_H_