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SchmersalLss300.h
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1 //
2 // Copyright (c) 2009, Markus Rickert
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29 
30 #ifndef _RL_HAL_SCHMERSALLSS300_H_
31 #define _RL_HAL_SCHMERSALLSS300_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 SchmersalLss300 : public Lidar
46  {
47  public:
48  enum BaudRate
49  {
58 #if 0
59 
60  BAUDRATE_125000BPS,
62  BAUDRATE_208333BPS,
64  BAUDRATE_312500BPS
65 #endif
66  };
67 
69  {
72  };
73 
78  const ::std::string& device = "/dev/ttyS0",
81  const ::std::string& password = "PASS_LSS"
82  );
83 
84  virtual ~SchmersalLss300();
85 
86  void close();
87 
88  BaudRate getBaudRate() const;
89 
90  void getDistances(::rl::math::Vector& distances) const;
91 
92  ::std::size_t getDistancesCount() const;
93 
94  ::rl::math::Real getDistancesMaximum(const ::std::size_t& i) const;
95 
96  ::rl::math::Real getDistancesMinimum(const ::std::size_t& i) const;
97 
98  Monitoring getMonitoring() const;
99 
101 
103 
105 
106  ::std::string getType();
107 
108  void open();
109 
110  void reset();
111 
112  void setBaudRate(const BaudRate& baudRate);
113 
114  void setMonitoring(const Monitoring& monitoring);
115 
116  void start();
117 
118  void step();
119 
120  void stop();
121 
122  protected:
123 
124  private:
125  uint16_t crc(const uint8_t* buf, const ::std::size_t& len) const;
126 
127  ::std::size_t recv(uint8_t* buf, const ::std::size_t& len, const uint8_t& command);
128 
129  void send(uint8_t* buf, const ::std::size_t& len);
130 
131  bool waitAck();
132 
134 
135  uint8_t configuration;
136 
137  uint8_t data[1013];
138 
140 
142 
143  ::std::string password;
144 
146 
148  };
149  }
150 }
151 
152 #endif // _RL_HAL_SCHMERSALLSS300_H_