Robotics Library  0.6.0
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros
LeuzeRs4.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_LEUZERS4_H_
31 #define _RL_HAL_LEUZERS4_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 LeuzeRs4 : public Lidar
46  {
47  public:
48  enum BaudRate
49  {
66  };
67 
71  LeuzeRs4(
72  const ::std::string& device = "/dev/ttyS0",
74  const ::std::string& password = "ROD4LE"
75  );
76 
77  virtual ~LeuzeRs4();
78 
79  void close();
80 
81  BaudRate getBaudRate() const;
82 
83  void getDistances(::rl::math::Vector& distances) const;
84 
85  ::std::size_t getDistancesCount() const;
86 
87  ::rl::math::Real getDistancesMaximum(const ::std::size_t& i) const;
88 
89  ::rl::math::Real getDistancesMinimum(const ::std::size_t& i) const;
90 
92 
94 
96 
97  void open();
98 
99  void reset();
100 
101 #if 0
102  void setBaudRate(const BaudRate& baudRate);
103 
104  void setOutputParameters(const uint16_t& startIndex, const uint16_t& stopIndex, const uint16_t& step, const uint16_t& type);
105 #endif
106 
107  void start();
108 
109  void step();
110 
111  void stop();
112 
113  protected:
114 
115  private:
116  uint8_t crc(const uint8_t* buf, const ::std::size_t& len) const;
117 
118  ::std::size_t recv(uint8_t* buf, const ::std::size_t& len);
119 
120  void send(uint8_t* buf, const ::std::size_t& len);
121 
123 
124  uint8_t data[1099];
125 
127 
128  bool far1;
129 
130  bool far2;
131 
132  bool fn1Fn2;
133 
134  bool near1;
135 
136  bool near2;
137 
138  ::std::string password;
139 
141 
142  uint16_t startIndex;
143 
144  uint16_t stepSize;
145 
146  uint16_t stopIndex;
147 
149 
150  uint16_t type;
151  };
152  }
153 }
154 
155 #endif // _RL_HAL_LEUZERS4_H_