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SickS300.h
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1 //
2 // Copyright (c) 2009, Markus Rickert
3 // All rights reserved.
4 //
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29 
30 #ifndef _RL_HAL_SICKS300_H_
31 #define _RL_HAL_SICKS300_H_
32 
33 #include <rl/util/Timer.h>
34 
35 #include "Device.h"
36 #include "Lidar.h"
37 #include "Serial.h"
38 #include "types.h"
39 
40 namespace rl
41 {
42  namespace hal
43  {
44  class SickS300 : public Lidar
45  {
46  public:
47  SickS300(
48  const ::std::string& device = "/dev/ttyS0",
50  );
51 
52  virtual ~SickS300();
53 
54  void close();
55 
56  void getDistances(::rl::math::Vector& distances) const;
57 
58  ::std::size_t getDistancesCount() const;
59 
60  ::rl::math::Real getDistancesMaximum(const ::std::size_t& i) const;
61 
62  ::rl::math::Real getDistancesMinimum(const ::std::size_t& i) const;
63 
65 
66  ::std::size_t getScanNumber() const;
67 
69 
71 
72  ::std::size_t getTelegramNumber() const;
73 
74  void open();
75 
76  void start();
77 
78  void step();
79 
80  void stop();
81 
82  protected:
83 
84  private:
85  uint16_t crc(const uint8_t* buf, const ::std::size_t& len) const;
86 
87  ::std::size_t recv(uint8_t* buf);
88 
89  uint8_t data[2048];
90 
92  };
93  }
94 }
95 
96 #endif // _RL_HAL_SICKS300_H_